CN215707136U - Dual-purpose investigation unmanned aerial vehicle in air and ground - Google Patents
Dual-purpose investigation unmanned aerial vehicle in air and ground Download PDFInfo
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- CN215707136U CN215707136U CN202122101200.4U CN202122101200U CN215707136U CN 215707136 U CN215707136 U CN 215707136U CN 202122101200 U CN202122101200 U CN 202122101200U CN 215707136 U CN215707136 U CN 215707136U
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Abstract
The utility model discloses an air-ground dual-purpose detection unmanned aerial vehicle, which comprises a main frame (1), wherein the main frame (1) comprises a flying frame (2), a chassis frame (3) and a control cavity (4); the control cavity (4) is respectively connected with the flying rack (2) and the chassis rack (3). The unmanned aerial vehicle can carry out structural transformation according to different modes of marcing, operational environment to reduce the volume, adapt to different modes and environment, can fill the not enough of current robot system, can be used to fields such as fire control military investigation, thereby produce apparent social and economic benefits.
Description
Technical Field
The utility model relates to the technical field of unmanned aerial vehicles, in particular to an air-ground dual-purpose investigation unmanned aerial vehicle.
Background
With the continuous development of urbanization, urban areas have very complex geographic environments, and the reconnaissance task is difficult to take. In addition, in various types of fire safety incidents, dangerous and complex environments result in frequent accidents. Therefore, it is urgently needed to develop a robot capable of replacing personnel to perform all-around air environment investigation.
In the current research, the aerial small unmanned aerial vehicle has advantages in the aspects of speed, investigation view and the like, but still has the defects of small load capacity, weak cruising ability, poor stability and the like, and the concealment requirement required by the investigation mission can not be easily realized even if the aerial small unmanned aerial vehicle flies for a long time. Although the ground traveling robot has a long endurance time, it is difficult to cope with complex terrain, and has the defects of poor mobility, slow speed and the like, and the ground traveling mode also limits the reconnaissance visual field.
Disclosure of Invention
In order to solve the problems, the utility model discloses an air-ground dual-purpose investigation unmanned aerial vehicle which can flexibly switch between two air-ground motion modes in modes of rotor wing contraction, blade droop storage, chassis lifting deformation and the like, has the characteristics of air-ground all-dimensional environment investigation, long endurance time, adaptability to various complex environments and the like, can fill the defects of the existing robot system, makes a contribution to the improvement of the operational capacity of our army, and can be used in the fields of fire-fighting investigation and the like, thereby generating remarkable social benefits and economic benefits.
The utility model is realized by the following technical scheme:
an air-ground dual-purpose detection unmanned aerial vehicle comprises a main frame, wherein the main frame comprises a flying frame, a chassis frame and a control cavity;
the control cavity is respectively connected with the flying frame and the chassis frame.
The flight rack (2) is provided with a wing arm telescopic device, a propeller and a camera device;
the wing arm telescopic device is arranged in the center of the flight rack, and a propeller is arranged on the wing arm telescopic device; and the front end and the rear end of the flight rack are respectively provided with a camera device.
The wing arm telescopic device comprises a positive and negative threaded rod, a guide rail, a sliding block, a wing arm, an angle block and a central motor;
the central motor drives the positive and negative threaded rod to rotate, the positive and negative threaded rod is in threaded connection with a sliding block arranged on a guide rail in the center of the flight rack, the sliding block is connected with one end of the wing arm, the other end of the wing arm penetrates through an angle block (55), and the angle block is fixed on the surface of the flight rack.
The propeller is arranged at the tail end of the wing arm and comprises a blade and a motor;
the motor is connected with the tail end of the wing arm, and the paddle is connected with the motor.
The camera device comprises a steering engine, a gear and a picture transmission lens;
the steering engine is connected with the flying frame through a connecting mechanism and is connected with the image transmission lens through gear engagement, and the angle of the image transmission lens is controlled through rotation of the steering engine.
A chassis lifting deformation structure is arranged on the chassis frame and comprises a main gear, a slave gear, a wheel connecting support, a driving motor, a Mecanum wheel, a rotating motor and a motor connecting frame;
the main gear and the slave gear are both arranged on the chassis frame, and one end of the wheel connecting bracket is connected with the main gear and the slave gear;
the rotating motor is fixedly connected on the chassis frame and drives the main gear and the meshed slave gear to rotate, so that the wheel connecting bracket is driven to rotate, and the chassis is lifted;
the other end of the wheel connecting support is connected with the motor connecting frame, a driving motor is arranged on the motor connecting frame, and the driving motor is connected with the Mecanum wheel and drives the Mecanum wheel to rotate.
Furthermore, a shock absorber is arranged between the motor connecting frame and the chassis frame.
Further, a main controller and a battery are arranged in the control cavity;
the main controller is electrically connected with each motor and each steering engine of the unmanned aerial vehicle and is used for controlling the flight of the rotor wing and the lifting of the chassis;
the main control unit is powered by a battery, the battery is electrically connected with the power interface, and the battery supplies power for each device of the unmanned aerial vehicle.
Compared with the prior art, the utility model has the beneficial effects that:
(1) the air-ground dual-purpose detection unmanned aerial vehicle can realize flexible deformation conversion of the structure under different traveling modes and different detection environments. At flight frame part, the unmanned aerial vehicle rotor passes through positive and negative threaded rod and connecting rod telescoping device, realizes the extension and the shrink of rotor, and the rotor paddle can hang down the retraction naturally under the action of gravity, opens through gyration inertial force when rotatory to reduce unmanned aerial vehicle volume under the different mode of marcing.
(2) The chassis of the air-ground dual-purpose detection unmanned aerial vehicle realizes the lifting of the chassis by matching the motor and the meshing gear thereof with the vehicle frame, and is provided with the cross-country damping structure, so that the unmanned aerial vehicle can still stably advance under complex terrains. The unmanned aerial vehicle carries out different structural transformation under two modes of air flight and land marching, makes unmanned aerial vehicle have the advantage that adapts to different modes of marching and investigation environment, reduction volume, improvement disguise and security.
(3) The air-ground dual-purpose detection unmanned aerial vehicle takes land traveling as a main traveling mode, and when encountering obstacles such as a high platform, stairs and the like, the unmanned aerial vehicle crosses the obstacles in a flight mode to continue a task. This allows the drone to have a longer duration.
The utility model is further described with reference to the following figures and detailed description.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the land travel mode of the air-ground dual-purpose detection unmanned aerial vehicle of the present invention.
Fig. 2 is a schematic view of the overall structure of the flight mode of the air-ground dual-purpose detection unmanned aerial vehicle.
Fig. 3 is a schematic structural view of a wing arm telescopic device of the air-ground dual-purpose detection unmanned aerial vehicle.
Fig. 4 is a schematic view of a propeller structure of the air-ground dual-purpose unmanned aerial vehicle.
Fig. 5 is a schematic structural view of a camera device of the air-ground dual-purpose detection unmanned aerial vehicle.
Fig. 6 to 7 are schematic structural views of a chassis frame of the air-ground dual-purpose detection unmanned aerial vehicle of the present invention.
Detailed Description
An air-ground dual-purpose detection unmanned aerial vehicle comprises a main frame 1, wherein the main frame 1 comprises a flying frame 2, a chassis frame 3 and a control cavity 4;
the control cavity 4 is respectively connected with the flying frame 2 and the chassis frame 3.
The flight frame 2 is provided with a wing arm telescopic device 5, a propeller 6 and a camera device 7;
the wing arm telescopic device 5 is arranged in the center of the flying frame 2, and the propeller 6 is arranged on the wing arm telescopic device 5 and used for realizing the telescopic deformation function of the rotor wing; the front end and the rear end of the flying frame 2 are respectively provided with a camera device 7.
The wing arm telescopic device 5 comprises a positive and negative threaded rod 51, a guide rail 52, a sliding block 53, a wing arm 54, an angle block 55 and a central motor 56;
the central motor 56 drives the positive and negative threaded rod 51 to rotate, the positive and negative threaded rod 51 is in threaded connection with a sliding block 53 arranged on a guide rail 52 at the center of the flying frame 2, the sliding block 53 is connected with one end of a wing arm 54, the other end of the wing arm 54 penetrates through an angle block 55, and the angle block 55 is fixed on the surface of the flying frame 2.
The propeller 6 is arranged at the tail end of the wing arm 54 and comprises a blade 61 and a motor 62;
the motor 62 is connected to the end of the wing arm 54 and the blade 61 is connected to the motor 62.
The camera device 7 comprises a steering engine 71, a gear 72 and a picture transmission lens 73;
the steering engine 71 is connected with the flying frame 2 through a connecting mechanism, is meshed with the image transmission lens 73 through a gear 72, and controls the angle of the image transmission lens 73 through the rotation of the steering engine 71.
A chassis lifting deformation structure 8 is arranged on the chassis frame 3, and the lifting deformation structure 8 comprises a main gear 81, a slave gear 82, a wheel connecting bracket 83, a driving motor 85, a Mecanum wheel 86, a rotating motor 87 and a motor connecting bracket 88;
the main gear 81 and the sub-gear 82 are both arranged on the chassis frame 3, and one end of the wheel connecting bracket 83 is connected with the main gear 81 and the sub-gear 82;
the rotating motor 87 is fixedly connected to the chassis frame 3 and drives the main gear 81 and the meshed slave gear 82 to rotate, so as to drive the wheel connecting bracket 83 to rotate and realize the lifting of the chassis;
the other end of the wheel connecting support 83 is connected with a motor connecting frame 88, a driving motor 85 is arranged on the motor connecting frame 88, and the driving motor 85 is connected with the Mecanum wheel 86 and drives the Mecanum wheel to rotate.
Still set up bumper shock absorber 84 between motor link 88 and chassis frame 3, cooperation chassis elevation structure can restrain the shock and the impact from the road surface when absorbing the bounce-back after the spring, realizes the stability of the complicated highway section of the frustration marching forward.
A main controller and a battery are arranged in the control cavity 4;
the main controller is electrically connected with each motor and each steering engine of the unmanned aerial vehicle and is used for controlling the flight of the rotor wing and the lifting of the chassis;
the main control unit is powered by a battery, the battery is electrically connected with the power interface, and the battery supplies power for each device of the unmanned aerial vehicle.
The unmanned aerial vehicle takes land advancing as a main advancing mode, at the moment, the wing arm 54 is contracted by the wing arm expansion device 5, the rotor blades 61 are sagged and stored to reduce the volume, and the chassis is lifted by the chassis lifting deformation mechanism 8 to adapt to a complex ground environment;
under the mode of marcing on land, rotor blade 61 naturally droops to draw together under the effect of gravity, realizes rotor blade 61's flagging and accomodates, and in wing arm telescoping device 5, central motor 56 rotates and drives positive and negative threaded rod 51 rotatory for slider 53 with the mutual screw-thread fit of threaded rod slides along the threaded rod direction is inside, and then makes the wing arm 54 that is connected with slider 53 to shrink inwards, with the volume that occupies of reduction flight frame 2 under the mode of marcing on land.
Meanwhile, the chassis frame 3 drives the main gear 81 to rotate through the rotating motor 87, and the main gear 81 drives the wheel connecting bracket 83 to rotate through the meshing transmission of the subordinate gears 82, so that the chassis is lifted and lowered to adapt to different terrain environments.
When the unmanned aerial vehicle encounters obstacles such as stairs and high platforms, the flight mode can be changed to cross the obstacles, or the unmanned aerial vehicle can be quickly detected and deployed in the flight mode in a short time;
at this moment, the chassis lifting deformation mechanism 8 reduces the chassis to reduce the size, the wing arm expansion device 5 extends the rotor, and the rotor blades 61 are driven by the brushless motor 62 to open for flying.
Under flight mode, central motor 56 antiport drives positive reverse threaded rod 51 rotatory, and slider 53 outwards slides along the threaded rod direction for the rotor arm 54 who is connected with slider 53 outwards extends, and rotor blade 61 opens under the rotatory inertia power that its brushless motor 62 rotates the production drives, makes unmanned aerial vehicle get into four rotor flight modes.
The chassis structure of the unmanned aerial vehicle drives the wheel connecting support 83 to rotate through the matching of the motor and the gear meshing structure in the flight mode, so that the chassis descends, and the occupied volume of the chassis support in the flight mode is greatly reduced.
The utility model is further described below with reference to the figures and examples.
Examples
With reference to fig. 1 to 2, an air-ground dual-purpose detection unmanned aerial vehicle comprises a main frame 1, wherein the main frame 1 comprises a flight frame 2, a chassis frame 3 and a control cavity 4;
the control cavity 4 is respectively connected with the flying frame 2 and the chassis frame 3.
The flight frame 2 is provided with a wing arm telescopic device 5, a propeller 6 and a camera device 7;
the wing arm telescopic device 5 is arranged in the center of the flying frame 2, and the propeller 6 is arranged on the wing arm telescopic device 5 and used for realizing the telescopic deformation function of the rotor wing; the front end and the rear end of the flying frame 2 are respectively provided with a camera device 7.
Referring to fig. 3, the wing arm telescoping device 5 comprises a positive and negative threaded rod 51, a guide rail 52, a sliding block 53, a wing arm 54, an angle block 55 and a central motor 56;
the central motor 56 drives the positive and negative threaded rod 51 to rotate, the positive and negative threaded rod 51 is in threaded connection with a sliding block 53 arranged on a guide rail 52 at the center of the flying frame 2, the sliding block 53 is connected with one end of a wing arm 54, the other end of the wing arm 54 penetrates through an angle block 55, and the angle block 55 is fixed on the surface of the flying frame 2.
With reference to fig. 4, the propeller 6 is arranged at the end of the wing arm 54 and includes blades 61 and a motor 62;
the motor 62 is connected to the end of the wing arm 54 and the blade 61 is connected to the motor 62.
With reference to fig. 5, the image pickup device 7 includes a steering gear 71, a gear 72, and a chart lens 73;
the steering engine 71 is connected with the flying frame 2 through a connecting mechanism, is meshed with the image transmission lens 73 through a gear 72, and controls the angle of the image transmission lens 73 through the rotation of the steering engine 71.
With reference to fig. 6 to 7, a chassis lifting deformation structure 8 is disposed on the chassis frame 3, and the lifting deformation structure 8 includes a main gear 81, a sub-gear 82, a wheel connecting bracket 83, a driving motor 85, a mecanum wheel 86, a rotating motor 87, and a motor connecting bracket 88;
the main gear 81 and the sub-gear 82 are both arranged on the chassis frame 3, and one end of the wheel connecting bracket 83 is connected with the main gear 81 and the sub-gear 82;
the rotating motor 87 is fixedly connected to the chassis frame 3 and drives the main gear 81 and the meshed slave gear 82 to rotate, so as to drive the wheel connecting bracket 83 to rotate and realize the lifting of the chassis;
the other end of the wheel connecting support 83 is connected with a motor connecting frame 88, a driving motor 85 is arranged on the motor connecting frame 88, and the driving motor 85 is connected with the Mecanum wheel 86 and drives the Mecanum wheel to rotate.
Still set up bumper shock absorber 84 between motor link 88 and chassis frame 3, cooperation chassis elevation structure can restrain the shock and the impact from the road surface when absorbing the bounce-back after the spring, realizes the stability of the complicated highway section of the frustration marching forward.
A main controller and a battery are arranged in the control cavity 4;
the main controller is electrically connected with each motor and each steering engine of the unmanned aerial vehicle and is used for controlling the flight of the rotor wing and the lifting of the chassis;
the main control unit is powered by a battery, the battery is electrically connected with the power interface, and the battery supplies power for each device of the unmanned aerial vehicle.
With reference to fig. 1, the unmanned aerial vehicle mainly travels on land, at this time, the wing arm extension device 5 retracts the wing arm 54, the rotor blade 61 sags and retracts to reduce the volume, and the chassis lifting deformation mechanism 8 lifts the chassis to adapt to a complex ground environment;
under the mode of marcing on land, rotor blade 61 naturally droops to draw together under the effect of gravity, realizes rotor blade 61's flagging and accomodates, and in wing arm telescoping device 5, central motor 56 rotates and drives positive and negative threaded rod 51 rotatory for slider 53 with the mutual screw-thread fit of threaded rod slides along the threaded rod direction is inside, and then makes the wing arm 54 that is connected with slider 53 to shrink inwards, with the volume that occupies of reduction flight frame 2 under the mode of marcing on land.
Meanwhile, the chassis frame 3 drives the main gear 81 to rotate through the rotating motor 87, and the main gear 81 drives the wheel connecting bracket 83 to rotate through the meshing transmission of the subordinate gears 82, so that the chassis is lifted and lowered to adapt to different terrain environments.
When the unmanned aerial vehicle encounters obstacles such as stairs and high platforms, the flight mode can be changed to cross the obstacles, or the unmanned aerial vehicle can be quickly detected and deployed in the flight mode in a short time;
as shown in fig. 2, at this time, the chassis lifting deformation mechanism 8 lowers the chassis to reduce the volume, the wing arm extension device 5 extends the rotor, and the rotor blades 61 are driven by the brushless motor 62 to open for flying.
Under flight mode, central motor 56 antiport drives positive reverse threaded rod 51 rotatory, and slider 53 outwards slides along the threaded rod direction for the rotor arm 54 who is connected with slider 53 outwards extends, and rotor blade 61 opens under the rotatory inertia power that its brushless motor 62 rotates the production drives, makes unmanned aerial vehicle get into four rotor flight modes.
The chassis structure of the unmanned aerial vehicle drives the wheel connecting support 83 to rotate through the matching of the motor and the gear meshing structure in the flight mode, so that the chassis descends, and the occupied volume of the chassis support in the flight mode is greatly reduced.
The air-ground dual-purpose investigation unmanned aerial vehicle can realize flexible deformation conversion of the structure under different traveling modes and different investigation environments;
the unmanned aerial vehicle carries out different structural transformation under two modes of air flight and land marching, makes unmanned aerial vehicle have the advantage that adapts to different modes of marching and investigation environment, reduction volume, improvement disguise and security.
The unmanned aerial vehicle takes land traveling as a main traveling mode, and when encountering obstacles such as a high platform, stairs and the like, the unmanned aerial vehicle goes across the obstacles in a flight mode to continue a task. This allows the drone to have a longer duration.
The above embodiments are only a part of the embodiments for illustrating the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Claims (8)
1. An air-ground dual-purpose detection unmanned aerial vehicle is characterized by comprising a main frame (1), wherein the main frame (1) comprises a flying frame (2), a chassis frame (3) and a control cavity (4);
the control cavity (4) is respectively connected with the flying rack (2) and the chassis rack (3).
2. The air-ground dual-purpose reconnaissance unmanned aerial vehicle of claim 1, wherein a wing arm telescopic device (5), a propeller (6) and a camera device (7) are arranged on the flying rack (2);
the wing arm telescopic device (5) is arranged in the center of the flight rack (2), and a propeller (6) is arranged on the wing arm telescopic device (5); the front end and the rear end of the flying frame (2) are respectively provided with a camera device (7).
3. The air-ground dual-purpose reconnaissance unmanned aerial vehicle of claim 2, wherein the wing arm telescopic device (5) comprises a positive and negative threaded rod (51), a guide rail (52), a sliding block (53), a wing arm (54), a corner block (55) and a central motor (56);
the central motor (56) drives the positive and negative threaded rod (51) to rotate, the positive and negative threaded rod (51) is in threaded connection with a sliding block (53) arranged on a guide rail (52) in the center of the flight rack (2), the sliding block (53) is connected with one end of a wing arm (54), the other end of the wing arm (54) penetrates through an angle block (55), and the angle block (55) is fixed on the surface of the flight rack (2).
4. The aerial-ground dual-purpose reconnaissance drone of claim 3, wherein the propeller (6) is arranged at the end of a wing arm (54) and comprises blades (61) and a motor (62);
the motor (62) is connected with the tail end of the wing arm (54), and the paddle (61) is connected with the motor (62).
5. The air-ground dual-purpose reconnaissance unmanned aerial vehicle of claim 2, wherein the camera device (7) comprises a steering engine (71), a gear (72) and a pattern transmission lens (73);
the steering engine (71) is connected with the flying rack (2) through a connecting mechanism and is meshed with the image transmission lens (73) through a gear (72), and the angle of the image transmission lens (73) is controlled through rotation of the steering engine (71).
6. The air-ground dual-purpose reconnaissance unmanned aerial vehicle of claim 1, wherein a chassis lifting deformation structure (8) is arranged on the chassis frame (3), and the lifting deformation structure (8) comprises a main gear (81), a slave gear (82), a wheel connecting bracket (83), a driving motor (85), a Mecanum wheel (86), a rotating motor (87) and a motor connecting bracket (88);
the main gear (81) and the slave gear (82) are both arranged on the chassis rack (3), and one end of the wheel connecting bracket (83) is connected with the main gear (81) and the slave gear (82);
the rotating motor (87) is fixedly connected to the chassis frame (3) and drives the main gear (81) and the meshed subordinate gear (82) to rotate, so that the wheel connecting bracket (83) is driven to rotate, and the lifting of the chassis is realized;
the other end of the wheel connecting support (83) is connected with a motor connecting frame (88), a driving motor (85) is arranged on the motor connecting frame (88), and the driving motor (85) is connected with the Mecanum wheel (86) and drives the Mecanum wheel to rotate.
7. The air-ground dual-purpose reconnaissance unmanned aerial vehicle of claim 6, wherein a shock absorber (84) is further disposed between the motor connecting frame (88) and the chassis frame (3).
8. The air-ground dual-purpose reconnaissance unmanned aerial vehicle of claim 1, wherein a main controller and a battery are arranged in the control chamber (4);
the main controller is electrically connected with each motor and each steering engine of the unmanned aerial vehicle and is used for controlling the flight of the rotor wing and the lifting of the chassis;
the main control unit is powered by a battery, the battery is electrically connected with the power interface, and the battery supplies power for each device of the unmanned aerial vehicle.
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| CN202122101200.4U CN215707136U (en) | 2021-09-02 | 2021-09-02 | Dual-purpose investigation unmanned aerial vehicle in air and ground |
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| CN202122101200.4U CN215707136U (en) | 2021-09-02 | 2021-09-02 | Dual-purpose investigation unmanned aerial vehicle in air and ground |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114719672A (en) * | 2022-05-26 | 2022-07-08 | 西安航空学院 | Multifunctional individual soldier simulated combat platform with Mecanum wheels |
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2021
- 2021-09-02 CN CN202122101200.4U patent/CN215707136U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114719672A (en) * | 2022-05-26 | 2022-07-08 | 西安航空学院 | Multifunctional individual soldier simulated combat platform with Mecanum wheels |
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