CN212446939U - Rotary wheel type water, land and air multi-purpose mobile aircraft - Google Patents

Abstract

The utility model relates to a rotary wheel type amphibious mobile aircraft, which comprises an aircraft body, an infrared camera module, a rotatable propeller wheel, a rotatable rotor wheel and an ultrasonic ranging module; the left end corner part and the right end corner part of the machine body are respectively provided with a rotatable propeller wheel, and the front side and the rear side of the machine body are respectively provided with two rotatable rotor wheels; the rotatable propeller wheel provides power for land forward running and water forward running, and the rotatable rotor wing wheel provides flight power for air flight; the ultrasonic ranging modules are uniformly distributed on two sides of the machine body, and the infrared camera modules are uniformly distributed on the front side and the rear side of the machine body; the rotatable propeller wheel and the rotatable rotor wheel do not interfere with each other. But the gear train of two kinds of sizes direct mount is on the fuselage, directly realizes the application demand of perching more in water, land and air, need not the auxiliary device of three kinds of states of manufacturing respectively, installation, except reduce cost, can also play the effect of practicing thrift the space.

Description

Rotary wheel type water, land and air multi-purpose mobile aircraft

Technical Field

The utility model relates to a perch and remove flight investigation, exploration technical field, especially relate to a rotatory wheel type amphibious mobile aircraft.

Background

With the rapid development of the economy of China and the rapid promotion of comprehensive national force, the internal conditions and the external environment of the country are deeply changed, the national security situation problem is increasingly prominent, and the territorial security problems such as territorial security, border security, sea security and the like are again brought to the hot spot. In recent years, with the gradual maturity of the technologies of robots, vehicles and unmanned planes, more advanced robots, vehicles and unmanned planes are provided with various systems for military tasks such as investigation, explosion elimination and geological exploration.

However, most of the existing researches are amphibious reconnaissance, most of the existing amphibious reconnaissance devices are combination bodies of ship bodies and automobiles, most of the existing amphibious reconnaissance devices are water surface gliders, most of the existing amphibious reconnaissance devices are aerodromes, and most of the existing amphibious reconnaissance devices are aerodroms, but the existing reconnaissance devices are huge, heavy in weight and high in cost, are difficult to reconnaissance and explore in a multi-habitat environment in parallel, and have poor hidden and anti-reconnaissance capability in the military field due to large volume; the unmanned aerial vehicle with good concealment can only operate in the air, and has poor adaptability to complex environments.

Therefore, it is an urgent technical problem to provide an aircraft which is small in size and can adapt to a multi-habitat environment.

SUMMERY OF THE UTILITY MODEL

To the not enough of prior art, the utility model discloses the problem that plans to solve is: providing a rotary wheel type water, land and air multi-purpose mobile aircraft; the gear train of device can be according to the rotatory gear train of the different environment that the device is located to different forms to for device under various environment provides antecedent power and buoyancy, make and remove the aircraft and can reconnoitre and survey the task under water, land, empty many habitat environment, thereby solved the device and hardly adapted to the limitation problem of many habitats environment.

The technical scheme of the utility model for solving the technical problems is to provide a rotary wheel type amphibious mobile aircraft, which comprises an aircraft body, an infrared camera module, a rotatable propeller wheel, a rotatable rotor wheel and an ultrasonic distance measuring module; the left end corner part and the right end corner part of the machine body are respectively provided with a rotatable propeller wheel, and the front side and the rear side of the machine body are respectively provided with two rotatable rotor wheels; the rotatable propeller wheel provides power for land forward running and water forward running, and the rotatable rotor wing wheel provides flight power for air flight; the ultrasonic ranging modules are uniformly distributed on two sides of the machine body, and the infrared camera modules are uniformly distributed on the front side and the rear side of the machine body; the rotatable propeller wheel and the rotatable rotor wing wheel do not interfere with each other;

when the aircraft is in a land environment, the hubs of the rotatable propeller wheel and the rotatable rotor wheel are driven by the corresponding steering engines to rotate to a vertical state, so that advancing power is provided for the device; when the aircraft is in the environment of aquatic, the wheel hub of the rotatable propeller wheel of steering wheel drive is leading, and the motor of rotatable propeller wheel begins work this moment, for the device provides preceding power: when the aircraft is in the aerial environment, the steering wheel can drive the wheel hub of the rotatable propeller wheel to rotate a certain angle according to the power angle requirement of the flight, the rotatable propeller wheel can rotate 90 degrees to the maximum extent, the wheel hub of the rotatable rotor wheel is in a horizontal state, and the motor of the rotatable rotor wheel starts to work, so that the buoyancy and the power of the flight of the device are provided.

The rotatable propeller wheel and the rotatable rotor wheel are both rotatable rotation and revolution multi-purpose application wheel trains, each wheel train comprises a steering engine, a rotating bracket, a tire, a spline shaft, an impeller, a wheel disc, a wheel hub, a motor and a motor sleeve, the motor is a speed reduction motor when the rotatable propeller wheel is adopted, and the motor is a brushless motor when the rotatable rotor wheel is adopted;

the steering engine is characterized in that the rotary support is of a semi-wrapping type and is provided with a vertical mounting surface and upper and lower horizontal mounting surfaces which are symmetrical to the vertical mounting surface, the vertical mounting surface is fixed on the side surface of the machine body, the steering engine is fixed on the upper horizontal mounting surface of the rotary support, and an output shaft of the steering engine is vertically downward and is rotationally connected with the upper end of the rotary support through a bearing; a steering engine steering wheel is arranged on an output shaft of the steering engine in a matched manner and is positioned on the inner side of the rotating bracket; the upper end and the lower end of the motor sleeve are respectively provided with an end lug, the end lug on the upper part of the motor sleeve is fixedly connected with a steering engine steering wheel, and the end lug on the lower part of the motor sleeve is rotatably connected with the lower horizontal mounting surface of the rotating bracket through a bearing; the motor is embedded in the motor sleeve, and an output shaft of the motor is vertical to an output shaft of the steering engine; an output shaft of the motor is fixedly connected with one end of the coupler, and the other end of the coupler is fixedly connected with one end of the spline shaft; the coupling is rotationally connected with the hub through a bearing; the motor sleeve can drive the hub to swing in the plane wrapped by the rotating bracket relative to the rotating bracket;

the middle part of the inner wall of the hub is provided with a plurality of clamping grooves for installing blades of the impeller along the axial direction in an inclined way; the spline shaft is provided with an impeller, blades of the impeller are matched with the corresponding clamping grooves of the hub, the impeller can slide along the axial direction of the spline shaft under the action of axial force generated by rotation, and the sliding limit is carried out through a limit shaft shoulder at the end part of the spline shaft; the wheel disc is fixed on the outer end face of the hub, and the impeller is wrapped by the wheel disc and the hub; the tire is sleeved on the outer wall of the hub;

the motor drives the blades to screw in and out of the clamping grooves of the hub.

The aircraft is provided with four rotatable propeller wheels and four rotatable rotor wheels, the four rotatable rotor wheels are divided into two groups through a fuselage connecting frame and are respectively fixed at the front and rear positions of the fuselage, two rotatable rotor wheels are symmetrically arranged on one fuselage connecting frame by taking the axis of the fuselage as the center, and the height of the fuselage connecting frame connected with the rotatable rotor wheels is higher than the installation height of the hub of the rotatable propeller wheels in a vertical state; the whole body of the airplane is of a regular hexagonal prism structure with a tapered bottom, the front side surface and the rear side surface of the hexagonal prism are connected with the rotatable rotor wheel through the airplane body connecting frame, the left side surface and the right side surface of the hexagonal prism are respectively provided with a rotatable propeller wheel, the vertical mounting surface of the rotating bracket of the rotatable propeller wheel is fixed with the side surface of the hexagonal prism, and the rotatable propeller wheel does not interfere with the airplane body when being changed; the part of the machine body connecting frame for connecting and installing the rotatable rotor wing wheel is provided with a downward vertical bending part, and the bending part is fixed with the vertical installation surface of the rotating bracket of the rotatable rotor wing wheel, so that the hub of the rotatable rotor wing wheel can be in a horizontal state and a vertical state.

The layout of the rotatable rotor wing wheels on the same side and the rotatable propeller wheels are not on the same vertical plane, and the rotatable rotor wing wheels on the same side and the rotatable propeller wheels form an inverted trapezoidal structure layout.

The aircraft body is also provided with a detection device, the detection device comprises a toxic gas detection module and a climate detection module, the toxic gas detection module is an MQ-2 smoke concentration detection module, and the climate detection module is a height/air pressure/temperature measurement sensor module, a temperature and humidity sensor module and an air quality detection monitor. The method is used for the fields of military investigation and detection, civil land and water shooting, unknown environmental space danger detection and the like.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses the design of the rotatable train of aircraft adopts the principle of revolution and rotation, and when taking off and landing, the rotation condition is formed between impeller and wheel hub, and when land moves, the revolution condition is formed between impeller and wheel hub, thus the drive moves the aircraft and removes; the device is modularized, each gear train is independently assembled, and the manufacturing and maintenance cost is low; the device is small in size and can simultaneously meet the investigation and exploration tasks in a multi-dwelling environment.

The utility model discloses referring to the design theory of revolution-rotation, utilize the rotation and the revolution of impeller and wheel hub ingeniously, realize combining organically of screw, rotor and tire to realize the multipurpose breakthrough of a round, for other multi-purpose trains, the design of the applied device of perching even provides new design thinking, and in addition, the train passes through the effect of steering wheel and reaches the rotatable effect of train, thereby satisfies the power angle demand when corresponding device is gone ahead.

The utility model discloses a train can combine screw, tire, rotor together, can satisfy the device and in the normal operating under each environment of perching, satisfied the application demand of perching more, the utility model discloses the device perches more for other, and the device is small, and the structure is light, and the cost is lower, hides and anti-investigation ability reinforce, has huge market prospect.

The utility model discloses but the train of two kinds of sizes direct mount is on the fuselage, directly realizes the application demand of perching in water, land and air, need not to make respectively, installs the auxiliary device of three kinds of states, except reduce cost, can also play the effect in saving the space. The gear train steering mechanism adopts directional and quantitative rotation of the steering engine (the steering engine can rotate an angle approximate to 90 degrees, so that the direction of the driving gear train is changed approximately to 90 degrees), the steering engine is used for driving at the rotation point of the gear train, the rotation of the steering engine is used for driving the rotation of the corresponding gear train (a rotatable propeller wheel and a rotatable rotor wheel), in addition, the quantitative rotation of the steering engine can meet the rotation angle requirements under different environments (the installation direction of the steering engine directly determines the rotating working plane of the steering engine, for example, the installation direction of an output shaft of the steering engine is a Z axis, and the rotation direction is 90-degree rotation of an XOY plane).

Drawings

FIG. 1 is a schematic diagram of the components of a water, land and air multi-habitat mobile aircraft;

FIG. 2 is a schematic view of a rotatable propeller wheel assembly;

FIG. 3 is a schematic view of a rotatable propeller wheel hub

FIG. 4 is a schematic view of the assembly of the rotatable propeller wheel (showing the internal structure of the wheel train in detail);

FIG. 5 is a schematic diagram of the water-land-air multi-habitat mobile aircraft in the water advancing state;

FIG. 6 is a schematic diagram of land advancing state of the amphibious mobile aircraft;

fig. 7 is a schematic view of the flight state of the water, land and air multi-habitat mobile aircraft in the air.

FIG. 8 is a schematic view of a rotatable propeller wheel spline shaft;

fig. 9 is a dimension diagram of an embodiment of the spline shaft of the rotatable propeller wheel:

FIG. 10 is a schematic view of a rotatable propeller wheel impeller;

FIG. 11 is a dimensional view of an embodiment of a section of a wheel blade of a rotatable propeller blade:

FIG. 12 is a schematic view of a fuselage of a amphibious mobile aircraft;

in the figure: 1. a body; 2. an infrared camera; 3. a rotatable propeller wheel; 4. a rotatable rotor wheel; 5. an ultrasonic range finder;

3-1 rotating support, 3-2 steering engine, 3-3 motor sleeve, 3-4 motor, 3-5 coupler, 3-6 motor end cover, 3-7 tire, 3-8 wheel hub, 3-9 wheel disc, 3-10 impeller and 3-11 spline shaft.

Detailed Description

The present invention will be further described with reference to the following examples and accompanying drawings, which are not intended to limit the scope of the claims of the present application.

The utility model provides a rotary wheel type amphibious mobile aircraft (referred to as aircraft for short, see figure 1), which comprises an aircraft body 1, an infrared camera 2, a rotatable propeller wheel 3, a rotatable rotor wheel 4 and an ultrasonic distance meter 5; the left end angle part and the right end angle part of the machine body 1 are respectively provided with a rotatable propeller wheel 3, and the front side and the rear side of the machine body 1 are respectively provided with two rotatable rotor wheels 4; the rotatable propeller wheel 3 provides power for land forward movement and water forward movement, and the rotatable rotor wheel 4 provides flight power for air flight; the ultrasonic distance measuring instruments 5 are uniformly distributed on two sides of the machine body 1, the infrared cameras 2 are uniformly distributed on the front side and the rear side of the machine body 1, the ultrasonic distance measuring instruments 5 are used for measuring distances, and the infrared cameras 2 are used for collecting images; the rotatable propeller wheel 3 and the rotatable rotor wheel 4 do not interfere with each other;

when the aircraft is in a land environment, the hubs of the rotatable propeller wheel 3 and the rotatable rotor wheel 4 are driven by the corresponding steering engines to rotate to a vertical state (see fig. 6) so as to provide forward power for the device; when the aircraft is in the environment of aquatic, the wheel hub of the rotatable propeller wheel 3 of steering wheel drive is leading (can rotate the fore-and-aft direction of the wheel hub of propeller wheel 3 towards the fuselage), and rotatable propeller wheel motor begins work this moment, for the device provides preceding power: when the aircraft is in an aerial environment, the steering engine drives the hub of the rotatable propeller wheel to rotate for a certain angle according to the requirement of the flying power angle, the hub can rotate for 90 degrees at most (shown in figure 7), the hub of the rotatable rotor wheel is in a horizontal state (shown in figure 5), and the motor of the rotatable rotor wheel starts to work, so that the buoyancy and the power for flying the device are provided.

The structure of the rotatable propeller wheel 3 and the structure of the rotatable rotor wheel 4 are similar, the rotatable propeller wheel is a rotatable rotation-revolution multi-purpose application wheel system, the rotatable propeller wheel is taken as an example, the wheel system comprises a steering engine 3-2, a rotating bracket 3-1, a tire 3-7, a spline shaft 3-11, an impeller 3-10, a wheel disc 3-9, a wheel hub 3-8, a motor 3-4 and a motor sleeve 3-3, when the rotatable propeller wheel is adopted, the motor 3-4 is a speed reduction motor, and when the rotatable rotor wheel is adopted, the motor is a brushless motor.

The steering engine is characterized in that the rotary bracket 3-1 is of a semi-wrapping type and is provided with a vertical mounting surface and upper and lower horizontal mounting surfaces which are symmetrical to the vertical mounting surface, the vertical mounting surface is fixed on the side surface of the machine body, the steering engine 3-2 is fixed on the upper horizontal mounting surface of the rotary bracket 3-1, and an output shaft of the steering engine 3-2 is vertically downward and is rotatably connected with the upper end of the rotary bracket 3-1 through a bearing; a steering engine steering wheel disc is arranged on an output shaft of the steering engine 3-2 in a matched mode and is positioned on the inner side of the rotating support 3-1; the upper end and the lower end of the motor sleeve 3-3 are respectively provided with an end lug, the end lug on the upper part of the motor sleeve 3-3 is fixedly connected with a steering engine steering wheel, and the end lug on the lower part of the motor sleeve 3-3 is rotatably connected with the lower horizontal mounting surface of the rotating bracket 3-1 through a bearing; the motor 3-4 is embedded in the motor sleeve 3-3, and an output shaft of the motor 3-4 is vertical to an output shaft of the steering engine 3-2; an output shaft of the motor 3-4 is fixedly connected with one end of the coupler 3-5, and the other end of the coupler 3-5 is fixedly connected with one end of the spline shaft 3-11; the coupler 3-5 is rotatably connected with the hub 3-8 through a bearing; the motor sleeve can drive the hub to swing in the plane wrapped by the rotating bracket relative to the rotating bracket;

the middle part of the inner wall of the hub 3-8 is provided with a plurality of clamping grooves 3-81 which are used for installing blades of the impeller 3-10 along the axial direction in an inclined way; the spline shaft 3-11 is provided with an impeller 3-10, blades of the impeller 3-10 are matched with clamping grooves corresponding to the hub 3-8, the impeller 3-10 can slide along the axial direction of the spline shaft 3-11 under the action of axial force generated by rotation (because the cross section of the blades of the impeller is not the same in thickness but is in a sloping plate vortex shape, axial force action can be generated during rotation so as to drive the impeller to move in the axial direction of the spline shaft, one side of the spline shaft is provided with a limiting shaft shoulder, and the other side of the spline shaft can be limited by the bottom of the clamping groove or a hub amplitude plate), and the sliding limiting is carried out through the limiting shaft shoulder at the end part of the spline shaft 3; the wheel disc 3-9 is fixed on the outer end face of the hub 3-8, and the impeller is wrapped by the wheel disc and the hub; the tires 3-7 are sleeved on the outer walls of the hubs 3-8;

the motor drives the blades to screw in and out of the clamping grooves of the hub.

The utility model has four rotatable propeller wheels 3 and four rotatable rotor wheels 4, the four rotatable rotor wheels 4 are divided into two groups by a body connecting frame and are respectively fixed at the front and the back of the body, two rotatable rotor wheels 4 are symmetrically arranged on one body connecting frame by taking the axis of the body as the center, and the height of the body connecting frame connected with the rotatable rotor wheels 4 is higher than the installation height of the hub of the rotatable propeller wheels 3 in a vertical state; the whole regular hexagonal prism structure that is the bottom pyramid type that is of fuselage, connect rotatable rotor wheel 4 through the fuselage link on the side around the hexagonal prism, but rotatable propeller wheel 3 is installed respectively to the remaining four sides about the hexagonal prism, but the vertical installation face of rotatable propeller wheel 3's rotating support is fixed with the side of hexagonal prism, but the hub of rotatable propeller wheel 3 can be towards just preceding and the transform of just left side direction, just preceding and just right, or just back and just left, just back and just right, but rotatable propeller wheel 3 does not take place to interfere with the fuselage when the transform. The part of the body connecting frame for connecting and installing the rotatable rotor wheel 4 is provided with a downward vertical bending part, and the bending part is fixed with the vertical installation surface of the rotating bracket of the rotatable rotor wheel 4, so that the hub of the rotatable rotor wheel 4 can be in a horizontal state and a vertical state.

The lower half part of the fuselage is designed into a V-cone shape according to the structural requirements of hydromechanics, namely the bottom of the fuselage converges from the edge to the center and extends downwards for a certain distance, the taper of the V-cone shape is 5-20 degrees, and the purpose is to ensure that the aircraft has certain water surface buoyancy when in water.

A hub amplitude plate is arranged on one side of the hub 3-8, the center of the hub amplitude plate penetrates through the coupler to rotatably connect the coupler and the hub together through a bearing, a limiting boss 3-83 is arranged in the middle of the hub, inclined clamping grooves 3-81 are uniformly distributed on the limiting boss along the circumferential direction, the inside of the hub at the outer side of the limiting boss is a smooth circumferential side surface, and a groove 3-82 for mounting a wheel disc 3-9 is formed in the section of the other end of the hub;

the end parts of the wheel discs 3-9 are provided with groove extending-in ends with the same number and positions as the grooves on the wheel hub, and the wheel discs can be fixed in the grooves;

one end of the spline shaft 3-11 is provided with a shaft shoulder 3-111, and the length of the spline shaft is smaller than the distance from the hub limiting boss to the wheel disc and is larger than the axial distance from the impeller which is screwed out from the clamping groove and enters the smooth circumferential side of the hub; the end of the spline shaft provided with the shaft shoulder is rotationally connected with the inner side center of the wheel disc 9 through a bearing, namely the spline shaft rotates asynchronously with the wheel disc and the wheel hub. In the initial state, blades of the impeller are clamped in clamping grooves of the hub, and the impeller is driven by the speed reducing motor to rotate so as to drive the hub to rotate together to form revolution of the wheel train; the center of the impeller is provided with a center hole matched with the spline, so that the impeller can be matched with the spline to rotate and slide, and the speed reducing motor can control the impeller to be in a state that the impeller is screwed into the clamping groove, so that the impeller and the hub rotate synchronously, and the revolution of the wheel train is realized; when the speed reducing motor controls the impeller to be in a state that the impeller is screwed out of the clamping groove, the impeller is located in the smooth circumferential side surface area of the hub, the impeller rotates without constraint, and rotation of the gear train is achieved.

The center of the impeller is provided with a center hole matched with the spline, the cross section of the impeller blade is in a variable cross-section shape, one end of the cross section is large in width, the other end of the cross section is small in width, the cross section can be clamped in a clamping groove of the hub, the impeller can be controlled to be screwed in or out of the clamping groove by adjusting the rotation direction of the speed reducing motor, and after the impeller is completely screwed out, the impeller rotates in the area of the smooth circumferential side surface of the hub; when the impeller is screwed in again, the impeller rotates reversely under the control of the speed reducing motor, and the variable-section impeller can be screwed in the clamping groove under the action of the inertia force of the impeller moving towards the hub amplitude plate. The width of the clamping groove is not less than the size of the maximum width of the cross section of the blade.

The impeller blades are clamped into the clamping grooves to drive the tire, the impeller blades which are not clamped into the clamping grooves are propellers, the steering engine can adjust the swing direction of the whole wheel train, and the speed reduction motor controls the impeller to rotate to form revolution and rotation of the wheel train.

Because the power demand of device under each perch environment of perching is different for the device of perching more, and aerial and the aquatic need the train of relevant device become the screw form to this train produces the vortex, thereby provides power or buoyancy that moves ahead, so the utility model discloses well train when being in aerial or aquatic, the impeller is rotated by oneself, and the impeller constitutes the rotation state with outside wheel hub promptly, produces the vortex that moves ahead from this. When the land, the train that needs relevant subassembly becomes the tire state, moves ahead by the rotation drive arrangement of wheel (the motor provides equidirectional power promptly), so the utility model discloses well wheel system is when being in the land, and the impeller drives outside wheel hub synchronous rotation through the draw-in groove block with wheel hub, and the impeller constitutes revolution state with wheel hub promptly, and certain shock attenuation effect can be played to the tire in addition.

The utility model discloses well train can be regarded as the rotor wheel, is rotatable rotor wheel 4 promptly, because the rotor wheel will provide flight buoyancy, so need great vortex effect, here, the preferred design of rotor impeller's blade quantity is 3. But also as a propeller wheel, i.e. a rotatable propeller wheel 3, where the number of impeller blades in the propeller wheel is preferably 6. The blade cross sectional shape is the variable cross section design of class triangle-shaped, and the design of thick end is for carrying out the block with the draw-in groove of wheel hub, and the thin end is for producing the vortex effect.

Two wheel systems of the present application, namely four rotatable propeller wheels 3 and four rotatable rotor wheels 4, can be installed in one fuselage, and the rotating diameter of the rotatable rotor wheels 4 is preferably 1.5 times that of the rotatable propeller wheels 3, so as to ensure that the rotor wheels can provide larger flying buoyancy.

The steering mechanism comprises a steering engine and a rotating support, directional and quantitative rotation of the steering engine is adopted, the steering engine is used for driving at a wheel train rotating point, rotation of the wheel train is driven by the rotation of the steering engine, and when the device installed on the wheel train moves forwards and turns in each environment, the direction of the wheel train can be changed by the steering engine, so that the moving direction of the device is changed, the rotation angle requirements under different environments can be met by the quantitative rotation of the steering engine, and the steering mechanism is arranged according to actual conditions.

The revolution-rotation conversion mechanism comprises a tire 3-7, a spline shaft 3-11, an impeller 3-10, a wheel disc 3-9, a hub 3-8, a motor and a motor sleeve, and the impeller is correspondingly screwed in and out along the shaft through axial force generated by the forward rotation and the reverse rotation of the impeller, so that the clamping and the separation of the impeller and the hub are realized, and the revolution and the rotation of the impeller and the hub are realized.

The utility model discloses the aircraft is still including control system, and the control section can adopt prior art to realize, is not in the protection scope of this application.

The utility model discloses the work flow of aircraft: the forms of the amphibious mobile aircraft in different environments are different, and the amphibious mobile aircraft is displayed one by one according to the mechanism matching forms of the aircraft in various environments.

1. Land forward state

When the amphibious mobile aircraft moves forwards on land, all steering engines receive instructions of a central processing unit and drive corresponding motor sleeves to rotate so as to drive a speed reducing motor and a brushless motor to rotate and further drive a rotatable propeller wheel 3 and a rotatable rotor wheel 4 to rotate to a vertical state around corresponding rotating supports respectively, wherein attention is required to be paid that the output power of the speed reducing motor and the brushless motor of the rotatable propeller wheel 3 and the rotatable rotor wheel 4 is different in consideration of different required rotating speeds of the device under various environments, so that the brushless motor of the rotatable rotor wheel 4 does not work when the aircraft moves forwards on land, the rotatable rotor wheel 4 only works as a damping driven wheel, the rotatable rotor wheel 4 follows the forward movement of the device, the layout of the rotatable rotor wheel 4 on the same side and the rotatable propeller wheel 3 are not on the same vertical plane, and the rotatable rotor wheel 4 on the same side and the rotatable propeller wheel 3 form an inverted trapezoidal structure layout, when the rotatable propeller wheel 3 spans uneven sections, the tires of the rotatable rotor wheels 4 on the same side can play a certain role in obstacle avoidance and shock absorption.

2. Advancing state in water

Because the rotating speed and power needed by water and land are similar, the typical advancing device propeller in water and the typical device wheel advancing on land are organically combined, the revolution of the hub 3-8 of the rotatable propeller wheel 3 and the impeller 3-10 is designed to form a wheel form, the power requirement of advancing on land is met, the rotation of the hub 3-8 and the impeller 3-10 forms a propeller form, and the advancing state in water is met. When the multi-purpose mobile aircraft capable of staying in water, land and air moves forwards in water, the steering engine 3-2 of the rotatable propeller wheel 3 receives a central processing unit instruction, the driving speed reduction motor sleeve rotates, so that the speed reduction motor is driven, and then the rotatable propeller wheel 3 is driven to another vertical plane, meanwhile, the speed reduction motor carries out corresponding speed change processing, a wheel train is changed into a propeller mode, the multi-purpose mobile aircraft is provided with water running power, in addition, the steering engine of the rotatable rotor wheel 4 drives the brushless motor sleeve to rotate, so that the brushless motor is driven to rotate, and then the rotatable rotor wheel 4 is driven to a horizontal state, but the brushless motor of the rotatable rotor wheel 4 still does not work, and at the moment, the rotatable rotor wheel 4 utilizes the air pressure in the tire to provide certain water surface buoyancy for the.

3. State of flight in the air

The rotating speed required in the air is large, so the rotating wing wheel 4 is designed to be rotatable, when the device moves forwards on land and on the water surface, a brushless motor of the rotating wing wheel 4 does not work, a revolution state is formed between the hub and the impeller, the rotating wing wheel and the impeller are respectively used as driven wheels of the moving forwards on land to play a role in shock absorption, the buoyancy device moves forwards on the water surface, when the device takes off, the hub and the impeller form a rotation state, and the brushless motor works to meet the buoyancy and power requirements of flight.

When the multi-purpose mobile aircraft flies in the air, the steering engine 3-2 of the rotatable propeller wheel 3 receives an instruction of the central processing unit, the speed reduction motor sleeve is driven to rotate, so that the speed reduction motor is driven to rotate, the rotatable propeller wheel 3 is driven to rotate to another vertical plane or rotate to a certain angle according to actual requirements, meanwhile, the speed reduction motor 3-4 carries out corresponding speed change processing, a wheel system is changed into a propeller mode, whether the speed reduction motor works or not is selected according to the actual flight requirements (when the rotatable propeller wheel 3 works, the steering of the device can be controlled in the air), in addition, the brushless motor sleeve is rotated by the steering engine, so that the brushless motor is driven to rotate, the rotatable rotor wheel 4 is driven to be in a horizontal state, meanwhile, the brushless motor of the rotatable rotor wheel works, and the power and buoyancy required by the device.

Example 1

In the embodiment, the total length of the aircraft body is 600mm, the total width is 600mm, the total height is 150mm, the weight is 5kg, four rotatable revolution-rotation gear trains can be configured, the diameter of each gear train is 265mm, the specific size of the gear train is designed as follows,

the number of blades of the impeller of the rotatable rotor wheel assembly can be 3, in order to ensure the vortex effect and simultaneously consider the bearing capacity of the blades, the width of each blade is designed to be 10mm, the length of the thick end in the cross section of each blade is 4mm, the length of the thin end in the cross section of each blade is 0.4mm, and the gradient is 1: 10.

The corresponding inner diameter of the hub is 225mm, the length (namely the depth) is 34.5mm, the number of hub clamping grooves is matched with the number of blades, the depth occupied by the clamping grooves is 10mm, the smooth circumferential side part occupies 15.5mm, the smooth circumferential side part comprises the matching depth of a wheel disc which is 3mm, and the transition of rotation and revolution is 2.5 mm.

The diameter of the wheel disc is 225mm, four webs are designed according to a mechanical design manual in consideration of mechanical requirements and a material saving principle, and the width of each web is designed to be 20mm according to requirements.

The spline shaft and the wheel disc are designed to be matched with each other, wherein the diameter of the spline shaft is 10mm, the length of the spline shaft is 3mm, the diameter of the shaft shoulder is 12mm, the length of the spline shaft is 1mm, the diameter of the spline shaft is 9mm, and the length of the spline shaft is 24 mm; the shaft diameter is 7mm, and the length is 12 mm. See figure 4 for specific dimensions.

The number of the impeller blades of the rotary rotor wheel assembly is six, and the number of the hub clamping grooves is 6

When the four-wheel-train-type aircraft is used, the four wheel trains are symmetrically distributed on an aircraft body, the vertical mounting surface of the rotating support is fixed on the aircraft body, and the overall swinging direction of the wheel trains is controlled through the steering engine so as to adapt to different environment requirements. The bottom of the machine body is V-cone shaped, and the taper of the V-cone shaped is 8 degrees.

Example 2

The fuselage of this embodiment aircraft is equipped with infrared camera module and ultrasonic ranging module, and infrared camera module adopts STM32 singlechip driven OV7725 infrared camera module, can gather image information, and the form is independently changed in order to adapt to current environment according to the environmental status who shoots the discernment, and ultrasonic ranging module adopts HC-SR04+ ultrasonic ranging module can detect out the distance, avoids bumping.

Example 3

Other detection devices can be further assembled on the fuselage of the aircraft in the embodiment, such as a toxic gas detection module and climate detection modules of temperature, pressure and the like, and the detection devices are used for environment detection, specifically as follows: the model of the height/air pressure/temperature measuring sensor module is BMP388, the model of the temperature and humidity sensor module is DHT11, and the model of the smoke concentration detection module is MQ-2 smoke detection module which can be used for detecting the concentration of combustible gas of methane liquefied gas and the like; the model of the air quality detection monitor is PM2.5RS485, and the air quality detection monitor can be installed according to actual needs.

Example 4

The aircraft can be suitable for military use, can adapt to the environment change of water, land and air if completing a detection task on an island, can be used in the civil field, realizes multiple purposes (such as aerial photography, underwater shooting, land shooting and the like), saves cost, and can be used for detection of danger in unknown environmental space, detection of mine and smoke environment and the like.

The utility model discloses the nothing is described the part and is applicable to prior art, and concrete design atress requirement etc. satisfy the standard requirement in the field.

Claims (10)

1. A rotary wheel type amphibious mobile aircraft comprises an aircraft body, an infrared camera module, a rotatable propeller wheel, a rotatable rotor wheel and an ultrasonic distance measuring module; the aircraft is characterized in that the left end angle part and the right end angle part of the aircraft body are respectively provided with a rotatable propeller wheel, and the front side and the rear side of the aircraft body are respectively provided with two rotatable rotor wheels; the rotatable propeller wheel provides power for land forward running and water forward running, and the rotatable rotor wing wheel provides flight power for air flight; the ultrasonic ranging modules are uniformly distributed on two sides of the machine body, and the infrared camera modules are uniformly distributed on the front side and the rear side of the machine body; the rotatable propeller wheel and the rotatable rotor wheel do not interfere with each other.

2. The aircraft of claim 1 wherein the rotatable propeller and rotor wheels are each a rotatable revolution-rotation, habitat application train.

3. The aircraft of claim 2, wherein the wheel train comprises a steering engine, a rotating bracket, a tire, a spline shaft, an impeller, a wheel disc, a hub, a motor and a motor sleeve, wherein when the wheel train is a rotatable propeller wheel, the motor is a speed reduction motor, and when the wheel train is a rotatable rotor wheel, the motor is a brushless motor;

the steering engine is characterized in that the rotary support is of a semi-wrapping type and is provided with a vertical mounting surface and upper and lower horizontal mounting surfaces which are symmetrical to the vertical mounting surface, the vertical mounting surface is fixed on the side surface of the machine body, the steering engine is fixed on the upper horizontal mounting surface of the rotary support, and an output shaft of the steering engine is vertically downward and is rotationally connected with the upper end of the rotary support through a bearing; a steering engine steering wheel is arranged on an output shaft of the steering engine in a matched manner and is positioned on the inner side of the rotating bracket; the upper end and the lower end of the motor sleeve are respectively provided with an end lug, the end lug on the upper part of the motor sleeve is fixedly connected with a steering engine steering wheel, and the end lug on the lower part of the motor sleeve is rotatably connected with the lower horizontal mounting surface of the rotating bracket through a bearing; the motor is embedded in the motor sleeve, and an output shaft of the motor is vertical to an output shaft of the steering engine; an output shaft of the motor is fixedly connected with one end of the coupler, and the other end of the coupler is fixedly connected with one end of the spline shaft; the coupling is rotationally connected with the hub through a bearing; the motor sleeve can drive the hub to swing in the plane wrapped by the rotating bracket relative to the rotating bracket;

the middle part of the inner wall of the hub is provided with a plurality of clamping grooves for installing blades of the impeller along the axial direction in an inclined way; the spline shaft is provided with an impeller, blades of the impeller are matched with the corresponding clamping grooves of the hub, the impeller can slide along the axial direction of the spline shaft under the action of axial force generated by rotation, and the sliding limit is carried out through a limit shaft shoulder at the end part of the spline shaft; the wheel disc is fixed on the outer end face of the hub, and the impeller is wrapped by the wheel disc and the hub; the tire is sleeved on the outer wall of the hub;

the motor drives the blades to screw in and out of the clamping grooves of the hub.

4. The aircraft of claim 3, wherein the aircraft has four rotatable propeller wheels and four rotatable rotor wheels, the four rotatable rotor wheels are divided into two groups by a fuselage connection frame and are respectively fixed at the front and rear positions of the fuselage, two rotatable rotor wheels are symmetrically arranged on one fuselage connection frame by taking the axis of the fuselage as the center, and the height of the fuselage connection frame connected with the rotatable rotor wheels is higher than the installation height of the hub of the rotatable propeller wheels in a vertical state; the whole body of the airplane is of a regular hexagonal prism structure with a tapered bottom, the front side surface and the rear side surface of the hexagonal prism are connected with the rotatable rotor wheel through the airplane body connecting frame, the left side surface and the right side surface of the hexagonal prism are respectively provided with a rotatable propeller wheel, the vertical mounting surface of the rotating bracket of the rotatable propeller wheel is fixed with the side surface of the hexagonal prism, and the rotatable propeller wheel does not interfere with the airplane body when being changed; the part of the machine body connecting frame for connecting and installing the rotatable rotor wing wheel is provided with a downward vertical bending part, and the bending part is fixed with the vertical installation surface of the rotating bracket of the rotatable rotor wing wheel, so that the hub of the rotatable rotor wing wheel can be in a horizontal state and a vertical state.

5. The aircraft of claim 4, wherein the lower half of the fuselage is designed in a V-cone shape according to the structural requirements of fluid mechanics, i.e. the bottom of the fuselage converges from the edge towards the center and extends downwards for a distance, the taper of the V-cone shape being between 5 ° and 20 °.

6. The aircraft of claim 3, wherein a hub web is arranged on one side of the hub, the center of the hub web penetrates through the coupler to rotatably connect the coupler and the hub through a bearing, a limiting boss is arranged in the middle of the hub, inclined clamping grooves are uniformly distributed on the limiting boss along the circumferential direction, the inside of the hub at the outer side of the limiting boss is a smooth circumferential side surface, and a groove for mounting a wheel disc is formed in the section at the other end of the hub;

the end part of the wheel disc is provided with a groove extending end with the same number and position as the grooves on the hub, and the wheel disc can be fixed in the grooves;

a shaft shoulder is arranged at one end of the spline shaft, and the length of the spline on the spline shaft is smaller than the distance from the hub limiting boss to the wheel disc and is larger than the axial distance from the impeller which is screwed out from the clamping groove and enters the smooth circumferential side of the hub; one end of the spline shaft, which is provided with a shaft shoulder, is rotationally connected with the center of the inner side of the wheel disc through a bearing, namely the spline shaft, the wheel disc and the wheel hub rotate asynchronously;

in the initial state, blades of the impeller are clamped in clamping grooves of the hub, and the impeller is driven by the motor to rotate so as to drive the hub to rotate together to form revolution of the wheel train; the center of the impeller is provided with a center hole matched with the spline, so that the impeller can be matched with the spline to rotate and slide, and the motor can control the impeller to be in a state that the impeller is screwed into the clamping groove, so that the impeller and the hub rotate synchronously, and the revolution of the wheel train is realized; when the motor controls the impeller to be in a state that the impeller is screwed out of the clamping groove, the impeller is located in the smooth circumferential side surface area of the hub, the impeller rotates without constraint, and rotation of the gear train is achieved.

7. The aircraft of claim 3, wherein the impeller center is provided with a center hole matched with the spline, the cross section of the impeller blade is of a variable section shape, one end of the cross section is wide, the other end of the cross section is small, and the width of the clamping groove is not less than the size of the maximum width of the cross section of the blade.

8. The aircraft of claim 3 wherein the number of blades of the rotatable rotor wheel is designed to be 3; the number of impeller blades in the rotatable propeller wheel is 6; the diameter of rotation of the rotatable rotor wheel is 1.5 times the diameter of rotation of the rotatable propeller wheel.

9. The aircraft of claim 1 wherein the rotatable rotor wheels on the same side are not in the same vertical plane as the rotatable propeller wheels, and the rotatable rotor wheels on the same side and the rotatable propeller wheels on the same side form an inverted trapezoidal configuration.

10. The aircraft of claim 1, wherein the aircraft body is further provided with a detection device, the detection device comprises a toxic gas detection module and a climate detection module, the toxic gas detection module is an MQ-2 smoke concentration detection module, and the climate detection module is an altitude/air pressure/temperature measurement sensor module, a temperature and humidity sensor module and an air quality detection monitor.

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