Automatic folding multi-rotor wing water-air amphibious robot

Abstract

The invention discloses an automatic folding multi-rotor wing water-air amphibious robot which comprises a main body cabin, an empennage and an underwater propeller. A plurality of mechanical arm control units are arranged around the main body cabin; each mechanical arm control unit is provided with a base and a baffle plate that are coaxially and parallelly arranged, an axial sliding assembly isarranged between the base and the baffle plate, a mechanical arm bracket is hinged to a slide block of the sliding assembly, and the end, far away from the slide block, of the mechanical arm bracket is hinged to a mechanical arm; one end of the mechanical arm extends to the baffle plate and is movably hinged to the main body cabin while the other end of the mechanical arm is connected to a rotor wing unit through a motor seat; and a transverse rolling shaft control unit is further arranged on the periphery, close to the empennage, of the main body cabin. The robot can control sinking and floating without an extra water ballast space, so that the size and weight of the amphibious equipment are reduced obviously. The automatic folding multi-rotor wing water-air amphibious robot is small in underwater forward resistance and suitable for underwater navigation, can be retracted and released automatically, and reduces the carrying difficulty and releases preparation work obviously.

Description

technical field [0001] The invention relates to the technical field of amphibious submarines, in particular to an automatic folding multi-rotor water-air amphibious robot. Background technique [0002] At present, unmanned underwater operations such as underwater inspection and sampling mainly use submersibles, but the preparatory work for submersibles is cumbersome, and the release to the water needs to be done manually, and there are disadvantages such as the shore is far away from the water or the place is not suitable for release. factor. The diving depth of existing amphibious UAVs is relatively shallow, and fixed-wing amphibious UAVs have higher requirements for take-off and landing ground on land; the use of rotor-type amphibious UAVs has greater underwater resistance and slower forward speed, so the operating efficiency is relatively low. Low. [0003] For example, the Chinese utility model patent (publication number: CN206615393U) disclosed a floating body throwin...

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Problems solved by technology

[0003] For example, the Chinese utility model patent (publication number: CN206615393U) disclosed a floating body throwing off type amphibious four-rotor UAV in 2017, including four propellers, a rigid cross support mechanism and a control system, and the cross support mechanism includes a frame The main body and the four arms connected around the main body of the frame, the top of the main body of the frame is sealed with a floating body, the bottom is sealed with an inner cabin, and there are watertight joints for installing waterproof wires around and on the top; although the UAV It is capable of air and water navigation, but there are deficiencies in water entry attitude, underwater navigation stability and accuracy control, and the underwater driving resistance is relatively large

[0004] Another example is the Chinese invention patent application (publication number: CN109229374A) in 2019, which disclosed a cabin-type structure flying submersible, including a main control cabin, a power conversion cabin, a communication device, and a rotor; Rotating to form a traditional four-rotor UAV structure; when sailing on the water, the steering gear drives the rotor to rotate to form a paddle boat structure; when underwater, the steering gear drives the rotor to rotate to form a new type The structure of the unmanned submersible; the flying submersible can also navigate in the air and underwater, and can adjust the angle, but it is inconvenient for the flying submersible to take off and land on land, and the static release requires the assistance of foreign objects

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