A snorkeling water-air unmanned aerial vehicle

Abstract

The present invention relates to the field of unmanned aerial vehicles, and discloses a snorkeling water-air unmanned aerial vehicle, which includes a frame and a paddle power assembly. The frame and the paddle power assembly are connected through a connecting assembly. The connecting assembly includes a first connecting piece connected to the paddle power assembly and a second connecting piece rotatably connected to the first connecting piece. The connecting assembly is provided with a driver and a rotating member controlled by the driver to rotate. Both joints of the first connecting piece and the second connecting piece are inclined cut surfaces. The rotating member is fixedly connected to the first connecting piece, and the rotating member is rotatably connected to the cut surface of the second connecting piece. When the driver drives the second connecting piece to rotate relative to the first connecting piece through the rotating member, the central axis of rotation of the first connecting piece is perpendicular to the cut surface, driving the change in the spatial position of the paddle power assembly relative to the frame.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and particularly to a snorkeling water-air unmanned aerial vehicle. Background Art

[0002] The unmanned aerial vehicles on the market can travel in the air or in water. Currently, when the unmanned aerial vehicles in the air enter the water, it is difficult for them to move forward in the water.

[0003] A water-air amphibious unmanned aerial vehicle is involved in the Chinese utility model with the application number CN201720827390.9. It flies in the air through a rotor and dives underwater through the cooperation of a propeller and a rotor. This kind of structure uses the cooperation of a propeller and a rotor for water-air dual use. Since the propeller and the rotor are respectively located at both ends of the arm, while increasing the weight at the end of the arm, through the different rotational speeds of the rotor, the unmanned aerial vehicle can move forward underwater only. There is no forward and backward propeller blade, making it difficult for the unmanned aerial vehicle to move forward in the water. Summary of the Invention

[0004] Aiming at the disadvantage that the existing technology unmanned aerial vehicle moves slowly underwater, the present invention provides a snorkeling water-air unmanned aerial vehicle.

[0005] To solve the above technical problems, the present invention is solved by the following technical solutions: A snorkeling water-air unmanned aerial vehicle includes a frame and a paddle power assembly. The frame and the paddle power assembly are connected through a connection assembly. The connection assembly includes a first connector connected to the paddle power assembly and a second connector rotatably connected to the first connector. The connection assembly is provided with a driver and a rotating member controlled by the driver to rotate. Both joints of the first connector and the second connector are inclined cut surfaces. The rotating member is fixedly connected to the first connector and rotatably connected to the cut surface of the second connector. When the driver drives the second connector to rotate relative to the first connector through the rotating member, the central axis of rotation of the first connector is perpendicular to the cut surface, driving the spatial position change of the paddle power assembly relative to the frame.

[0006] Adopting the above scheme, the power devices of the existing unmanned aerial vehicles on the market generally include propeller blades and motors. The propeller blades for the unmanned aerial vehicles in the air are all arranged upward. By the relative rotation of the first connector and the second connector of the connection assembly, the position of the paddle power assembly located on the first connector can be changed, and the paddle power assembly originally arranged upward can be changed to face the side direction, enabling the unmanned aerial vehicle to use multiple directions underwater, facilitating the propulsion and position adjustment of the unmanned aerial vehicle underwater, and making the unmanned aerial vehicle move forward more quickly underwater.

[0007] Preferably, the connecting assembly further includes a third connecting member rotatably connected to the second connecting member. A linkage shaft that cooperates with the rotating member for rotation is provided in the second connecting member. The driver is located in the third connecting member and can drive the linkage shaft to rotate. The rotation of the linkage shaft can synchronously drive the second connecting member to rotate relative to the third connecting member and drive the rotating member to rotate.

[0008] With the above solution, the function of the third connecting member is that the blades of the paddle power assembly can be arranged outward, avoiding interference of the blades of the power device on the connecting assembly.

[0009] Preferably, the driver is cooperatively provided with a transfer assembly that can drive the driver to move. A locking member that can lock the linkage shaft is provided on the transfer assembly. The transfer assembly can drive the driver to cooperate with the linkage shaft or drive the locking assembly to cooperate with the linkage shaft.

[0010] With the above solution, the linkage shaft can be locked by the locking member, thus playing a positioning role and avoiding re-rotation after the first connecting member, the second connecting member, and the third connecting member rotate in place.

[0011] Preferably, a first guiding groove is provided on the section of the second connecting member. A first guiding post located in the first guiding groove is provided on the first connecting member. A second guiding groove is provided on the third connecting member. A second guiding post that cooperates with the second guiding groove is provided on the second connecting member or the linkage shaft. The first guiding groove and the second guiding groove are respectively used to limit the rotation distance of the first connecting member and the second connecting member.

[0012] With the above solution, a first guiding post and a second guiding post are respectively provided in the first guiding groove and the second guiding groove. The functions of the first guiding groove and the second guiding groove are to limit the excessive rotation of the second connecting member and the third connecting member, and only at the limits of the first guiding groove and the second guiding groove.

[0013] Preferably, the sections of both the first connecting member and the second connecting member are at 45 degrees. When the first guiding post is located at both ends of the first guiding groove, the central axes of the first connecting member and the second connecting member coincide, or the central axes of the first connecting member and the second connecting member are perpendicular.

[0014] With the above solution, when the sections of the first connecting member and the second connecting member are at 45 degrees, when the first connecting member rotates 180 degrees relative to the second connecting member, the central axes of the first connecting member and the second connecting member can be at ninety degrees.

[0015] Preferably, both the first connecting member and the second connecting member are tubular. A first fixing sleeve is arranged inside the first connecting member, and a second fixing sleeve is arranged inside the second connecting member. Both the first fixing sleeve and the second fixing sleeve are provided with slopes. The slope of the first fixing sleeve is flush with the section plane of the first connecting member, and the slope of the second fixing sleeve is flush with the section plane of the second connecting member. The rotating member is connected to the slope, and the first guide post and the first guide groove are respectively connected to the slopes of the first fixing sleeve and the second fixing sleeve.

[0016] With the above solution, the functions of the first fixing sleeve and the fixing sleeve are to facilitate the installation of the rotating member and the driver, enable the modular installation of the rotating part, and reduce the production difficulty and installation difficulty.

[0017] Due to the adoption of the above technical solution, the present invention has remarkable technical effects: when the first connecting member drives the power device to rotate around the center of the slope, the blades of the power device will not interfere with the connecting component. At this moment, when the first connecting member rotates obliquely relative to the second connecting member, the blades are located on the side of the frame and are arranged towards the frame direction. At this time, the length of the first connecting member must be greater than the length of the blades, otherwise when the first connecting member drives the power device to rotate, the second connecting member will interfere with the blades. In this embodiment, the slope of the first fixing sleeve facing down avoids the problem of the blades being interfered by the second connecting member. Since the section plane of the first connecting member is arranged facing down, after the first connecting member rotates relative to the second connecting member, the blades are opposite to the upper part of the frame. This state will cause the whole frame to tilt towards the bottom during underwater travel, making the underwater travel process relatively unstable. Therefore, a third connecting member is added. The added third connecting member can drive the second connecting member to rotate 180 degrees, so that the blades are opposite to the lower part of the frame. The landing gear for the drone to land is arranged on the lower end face of the frame. The advantage of the blades being opposite to the landing gear is that it has better stability when traveling in water. Description of the Drawings

[0018] Figure 1 is a schematic diagram of the non-rotating state of a connection component of a submersible hydro-aerial drone in an embodiment;

[0019] Figure 2 is a schematic diagram of the rotating state of a partial connection component of a submersible hydro-aerial drone in an embodiment;

[0020] Figure 3 is an exploded view of the assembly of the connection component in an embodiment;

[0021] Figure 4 is a partial cross-sectional view of the connection component in an embodiment;

[0022] Figure 5 is a schematic diagram of the structure of the rotating member in an embodiment;

[0023] Figure 6 is a schematic diagram of the structure of the linkage shaft in an embodiment;

[0024] Figure 7 Yes Figure 4 The enlarged schematic view of part A in the figure.

[0025] The names of the parts referred to by each digital label in the above drawings are as follows: 1. Frame; 2. Propeller power assembly; 3. First connecting piece; 4. Second connecting piece; 5. Third connecting piece; 6. Cutting surface; 7. First fixing sleeve; 8. Second fixing sleeve; 9. Driver; 10. Output sleeve; 11. Linkage shaft; 12. Support seat; 13. Rotating piece; 14. First rotating section; 15. Second rotating section; 16. Limiting section; 17. Clamping hole; 18. Universal joint; 19. First guiding groove; 20. First guiding column; 21. Second guiding groove; 22. Second guiding column; 23. Transfer seat; 24. Transfer device; 25. Locking piece; 26. Locking part. Detailed implementation mode

[0026] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0027] Embodiment:

[0028] A submersible and airborne drone, first refer to Figure 1 and Figure 2 , which includes a frame 1, a connection assembly and a propeller power assembly 2. The connection assembly is respectively connected to the frame 1 and the propeller power assembly 2. Multiple connection assemblies can be connected to the frame 1 to form a multi-wing drone. In this embodiment, eight propeller power assemblies 2 are connected to the frame 1 to form an eight-wing drone. The power device includes a motor located in the connection assembly and a propeller connected to the motor.

[0029] Refer to Figure 4 and Figure 5, the connecting component includes a first connecting piece 3, a second connecting piece 4 and a third connecting piece 5. The first connecting piece 3 is connected to the paddle power assembly 2. The two ends of the second connecting piece 4 are respectively rotatably connected to the first connecting piece 3 and the third connecting piece 5. One end of the third connecting piece 5 away from the second connecting piece 4 is fixedly connected to the frame 1. The motor of the paddle power assembly 2 is threadedly connected to the first connecting piece 3 by screws. The rotating shaft of the motor extends out of the first connecting piece 3 and is connected to the paddle. The first connecting piece 3, the second connecting piece 4 and the third connecting piece 5 are all in a circular tubular shape. The joints between the first connecting piece 3 and the second connecting piece 4 are all inclined cut surfaces 6. The cut surfaces 6 of the first connecting piece 3 and the second connecting piece 4 are both at 45 degrees relative to the central axis. The cut surfaces 6 of the first connecting piece 3 and the second connecting piece 4 are parallel and fit together. In this embodiment, the cut surfaces 6 of the first connecting piece 3 and the second connecting piece 4 are 45 degrees, but it is not limited to 45 degrees and can also be other angles. A first fixing sleeve 7 is threadedly connected in the first connecting piece 3 by screws, and a second fixing sleeve 8 is threadedly connected in the second connecting piece 4 by screws. Both the first fixing sleeve 7 and the second fixing sleeve 8 are in a cavity structure with a cylindrical shape and one end open. The ends of the first fixing sleeve 7 and the second fixing sleeve 8 away from the open ends are both in an inclined slope shape. The slope is inclined at 45 degrees to the central axis of the first fixing sleeve 7 or the second fixing sleeve 8. The slopes are all oval-shaped. The slopes are flush with the cut surfaces 6 of the first connecting piece 3 or the second connecting piece 4. The slopes of the first fixing sleeve 7 and the second fixing sleeve 8 fit together. Part of the second connecting piece 4 is sleeved outside the third connecting piece 5. The third connecting piece 5 and the second connecting piece 4 can only rotate circumferentially. The second connecting piece 4 cannot move in the axial direction relative to the third connecting piece 5.

[0030] See Figure 3 and Figure 4 , the third connecting piece 5 is in a cylindrical cavity. A driver 9 is connected in the third connecting piece 5. The driver 9 uses a motor. A through hole is opened at one end of the third connecting piece 5 where it is rotatably connected to the second connecting piece 4. An output sleeve 10 in the shape of a gear is sleeved on the output shaft of the motor of the driver 9. The output sleeve 10 passes through the through hole of the third connecting piece 5 and is connected to a linkage shaft 11 in a mating manner. The linkage shaft 11 is rotatably connected in the second connecting piece 4. A support seat 12 is threadedly connected in the second connecting piece 4 by screws. The linkage shaft 11 is rotatably connected to the support seat 12 in the second connecting piece 4. One end of the linkage shaft 11 and the output sleeve 10 that are in mating are both in the shape of a gear. The linkage shaft 11 and the output sleeve 10 are meshed with each other. Rotating pieces 13 are connected to the slopes of the first fixing sleeve 7 and the second fixing sleeve 8. Combining Figure 5, the rotating member 13 includes a first rotating section 14, a second rotating section 15, and a limiting section 16. A clamping hole 17 adapted to the second rotating section 15 is provided at the center of the slope surface of the first fixed sleeve 7. A circular through hole adapted to the first rotating section 14 is provided at the center of the slope surface of the second fixed sleeve 8. The first rotating section 14 is cylindrical and rotatably connected to the through hole of the second fixed sleeve 8. The second rotating section 15 is non-cylindrical, and the clamping hole 17 of the first fixed sleeve 7 is also non-circular. The second rotating section 15 passes through the clamping hole 17 of the first fixed sleeve 7. After the limiting section 16 passes through the clamping hole 17 of the first fixed sleeve 7, the diameter of the limiting section 16 is larger than that of the second rotating section 15, and the stepped surface formed by the diameter difference between the two is in contact with the inner side of the first fixed sleeve 7. The linkage shaft 11 is connected to the first rotating section 14 through a universal joint 18. One end of the first rotating section 14 away from the second rotating section 15 is threadedly connected to one end of the universal joint 18 through a screw. One end of the linkage shaft 11 away from the output sleeve 10 is snap-connected to the universal joint 18. Since the central axes of the linkage shaft 11, the second connecting member 4, and the third connecting member 5 are parallel to each other, when the driver 9 drives the output sleeve 10 to rotate, the output sleeve 10 drives the linkage shaft 11 to rotate. The rotation of the linkage shaft 11 drives the rotating member 13 to rotate through the universal joint 18. The rotating member 13 is rotatably connected to the second fixed sleeve 8, and the rotating member 13 and the second fixed sleeve 8 can rotate synchronously. The rotation of the second fixed sleeve 8 drives the first connecting member 3 to rotate. The central axis of the rotating member 13 is perpendicular to the slope surfaces of both the first fixed sleeve 7 and the second fixed sleeve 8. The first fixed sleeve 7 drives the first connecting member 3 to rotate around the rotating member 13. The central axis of the first connecting member 3 in the rotating state is perpendicular to the slope surface. When the first connecting member 3 rotates 180 degrees, the central axis of the first connecting member 3 changes from being parallel to the central axis of the second connecting member 4 to being perpendicular. By driving the first connecting member 3 to rotate relative to the second connecting member 4 through the driver 9, the paddle blade originally facing upward is driven to rotate 90 degrees to the side direction of the frame 1, so that the overall drone can be better driven to advance in one direction in the water.

[0031] See Figure 3 and Figure 5 , a first guide groove 19 is provided on the slope surface of the second fixed sleeve 8, and a first guide post 20 adapted to the first guide groove 19 is provided on the slope surface of the first fixed sleeve 7. The first guide groove 19 is semi-circular arc-shaped. The first guide post 20 moves from one end of the first guide groove 19 to the other end, and the first guide post 20 can only rotate 180 degrees. The center of the first guide groove 19 coincides with the central axis of the rotating member 13. A second guide groove 21 is provided at one end of the third connecting member 5 facing the second connecting member 4. Combined with Figure 6The linkage shaft 11 is provided with a guide column 22 protruding from one end of the gear and cooperating with the guide groove 21. The guide column 22 is located in the groove 2. The guide groove 21 is semicircular. The guide column 22 moves from one end of the guide groove 19 to the other end. The guide column 22 can only rotate 180 degrees. The guide groove 19 is used to limit the rotation angle of the first connecting member 3 relative to the second connecting member 4, and the guide groove 21 is used to limit the rotation angle of the second connecting member 4 relative to the third connecting member 5.

[0032] See also Figure 2 and Figure 3 When the central axis of the first connecting member 3 is parallel to the central axis of the second connecting member 4 and the blade of the power device is facing upward, the guide column 20 is located at one end of the guide groove 19, and the guide column 22 is located at one end of the guide groove 21. When the driver 9 drives the output sleeve 10 to rotate, the linkage shaft 11, the rotating member 13 and the fixed sleeve 7 can be driven to rotate synchronously. When the guide column 20 is located at the other end of the guide groove 19 and the guide column 22 is located at the other end of the guide groove 21, the rotation stops. At this time, the first connecting member 3 rotates 180 degrees relative to the second connecting member 4, the second connecting member 4 rotates 180 degrees relative to the third connecting member 5, and the first connecting member 3 rotates 180 degrees relative to the second connecting member 4. Since the first connecting member 3 rotates with the slope inclined at 45 as the center of the circle, the blade set upward rotates 90 degrees. The blade is located on the side of the frame 1 and is set away from the side of the frame 1. When the driver 9 is reversed, the first connecting member 3 and the second connecting member 4 can be driven to reverse, and the propeller power assembly 2 can be driven to reset.

[0033] See also Figure 7 The third connecting member 5 is provided with a transfer assembly that can drive the driver to move. The transfer assembly includes a transfer seat 23 for connecting the driver 9 and a transfer device 24 that drives the transfer seat 23 to move. The transfer device 24 adopts a push-pull electromagnet, which can drive the transfer seat 23 to move along the axis direction of the third connecting member 5. The driver 9 is threadedly connected to the transfer seat 23 by a screw. The transfer seat 23 is threadedly connected with a locking member 25 by a screw. The locking member 25 includes a part that is slidably connected to the end surface of the third connecting member 5. The locking member 25 and the guide groove are connected. 21 are staggered, and a locking portion 26 is provided on the locking member 25, and the locking portion 26 is in the shape of a rack. When the transfer seat 23 drives the driver 9 to move, the output sleeve 10 and the locking member 25 are driven to move synchronously, and the gear portion on the output sleeve 10 is disengaged from the gear portion of the linkage shaft 11, and the locking portion 26 of the locking member 25 is engaged with the gear portion of the linkage shaft 11. Since the locking member 25 can only move along the axial direction of the third connecting member 5 and cannot rotate circumferentially, the locking member 25 can limit the rotation of the linkage shaft 11, thereby preventing the first connecting member 3 and the second connecting member 4 from rotating.

[0034] In this embodiment, when the driver 9 does not drive the first connecting member 3 and the second connecting member 4 to rotate, the paddle is arranged upward. At this time, the slope of the first fixing sleeve 7 is arranged obliquely downward, and the slope of the second fixing sleeve 8 is arranged obliquely upward. Its main function is that the advantage of arranging the slope of the first fixing sleeve 7 obliquely downward is that when the first connecting member 3 drives the power device to rotate around the center of the slope, the paddle of the power device will not interfere with the connecting assembly. If the section plane 6 of the first connecting member 3 and the slope of the first fixing sleeve 7 are arranged obliquely upward, and the section plane 6 of the second connecting member 4 and the slope of the second fixing sleeve 8 are arranged obliquely downward, at this moment, when the first connecting member 3 rotates obliquely relative to the second connecting member 4, the paddle is located on the side of the frame 1 and is arranged towards the frame 1. At this time, the length of the first connecting member 3 must be greater than the length of the paddle, otherwise when the first connecting member 3 drives the power device to rotate, the second connecting member 4 will interfere with the paddle. In this embodiment, the downward slope of the first fixing sleeve 7 avoids the problem of the paddle being interfered by the second connecting member 4. Since the section plane 6 of the first connecting member 3 is arranged downward, after the first connecting member 3 rotates relative to the second connecting member 4, the paddle is opposite to the upper part of the frame 1. This state will cause the whole frame 1 to deflect towards the bottom during underwater driving, making the underwater driving process relatively unstable. Therefore, a third connecting member 5 is added. The added third connecting member 5 can drive the second connecting member 4 to rotate 180 degrees, so that the paddle is opposite to the lower part of the frame 1. A landing gear for the drone to land is provided on the lower end surface of the frame 1. The advantage of the paddle being opposite to the landing gear is that it has better stability when driving in water.

Claims

1. A snorkeling water-air unmanned aerial vehicle, comprising a frame (1) and a paddle power assembly (2), Characterized in that, The frame (1) and the paddle power assembly (2) are connected by a connecting assembly. The connecting assembly includes a first connecting member (3) connected to the paddle power assembly (2) and a second connecting member (4) rotatably connected to the first connecting member (3). The connecting assembly is provided with a driver (9) and a rotating member (13) controlled by the driver (9) to rotate. The joints between the first connecting member (3) and the second connecting member (4) are both inclined cut surfaces (6). The rotating member (13) is fixedly connected to the first connecting member (3), and the rotating member (13) is rotatably connected to the cut surface (6) of the second connecting member (4). When the driver (9) drives the second connecting member (4) to rotate relative to the first connecting member (3) through the rotating member (13), the central axis of rotation of the first connecting member (3) is perpendicular to the cut surface (6), driving the spatial position change of the paddle power assembly (2) relative to the frame (1). The connecting assembly further includes a third connecting member (5) rotatably connected to the second connecting member (4). A linkage shaft (11) that rotates in cooperation with the rotating member (13) is provided in the second connecting member (4). The driver (9) is located in the third connecting member (5) and can drive the linkage shaft (11) to rotate. The rotation of the linkage shaft (11) can synchronously drive the second connecting member (4) to rotate relative to the third connecting member (5) and drive the rotating member (13) to rotate. A first guide groove (19) is provided on the cut surface (6) of the second connecting member (4), a first guide post (20) located in the first guide groove (19) is provided on the first connecting member (3), a second guide groove (21) is provided on the third connecting member (5), and a second guide post (22) that cooperates with the second guide groove (21) is provided on the second connecting member (4) or the linkage shaft (11). The first guide groove (19) and the second guide groove (21) are respectively used to limit the rotation distance of the first connecting member (3) and the second connecting member (4).

2. The snorkeling water-air unmanned aerial vehicle according to claim 1, Characterized in that, The driver (9) is provided with a transfer assembly that can drive the driver (9) to move. A locking member (25) that can lock the linkage shaft (11) is provided on the transfer assembly. The transfer assembly can drive the driver (9) to cooperate with the linkage shaft (11) or drive the locking assembly to cooperate with the linkage shaft (11).

3. The snorkeling water-air unmanned aerial vehicle according to claim 1, Characterized in that, The cut surfaces (6) of both the first connecting member (3) and the second connecting member (4) are 45 degrees. When the first guide post (20) is located at both ends of the first guide groove (19), the central axes of the first connecting member (3) and the second connecting member (4) coincide, or the central axes of the first connecting member (3) and the second connecting member (4) are perpendicular to each other.

4. The snorkeling water-air unmanned aerial vehicle according to claim 1, Characterized in that, Both the first connecting piece (3) and the second connecting piece (4) are tubular. A first fixing sleeve (7) is arranged inside the first connecting piece (3), and a second fixing sleeve (8) is arranged inside the second connecting piece (4). Both the first fixing sleeve (7) and the second fixing sleeve (8) are provided with slopes. The slope of the first fixing sleeve (7) is flush with the section plane (6) of the first connecting piece (3), and the slope of the second fixing sleeve (8) is flush with the section plane (6) of the second connecting piece (4). The rotating piece (13) is connected to the slope. The first guiding column (20) and the first guiding groove (19) are respectively connected to the slopes of the first fixing sleeve (7) and the second fixing sleeve (8).

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