Multi-mode crawler unmanned aerial vehicle capable of spraying pesticide and transporting

Abstract

The invention discloses a multi-mode caterpillar track unmanned aerial vehicle aircraft capable of spraying pesticide and transporting, and relates to the technical field of unmanned aerial vehicles, the multi-mode caterpillar track unmanned aerial vehicle aircraft comprises a caterpillar track-rotor wing integrated mechanism, folding self-locking mechanisms, a pesticide spraying-propelling mechanism and a fuselage structure, and the two folding self-locking mechanisms are symmetrically arranged on the fuselage structure; each folding self-locking mechanism is provided with a crawler-rotor integrated mechanism, each crawler-rotor integrated mechanism is provided with a pesticide spraying-propelling mechanism, and the folding self-locking mechanisms are used for adjusting the angles of the crawler-rotor integrated mechanisms. By optimizing the structural design, compact integration of the crawler belt-rotor wing integrated mechanism, the folding self-locking mechanism and the pesticide spraying-propelling mechanism is achieved, the multi-mode functions of air flight, ground running and water surface movement are achieved, and it is ensured that the unmanned aerial vehicle works efficiently in various environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the unmanned aerial vehicle technical field, specifically to a multi-modal crawler unmanned aerial vehicle aircraft capable of spraying and transporting. BACKGROUND

[0002] The existing unmanned aerial vehicles are mostly limited to single flight function, and a few designs attempt to combine ground or water movement, but the structure is usually complex and the conversion efficiency is low. For example, some unmanned aerial vehicles achieve ground movement by adding wheeled or tracked mechanisms, but often result in weight increase and aerodynamic performance decline; when some unmanned aerial vehicles attempt to achieve water movement, they need to be equipped with additional propellers, lacking integration and multi-modal seamless switching capability.

[0003] Therefore, a multi-modal crawler unmanned aerial vehicle aircraft capable of spraying and transporting is proposed to solve the above problems. SUMMARY

[0004] To achieve the above purpose, the present application provides the following technical scheme: a multi-modal crawler unmanned aerial vehicle aircraft capable of spraying and transporting, comprising a crawler-rotor integrated mechanism, a folding self-locking mechanism, a spraying-propulsion mechanism and a fuselage structure, the fuselage structure is symmetrically provided with two folding self-locking mechanisms, each folding self-locking mechanism is provided with a crawler-rotor integrated mechanism, each crawler-rotor integrated mechanism is provided with a spraying-propulsion mechanism, and the folding self-locking mechanism is used to adjust the angle of the crawler-rotor integrated mechanism. The crawler-rotor integrated mechanism comprises a rotor-crawler rack connected to the folding self-locking mechanism, the rotor-crawler rack is fixedly provided with a propeller motor, a crawler drive motor, a planetary gear reducer and two crawler wheel hubs, the output end of the propeller motor is provided with a propeller, the outer side of the crawler wheel hub is rotatably provided with a crawler wheel, the output end of the crawler drive motor is connected with the input end of the planetary gear reducer, the output end gear of the planetary gear reducer is engaged with the two crawler wheels, and the outer sides of the two crawler wheels are jointly provided with a crawler belt, and the side of the crawler belt is provided with a crawler belt side tab.

[0005] Preferably, the fuselage structure comprises a landing gear support, a medicine box, a landing gear, a floating tank, a magnetic strip, a metal cabinet door, a battery carrier plate, a medicine box support mounting rack, a medicine box mounting support, a bandage, a battery, an on-board computer, an on-board computer carrier plate and a landing gear support mounting rack. The battery carrier, the medicine box support mounting frame and the airborne computer are fixedly arranged on the airborne computer carrier, the medicine box support mounting frame is fixedly arranged at the bottom of the airborne computer carrier, the medicine box and the floating water tank are detachably connected with the medicine box support mounting frame through bolts, the battery is fixed on the battery carrier through a bandage, the landing gear support mounting frame is fixedly arranged on the battery carrier, the landing gear support is fixedly arranged on the landing gear support mounting frame, the landing gear is fixedly arranged on the landing gear support, and the metal cabinet door is rotatably arranged on the floating water tank and is sealed by being attached to the floating water tank through a magnetic strip fixed on the floating water tank.

[0006] As preferred, the folding self-locking mechanism comprises a spring, a T-shaped limiting rod, a rotating frame, a rotating rudder and a base; The base is fixedly arranged on the battery carrier, the rotating frame is rotatably arranged on the base, the rotating frame is driven to rotate by the rotating rudder fixed on the base, the T-shaped limiting rod is slidably arranged on the base, the spring is sleeved on the T-shaped limiting rod, and the two ends of the spring are respectively abutted against the T-shaped limiting rod and the base, the rotating frame is provided with two groups of limiting grooves matched with the T-shaped limiting rod; and the rotating frame is fixedly connected with the rotor-track frame of the track-rotor integrated mechanism.

[0007] As preferred, the medicine spraying-propelling mechanism comprises a nozzle support, a turbine propeller, a nozzle, a nozzle rudder, a liquid pump, a liquid conveying pipe and turbine blades; The nozzle support of the medicine spraying-propelling mechanism is fixedly arranged on the rotor-track frame, the nozzle rudder and the liquid pump are fixedly arranged on the nozzle support, the connecting piece is rotatably arranged on the nozzle support, the turbine propeller is rotatably arranged on the pipeline of the connecting piece, the turbine blades are fixedly arranged on the inner side of the turbine propeller, the nozzle is arranged at the end of the turbine propeller away from the connecting piece, the nozzle rudder is used to drive the connecting piece to rotate to adjust the spraying angle of the nozzle, and the liquid conveying pipe is used to connect the liquid pump and the pipeline of the connecting piece, so that the liquid output by the liquid pump is sprayed out from the nozzle after entering the inner side of the turbine propeller.

[0008] As preferred, the medicine box is provided with a medicine box cover.

[0009] As preferred, the battery carrier is fixedly provided with an upper cover plate through a connecting rod.

[0010] The present application has the following advantages: The track-rotor integrated mechanism realizes the functions of air flight and ground driving, the folding self-locking mechanism is used for stably controlling attitude change, the switching of the functions of air flight and ground driving is realized, and the spraying-propelling mechanism is used for realizing spraying operation and water surface propulsion. The track of the unmanned aerial vehicle is arranged on the track wheel hub, has no influence on downwash, and cannot cause the decrease of aerodynamic performance. The track-rotor integrated mechanism, the folding self-locking mechanism and the spraying-propelling mechanism are compactly integrated through the optimization of structure design and the simplification of structure complexity, the unmanned aerial vehicle has the functions of air flight, ground driving and water surface movement, is light in weight, and can work efficiently in various environments. The unmanned aerial vehicle is compact in structure, various in function, and is suitable for various scenes such as agricultural spraying, reconnaissance and rescue. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 it is the overall structure schematic diagram under flight mode of the application; Figure 2 it is the overall structure schematic diagram under ground mode of the application; Figure 3 it is the overall structure schematic diagram under water surface mode of the application; Figure 4 it is the three-dimensional structure schematic diagram of battery carrier plate, airborne computer carrier plate and medicine box mounting support in the application; Figure 5 it is the three-dimensional structure schematic diagram of landing gear support mounting frame and medicine box cover in the application; Figure 6 it is the three-dimensional structure schematic diagram of nozzle support, turbine propeller and nozzle in the application; Figure 7 it is the three-dimensional structure schematic diagram of T-shaped limiting rod, rotating frame and spring in the application; Figure 8 it is the three-dimensional structure schematic diagram of turbine blade in the application.

[0012] In the diagram: 1. Track; 2. Landing gear bracket; 3. Track side lever; 4. Medicine tank; 5. Landing gear; 6. Track wheel; 7. Propeller; 8. Propeller motor; 9. Track drive motor; 10. Top cover plate; 11. Planetary gear reducer; 12. Track wheel hub; 13. Rotor-track frame; 14. Float tank; 15. Magnetic strip; 16. Metal cabinet door; 18. Battery carrier plate; 19. Medicine tank bracket mounting bracket; 20. Medicine tank mounting bracket; 21. Straps; 2 2. Battery; 23. Mounting bolt; 24. Onboard computer; 25. Onboard computer carrier board; 26. Landing gear bracket mounting bracket; 27. Connecting stud; 28. Medicine tank cover; 29. ​​Nozzle bracket; 30. Turboprop; 31. Nozzle; 32. Nozzle servo; 33. Liquid pump; 34. Infusion tube; 35. Spring; 36. Limiting groove; 37. T-shaped limiting rod; 38. Rotating frame; 39. Rotating servo; 40. Base; 41. Turbine vane; 42. Connecting rod. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0015] Embodiments of the present invention: such as Figures 1 to 8 As shown, this application provides a multimodal tracked unmanned aerial vehicle capable of spraying and transporting explosives, including an integrated track-rotor mechanism, a folding self-locking mechanism, a spraying-propulsion mechanism, and a fuselage structure. Two folding self-locking mechanisms are symmetrically arranged on the fuselage structure. Each folding self-locking mechanism is equipped with an integrated track-rotor mechanism, and each integrated track-rotor mechanism is equipped with a spraying-propulsion mechanism. The folding self-locking mechanism is used to adjust the angle of the integrated track-rotor mechanism. The track-rotor integrated mechanism includes a rotor-track frame 13 connected to the folding self-locking mechanism, the rotor-track frame 13 is fixedly provided with a propeller motor 8, a track driving motor 9, a planetary gear reducer 11 and two track wheel hubs 12, the output end of the propeller motor 8 is provided with a propeller 7, which can provide air thrust; the track wheel hub 12 is located outside the propeller 7, which can protect the propeller 7; the track wheel hub 12 is rotatably provided with a track wheel 6 outside, which provides a support basis for the track wheel 6; the output end of the track driving motor 9 is connected with the input end of the planetary gear reducer 11, which is used for transmitting power and reducing the rotating speed, the output end gear of the planetary gear reducer 11 is engaged with the two track wheels 6, and the outside of the two track wheels 6 is provided with a track 1, the track wheel 6 is driven to rotate by the track driving motor 9 and the planetary gear reducer 11, and then the track 1 can be driven to rotate; one side of the track 1 is provided with a track side tab 3, which can enhance the ground grip and water propulsion efficiency; the battery carrier plate 18 is fixedly provided with an upper cover plate 10 through a connecting rod 42, the upper cover plate 10 covers the upper part of the track-rotor integrated mechanism, and plays a protection role. The propeller motor 8, the track driving motor 9, the planetary gear reducer 11 and the track wheel 6 are all prior art, and will not be described here.

[0016] As shown in the figure, Figures 1 to 5 The body structure includes a landing gear support 2, a medicine box 4, a landing gear 5, a floating water tank 14, a magnetic strip 15, a metal cabinet door 16, a battery carrier plate 18, a medicine box support mounting frame 19, a medicine box mounting support 20, a bandage 21, a battery 22, an onboard computer 24, an onboard computer carrier plate 25 and a landing gear support mounting frame 26. The onboard computer carrier plate 25 is fixedly provided with the battery carrier plate 18, the medicine box support mounting frame 19 and the onboard computer 24, the battery carrier plate 18 is fixedly provided on the onboard computer carrier plate 25 through a connecting stud 27, flight control is realized through the onboard computer 24, the bottom of the medicine box support mounting frame 19 is fixedly provided with the medicine box mounting support 20, the medicine box 4 and the floating water tank 14 are detachably provided on the medicine box mounting support 20 through bolts, the medicine box 4 is provided with a medicine box cover 28, which is used for sealing the medicine box 4; the battery 22 is fixed on the battery carrier plate 18 through the bandage 21, ensuring stable power supply; the battery carrier plate 18 is fixedly provided with the landing gear support mounting frame 26, the landing gear support mounting frame 26 is fixedly provided with the landing gear support 2, the landing gear support 2 is fixedly provided with the landing gear 5, providing landing support; the metal cabinet door 16 is rotatably provided on the floating water tank 14 and is sealed with the floating water tank 14 through the magnetic strip 15 fixed on the floating water tank 14, so as to close the metal cabinet door 16, ensure the sealing and stability of the floating water tank 14, and open the metal cabinet door 16 for loading, which is diversified in function. The battery 22 and the onboard computer 24 are both prior art, and will not be described here.

[0017] AsFigures 1 to 4 as well as Figure 7 As shown, the folding self-locking mechanism includes a spring 35, a T-shaped limit rod 37, a rotating frame 38, a rotating servo motor 39, and a base 40. The base 40 is fixedly mounted on the battery carrier plate 18 by mounting bolts 23. A rotating frame 38 is rotatably mounted on the base 40. The rotating frame 38 is fixedly connected to the rotor-track frame 13 of the integrated track-rotor mechanism and is driven to rotate by a rotating servo motor 39 fixed on the base 40. A T-shaped limiting rod 37 is slidably mounted on the base 40. A spring 35 is sleeved on the T-shaped limiting rod 37. The two ends of the spring 35 abut against the T-shaped limiting rod 37 and the base 40 respectively. The elastic force provided by the spring 35 causes the T-shaped limiting rod 37 to abut against the rotating frame 38. The rotating frame 38 is also equipped with... Two sets of limiting grooves 36 that cooperate with the T-shaped limiting rod 37 can achieve a self-locking effect after the T-shaped limiting rod 37 is engaged in the limiting groove 36, assisting in fixation. The positions of the two sets of limiting grooves 36 correspond to the horizontal and vertical states of the track-rotor integrated mechanism, respectively. The outer arc surfaces of the limiting grooves 36 and the T-shaped limiting rod 37 are smoothly transitioned. When the rotary servo motor 39 needs to drive the rotating frame 38 to rotate, the rotary servo motor 39 outputs a large torque and can squeeze the T-shaped limiting rod 37 through the limiting groove 36, causing the T-shaped limiting rod 37 to slide away from the rotating frame 38, thereby separating the T-shaped limiting rod 37 from the rotating frame 38. When the track-rotor integrated mechanism is in a horizontal state, the propeller motor 8 drives the propeller 7 to rotate, achieving the effect of flight; when the track-rotor integrated mechanism is in a vertical state, the track drive motor 9, planetary gear reducer 11, and track wheel 6 drive the track 1 to rotate, achieving the effect of ground movement. Rotary servo motor 39 is existing technology and will not be described in detail here.

[0018] like Figures 1 to 4 as well as Figure 8 As shown, the spraying-propulsion mechanism includes a nozzle support 29, a turboprop 30, a nozzle 31, a nozzle servo motor 32, a liquid pump 33, a liquid delivery pipe 34, and a turbine blade 41. The nozzle support 29 of the pesticide spraying-propelling mechanism is fixedly arranged on the rotor-track frame 13, the nozzle support 29 is fixedly provided with a nozzle rudder 32 and a liquid pump 33, the nozzle support 29 is rotatably provided with a connecting piece, and the pipeline of the connecting piece is rotatably provided with a turbine propeller 30, the turbine propeller 30 is fixedly provided with turbine blades 41 on the inner side, and the turbine propeller 30 is provided with a nozzle 31 at the end away from the connecting piece, the nozzle rudder 32 is used to drive the connecting piece to rotate to adjust the spraying angle of the nozzle 31, the liquid conveying pipe 34 is made of flexible material and is used to connect the liquid pump 33 and the pipeline of the connecting piece to convey liquid, so that the liquid output by the liquid pump 33 enters the inner side of the turbine propeller 30 and is sprayed from the nozzle 31. When the track-rotor integrated mechanism is in a horizontal state, the nozzle 31 is located below the propeller 7 to avoid interference with flight. The nozzle rudder 32 and the liquid pump 33 are prior art and will not be described here.

[0019] When the device is in a flying state and sprays pesticide, the pesticide tank 4 is carried on the pesticide tank mounting bracket 20, the input end of the liquid pump 33 is communicated with the pesticide tank 4 through the built-in pipeline, the nozzle 31 is controlled to be vertically downward by the nozzle rudder 32, and downward spraying of pesticide is realized; When the device is in a water movement posture, the floating water tank 14 is carried on the pesticide tank mounting bracket 20, the input end of the liquid pump 33 extends into the water body through the built-in pipeline, the nozzle 31 is controlled to be in a horizontal posture by the nozzle rudder 32, the liquid pump 33 sprays high-pressure liquid to impact the turbine blades 41, so that the turbine propeller 30 rotates to provide water surface thrust, and when the pesticide tank 4 is manually replaced by the floating water tank 14, the water movement capability can be enhanced in cooperation with the track side shifting piece 3.

[0020] The working principle of all the contents in the above embodiments is as follows: The device controls the coordinated work of each mechanism through the on-board computer 24. In the flight mode, the track-rotor integrated mechanism is kept horizontal through the folding self-locking mechanism, and the lifting force is provided through the propeller 7; in the ground mode, the track-rotor integrated mechanism is switched to a vertical state through the folding self-locking mechanism, and the movement is realized through the track 1; in the water surface mode, the floating force is provided through the floating water tank 14, and the thrust is provided through the pesticide spraying-propelling mechanism or the track side shifting piece 3.

[0021] The pesticide spraying-propelling mechanism adjusts the direction of the nozzle 31 according to the application scene to realize the functions of pesticide spraying or propulsion; the pesticide tank 4 or the floating water tank 14 is selected according to the application scene. The whole system structure is compact, the cooperation relationship is accurate, and the multi-mode efficient operation is ensured.

[0022] In summary, the track-rotor integrated mechanism realizes the functions of air flight and ground driving, the folding self-locking mechanism stably controls the attitude change, the switching of the air flight and ground driving functions is realized, and the spraying-propelling mechanism realizes the spraying operation and water surface propulsion. The track 1 is arranged on the track wheel hub 12, has no influence on the downwash, and thus does not cause the air dynamic performance to be reduced. The track-rotor integrated mechanism, the folding self-locking mechanism and the spraying-propelling mechanism are compactly integrated by optimizing the structural design and simplifying the structural complexity, are relatively light, have the multi-mode functions of air flight, ground driving and water surface movement, do not need to be additionally equipped with a propeller, and ensure that the unmanned aerial vehicle works efficiently in various environments.

[0023] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A spray-transportable multi-modal tracked unmanned aerial vehicle, characterized in that, The application relates to a multi-rotor unmanned aerial vehicle, which comprises a track-rotor integrated mechanism, a folding self-locking mechanism, a pesticide spraying-propelling mechanism and a fuselage structure. The track-rotor integrated mechanism comprises a rotor-track rack (13) connected to the folding self-locking mechanism, a propeller motor (8), a track driving motor (9), a planetary gear reducer (11) and two track wheel hubs (12) fixedly arranged on the rotor-track rack (13), a propeller (7) arranged at the output end of the propeller motor (8), track wheels (6) rotatably arranged outside the track wheel hubs (12), the output end of the track driving motor (9) connected with the input end of the planetary gear reducer (11), the output end gear of the planetary gear reducer (11) engaged with the two track wheels (6), and a track (1) arranged outside the two track wheels (6).

2. A multi-modal trackless UAV aircraft that can spray and transport, according to claim 1, characterized by, The fuselage structure comprises a landing gear support (2), a pesticide box (4), a landing gear (5), a floating water tank (14), a magnetic strip (15), a metal cabinet door (16), a battery carrier plate (18), a pesticide box support mounting rack (19), a pesticide box mounting support (20), a bandage (21), a battery (22), an on-board computer (24), an on-board computer carrier plate (25) and a landing gear support mounting rack (26). The battery carrier plate (18), the pesticide box support mounting rack (19) and the on-board computer (24) are fixedly arranged on the on-board computer carrier plate (25), the bottom of the pesticide box support mounting rack (19) is fixedly provided with the pesticide box mounting support (20), the pesticide box (4) and the floating water tank (14) are detachably connected with the pesticide box mounting support (20) through bolts, the battery (22) is fixed on the battery carrier plate (18) through the bandage (21), the landing gear support mounting rack (26) is fixedly arranged on the battery carrier plate (18), the landing gear support (2) is fixedly arranged on the landing gear support mounting rack (26), the landing gear (5) is fixedly arranged on the landing gear support (2), the metal cabinet door (16) is rotatably arranged on the floating water tank (14) and is sealed with the floating water tank (14) through the magnetic strip (15) fixed on the floating water tank (14).

3. A multi-modal trackless UAV aircraft that can spray and transport, according to claim 2, wherein, The folding self-locking mechanism comprises a spring (35), a T-shaped limiting rod (37), a rotating frame (38), a rotating rudder (39) and a base (40). The base (40) is fixedly arranged on the battery carrier plate (18), the rotary frame (38) is rotatably arranged on the base (40), the rotary frame (38) is driven to rotate by the rotary rudder (39) fixed on the base (40), the T-shaped limiting rod (37) is slidably arranged on the base (40), the spring (35) is sleeved on the T-shaped limiting rod (37), the two ends of the spring (35) are respectively abutted with the T-shaped limiting rod (37) and the base (40), and the rotary frame (38) is provided with two groups of limiting grooves (36) matched with the T-shaped limiting rod (37); the rotary frame (38) is fixedly connected with the rotor-track frame (13) of the track-rotor integrated mechanism.

4. A multi-modal trackless UAV aircraft that can spray and transport, according to claim 3, wherein, The medicine spraying-propelling mechanism comprises a nozzle support (29), a turbine propeller (30), a nozzle (31), a nozzle rudder (32), a liquid pump (33), a liquid conveying pipe (34) and turbine blades (41); The nozzle support (29) of the medicine spraying-propelling mechanism is fixedly arranged on the rotor-track frame (13), the nozzle support (29) is fixedly provided with the nozzle rudder (32) and the liquid pump (33), the nozzle support (29) is rotatably provided with a connecting piece, and the pipeline of the connecting piece is rotatably provided with the turbine propeller (30), the turbine blades (41) are fixedly arranged on the inner side of the turbine propeller (30), the nozzle (31) is arranged at the end of the turbine propeller (30) away from the connecting piece, the nozzle rudder (32) is used for driving the connecting piece to rotate to adjust the spraying angle of the nozzle (31), and the liquid conveying pipe (34) is used for connecting the liquid pump (33) and the pipeline of the connecting piece, so that the liquid output by the liquid pump (33) enters the inner side of the turbine propeller (30) and is sprayed from the nozzle (31).

5. A multi-modal trackless UAV vehicle of claim 4, wherein, The medicine box (4) is provided with a medicine box cover (28).

6. A multi-modal trackless UAV vehicle of claim 5, wherein, The upper cover plate (10) is fixedly arranged on the battery carrier plate (18) through the connecting rod (42).

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