Automatic folding multi-rotor wing water-air amphibious robot

A multi-rotor and robot technology, applied in the direction of fuselage, aircraft parts, aircraft control, etc., can solve the problems of insufficient control of underwater navigation stability and accuracy, static release requires foreign object assistance, and large underwater driving resistance. Achieve the effect of reducing volume and weight, improving flexibility and increasing speed capability

Active Publication Date: 2020-12-29
沈秋毅 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • Automatic folding multi-rotor wing water-air amphibious robot
  • Automatic folding multi-rotor wing water-air amphibious robot
  • Automatic folding multi-rotor wing water-air amphibious robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] Such as Figure 1 ~ Figure 4 As shown, an automatic folding multi-rotor water-air amphibious robot includes a main body cabin 1, four groups of empennages 4 are connected to the tail of the main body cabin 1, and underwater propellers 6 are installed between several of the empennages 4; Four groups of machine arm control units are respectively centrally symmetrically arranged around the main cabin 1; each of the machine arm control units has a base 7 and a baffle 8 coaxially arranged in parallel, and the base 7 and the baffle 8 They are respectively fixed at the tail and the head of the main body cabin 1, and an axial sliding assembly 9 is arranged between the base 7 and the baffle plate 8, and the sliding block 10 of the sliding assembly 9 is hinged with an organic arm bracket. 11, the end of the arm bracket 11 away from the slider 10 is hinged to the organic arm 12; one end of the arm 12 extends to the baffle plate 8 and is hinged with the main body compartment 1, and...

Embodiment 2

[0075] This embodiment provides a structure and connection installation method of the empennage.

[0076] Such as Figure 5 As shown, the empennage 4 has an irregular polygonal shape, the outer side is straight and the inner side is multi-fold and variable; the empennage 4 has an upper mounting part 401, a lower mounting part 403 and a vertical mounting part 402, and the upper mounting part 401. Both the lower mounting part 403 and the vertical mounting part 402 are provided with mounting screw holes; the upper mounting part 401 is screwed and fixed to a pair of connecting pieces below the main body cabin 1; the vertical The mounting part 402 is screwed and fixed to the connecting piece on the outer circumference of the propeller fixing seat.

[0077] Such as Figure 6 As shown, the tripod 16 has an integrally formed mounting block 1601, a pair of connecting pieces 1602 are arranged at the diagonal of the mounting block 1601, and the lower mounting part 403 is inserted betwe...

Embodiment 3

[0079] This embodiment provides the motion control mode of the robot in the water in the first embodiment.

[0080] Such as Figure 7 ~ Figure 10 As shown, in order to facilitate description and understanding, the motors on the robot are relabeled according to the serial numbers; they are No. 1 motor 19, No. 2 motor 20, No. 3 motor 21, and No. 4 motor 22 (No. No. 14 brushless motor); No. 5 motor 23 (the drive motor of the roll axis control unit); No. 6 motor 24 (the thruster drive motor).

[0081] When switching to the underwater mode in the air, after the lower half of the robot (the bottom of the main body cabin 1 together with the empennage 4) is vertically immersed in the water, the No. 1 to No. 4 motors all stop and the four described machine arms 12 are recovered at the same time. Gravity is greater than buoyancy to make it sink naturally. Since the center of buoyancy is located in the front half, it will maintain a vertical direction during the sinking process. After ...

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PUM

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60F5/02B64C1/30
CPCB60F5/02B64C1/30
Inventor 沈秋毅杨嘉鹏
Owner 沈秋毅
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