An amphibious aircraft

Abstract

The application discloses a water, land and air three-dimensional unmanned aerial vehicle which comprises a main body and multiple groups of power arms; the power arms are symmetrically distributed on the side of the main body; the power arm comprises a transverse supporting rod, a central movable rod and a paddle part; one end of the transverse supporting rod is fixed to the main body, and the other end is connected with the end of the central movable rod through a first rotating shaft group; the other end of the central movable rod is fixed with a second rotating part; the paddle part comprises a central supporting frame and an inner propeller part; the central supporting frame comprises a central ring and a supporting umbrella skeleton; the supporting umbrella skeleton is fixed to the central ring and fixed to the output shaft of the second rotating part at the other end; the inner propeller part comprises multiple groups of propeller blades and propeller blade protection umbrella nets and is arranged in the central ring. The application provides a water, land and air three-dimensional unmanned aerial vehicle power system structure which can realize air flight based on a rotor, underwater propeller propulsion and land / sea bottom wheel walking, and has the technical advantages of relatively simple structure, convenient state switching, considerable propulsion efficiency and the like.

Description

Technical Field

[0001] This invention relates to the field of multi-purpose unmanned aerial vehicle (UAV) technology, specifically to an amphibious UAV that can operate on land, sea, and air. Background Technology

[0002] Currently, drones are widely used in production and daily life. In the civilian market, multi-rotor drones are the most commonly used type, capable of performing tasks such as detection, search, rescue, and transportation, and offering good economic benefits. In the marine field, such as deep-sea fishing and mariculture, detection and search operations are frequently required, often relying on manual labor or specialized equipment for unidirectional operations, which is costly. Underwater robots are also gradually developing, but there is still a significant gap compared to drones in terms of product cost and industrialization level. Utilizing the mature drone industry chain and technological resources to design products for marine applications is a worthwhile approach. Against this backdrop, amphibious and tri-amphibious drones based on rotors have received considerable attention, but no mature products have yet entered the market. Summary of the Invention

[0003] The purpose of this invention is to provide an amphibious drone that can handle water, land, and air, in order to solve the problems existing in the prior art.

[0004] To achieve the above objectives, the present invention provides an amphibious unmanned aerial vehicle (UAV) comprising a main body and multiple sets of powered arms. The powered arms are symmetrically distributed on the sides of the main body. Each powered arm includes a transverse support rod, a central movable rod, and a propeller section. One end of the transverse support rod is fixed to the main body, and the other end is connected to the end of the central movable rod via a first rotating shaft assembly. A second rotating part is fixed to the other end of the central movable rod. The propeller section includes a central support frame and an inner propeller section. The central support frame includes a central ring and a support umbrella-shaped frame. The support umbrella-shaped frame is fixed to the central ring, and the other end is fixed to the output shaft of the second rotating part. The inner propeller section includes multiple sets of blades and a blade protective umbrella net, which are disposed within the central ring.

[0005] Preferably, the first rotating shaft assembly and the second rotating part include a motor and a reduction gear structure.

[0006] Preferably, the inner propeller section further includes a third rotating part, the blade protective umbrella net is fixedly or movably connected to the inner side of the central ring, the third rotating part is fixed to the central position on one side of the blade protective umbrella net, and multiple sets of blades are fixedly connected to the output shaft of the third rotating part.

[0007] Preferably, the blade protection umbrella net is connected to the central ring via multiple electric cylinders, with both ends of the electric cylinders hinged to the central ring and the blade protection umbrella net, respectively.

[0008] Preferably, the propeller part further includes an outer rotor part; the outer rotor part is located outside the central ring and is rotatably connected to the central ring, and in the axial direction, the height of the outer rotor part is 1.5-5 times the height of the central ring.

[0009] Preferably, the outer rotating wheel includes a flexible frame and an inner rotating frame, wherein the side of the inner rotating frame is rotatably connected to the outer side of the central ring and is provided with a locking structure.

[0010] Preferably, the inner side of the inner rotating frame may be provided with a sliding groove, and the outer side of the central ring is provided with a slider. The slider includes a connecting rod and an end slider. The cross-section of the end slider is a part of a circular ring. The sliding groove and the side opposite to the end slider are provided with protrusions or grooves.

[0011] Preferably, the flexible frame includes multiple radial support rods and two outer flexible rings. The radial support rods are evenly arranged on both sides of the inner rotating frame, with one end fixed to the inner rotating frame and the other end fixed to the outer flexible ring.

[0012] Preferably, the inner rotating frame includes an inner ring, an upper plate, a lower plate, and fins. The inner ring is a tubular structure, and the upper and lower plates are disc-shaped structures with a central opening. The central opening side is fixed to the upper and lower parts of the inner ring, respectively. The fins are fixed between the upper and lower plates, with one end fixedly connected to the outer side of the inner ring. The fins are inclined at a certain angle to the radial direction of the inner ring. An array of through holes is provided on the inner ring at the junction of the fins and the inner ring.

[0013] This invention provides a power system structure for a amphibious unmanned aerial vehicle (UAV) that enables rotor-based aerial flight, underwater propeller propulsion, and wheeled movement on land / seabed. It has technical advantages such as relatively simple structure, convenient state switching, and considerable propulsion efficiency. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of one state of the overall solution of the present invention.

[0015] Figure 2 This is a schematic diagram of another state of the overall solution of the present invention.

[0016] Figure 3 This is a schematic diagram of the power arm of the present invention.

[0017] Figure 4 This is a schematic diagram of the propeller part of the present invention.

[0018] Figure 5 This is a partial cross-sectional schematic diagram of the propeller part of the present invention.

[0019] Figure 6 This is a partially enlarged schematic diagram of the propeller part of the present invention.

[0020] Figure 7This is another enlarged schematic diagram of the propeller part of the present invention.

[0021] Figure 8 This is a schematic diagram showing the connection between the central support frame of the propeller section and the outer rotor section of the present invention. Detailed Implementation

[0022] 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.

[0023] As attached Figure 1-3 As shown in the attached figure, the amphibious unmanned aerial vehicle (UAV) of the present invention includes a main body 1 and multiple sets of powered arms 2. Specifically, as shown in the attached figure, it includes four powered arms, symmetrically distributed on the side of the main body 1.

[0024] The main body 1 includes a power unit and a control unit. The specific structure of these components is conventional knowledge in the field and is not the subject of this application. A common power unit is a lithium battery that provides power to the power arm.

[0025] The power arm 2 includes a transverse support rod 21, a central movable rod 22, and a propeller 23.

[0026] One end of the transverse support rod 21 is fixed to the main body 1, and the other end is connected to the end of the central movable rod 22 through the first rotating shaft group 24. The first rotating shaft group 24 is driven by a motor through a gear or linkage structure, which can drive the central movable rod 22 to rotate relative to the transverse support rod 21.

[0027] Specifically, in this application, the first rotating shaft assembly 24 includes a motor and a reduction gear structure. The ends of the transverse support rod 21 and the central movable rod 22 are hinged. Specifically, the end of the transverse support rod 21 is provided with a groove 211. The central movable rod 22 extends into the groove 211 and is rotatably connected to the side wall of the groove 211 through a rotating shaft. It rotates under the drive of the motor and the reduction gear structure.

[0028] The other end of the central movable rod 22 is fixed with a second rotating part 25, which is a motor and a reduction gear structure. The motor body is fixed to the end of the central movable rod 22, and its output shaft is fixedly connected to the propeller part 23. The propeller part 23 can rotate under the drive of the second rotating part 25.

[0029] As attached Figure 4 , 5 As shown in Figures 6 and 7, the propeller section 23 includes a central support frame 231, an inner propeller section 232, and an outer rotor section 233.

[0030] The central support frame 231 includes a central ring 2311 and a support umbrella-shaped frame 2312. The support umbrella-shaped frame 2312 includes multiple arc-shaped rods and a support plate. One side is fixed to the central ring 2311 and the other end is fixed to the support plate. The support plate is fixedly connected to the output shaft of the second rotating part 25. The second rotating part 25 drives the central support frame 231 to rotate.

[0031] The inner propeller section 232 includes multiple sets of blades 2321 and blade protective netting 2322.

[0032] Furthermore, the inner propeller section 232 also includes a third rotating section 26, which is a motor and reduction gear structure used to drive the blades 2321 to rotate. In this scheme, the blade protection umbrella net 2322 is fixedly or movably connected to the inner side of the central ring 2311, the third rotating section 26 is fixed to the center position on one side of the blade protection umbrella net 2322, and multiple sets of blades 2321 are fixedly connected to the output shaft of the third rotating section 26.

[0033] Furthermore, the inner propeller section 232 can swing relative to the central ring 2311. Specifically, the blade protection umbrella net 2322 is connected to the central ring 2311 through multiple electric cylinders 2323. The two ends of the electric cylinders are respectively hinged to the central ring 2311 and the blade protection umbrella net 2322. By controlling the extension length of different electric cylinders 2323, the inner propeller section 232 can swing relative to the central ring 2311.

[0034] The outer rotating wheel 233 is located outside the central ring 2311 and is rotatably connected to the central ring 2311. In the initial state, the outer rotating wheel 233, the central support frame 231, and the inner propeller 232 are coaxial. In the axial direction, the height of the outer rotating wheel 233 is greater than the height of the central ring 2311, which is 1.5-5 times its height.

[0035] The outer rotating wheel part 233 includes a flexible frame 2331 and an inner rotating frame 2332. The inner side of the inner rotating frame 2332 is rotatably connected to the outer side of the central ring 2311 and is provided with a locking structure.

[0036] As attached Figure 7 , 8 As shown, in one embodiment of this application, the rotatable connection structure is such that a groove k6 can be provided on the inner side of the inner rotating frame 2332, and a slider k7 is provided on the outer side of the central ring 2311.

[0037] Furthermore, the slider k7 includes a connecting rod k71 and an end slider k72. The end slider k72 has a partial annular cross-section. The sliding groove k6 and the end slider k72 have protrusions or grooves (not shown in the figure) on their opposite sides. When moving, the second rotating part 25 drives the central support frame 231 to rotate. Due to the protrusions or grooves, the sliding groove k6 and the end slider k72 will have increased friction at the contact position, thus achieving locking.

[0038] The locking structure can also be an electric locking structure, such as a pin driven by a motor or electric cylinder to lock the inner rotating frame 2332 with the central ring 2311.

[0039] The flexible frame 2331 includes multiple radial support rods and two outer flexible rings. The radial support rods are evenly arranged on both sides of the inner rotating frame 2332, with one end fixed to the inner rotating frame 2332 and the other end fixed to the outer flexible rings. During walking, the flexible frame 2331 can provide a certain degree of cushioning.

[0040] The inner rotating frame 2332 includes an inner ring k1, an upper plate k2, a lower plate k3, and fins k4. The inner ring k1 is a tubular structure, while the upper plate k2 and lower plate k3 are disc-shaped structures with central openings, their central openings fixed to the upper and lower parts of the inner ring k1, respectively. The fins k4 are fixed between the upper plate k2 and lower plate k3, with one end fixedly connected to the outer side of the inner ring k1. The fins k4 are inclined at a certain angle to the radial direction of the inner ring k1, and their projection onto the upper plate k2 or lower plate k3 is rectangular, partially arc-shaped, or a combination of rectangular and partially arc-shaped. An array of through holes K5 is provided on the inner ring k1 at the junction of the fins k4 and the inner ring k1.

[0041] In drone form and underwater navigation, the inner rotating frame 2332 is rotatably connected to the central ring 2311. Driven by external resistance (the kinetic energy of wind and water), it rotates, causing a medium (water or air) to flow in and out from the front and / or rear of the propeller. In certain scenarios, this can optimize propulsion efficiency and improve stability. In one embodiment of this application, water or air is blown axially at a certain distance from the rear of the propeller. By increasing the flow of water or air from the rear, the propeller is further propelled to generate greater thrust.

[0042] In this patent, four sets of power arms 2 are symmetrically distributed around the body, each controlled by an independent circuit control component. The four sets of propellers can be manipulated to be in different states to meet the needs of different functions of the drone, such as ascent, cruise, descent, and walking.

[0043] In drone mode, the inner propeller section 232 is in a horizontal state, and in walking mode, the inner propeller section 232 is in a vertical state. The switching between horizontal and vertical positions of the inner propeller section 232 is achieved by the first rotating shaft group 24.

[0044] When navigating in water, the state of the inner propeller section 232 can be set according to the needs of the operation. For example, the two rear inner propeller sections 232 can be in a vertical state to provide propulsion, while the two front inner propeller sections 232 can be in a vertical state to provide propulsion or in a horizontal state to adjust the pitch.

[0045] During operation, the angle between the inner propeller section 232 and the central ring 2311 can be adjusted as needed to improve propulsion efficiency and motion accuracy. The propeller blades 2321 are made of carbon fiber, and the wingtips of the wing are designed to be wider, thereby increasing the area that blocks the downward movement of the slipstream. This ensures that the wing has sufficient rigidity and strength when the engine is rotating and stationary in a certain position.

[0046] To further optimize propeller propulsion efficiency on and underwater, an inwardly recessed portion 11 is provided on the upper surface of the main body 1, with the bottom surface of the recessed portion 11 arranged at an angle. The buoyancy of the UAV can be controlled by adjusting the amount of water in the recessed portion 11. When the recessed portion 11 is dry, it is a floating device on the water surface; when the recessed portion 11 is filled with water, it is in an underwater suspended state. The tilting of the main body is achieved by adjusting the movement of the propellers on both sides, thereby adjusting the water state of the recessed portion 11. Specifically, the process includes the following: when switching from flight mode to water surface propulsion mode, the blades of the propeller 23 gradually reduce their rotation speed, approach the water surface at a low speed, and stop rotating after approaching the water surface. Then, the two propellers 23 on one side are rotated to a vertical position (the first rotating shaft group 24 drives the central movable rod 22 to rotate). Water surface propulsion is achieved by the propulsion of the vertical propellers 23. During the movement, the two horizontal propellers 23 opposite the vertical propellers 23 rotate to provide downward pressure after the main body 1 tilts to a preset angle.

[0047] When switching from surface to underwater mode, the two horizontal propellers 23 opposite each other rotate to provide lift, causing the device to tilt. Water enters the recessed part 11, and after reaching a preset tilt angle, the horizontal propellers 23 rotate to provide downward pressure, causing the device to submerge in the water. The vertical propellers 23 then provide underwater propulsion, while the horizontal propellers 23 adjust the device's ascent or descent. During surface and underwater propulsion, the inner propeller 232 can oscillate relative to the central ring 2311 to achieve specific propulsion effects.

[0048] It should be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

Claims

1. A amphibious unmanned aerial vehicle (UAV) characterized in that, The device includes a main body and multiple sets of power arms. The power arms are symmetrically distributed on the sides of the main body. Each power arm includes a transverse support rod, a central movable rod, and a propeller. One end of the transverse support rod is fixed to the main body, and the other end is connected to the end of the central movable rod through a first rotating shaft group. A second rotating part is fixed to the other end of the central movable rod. The propeller includes a central support frame and an inner propeller. The central support frame includes a central ring and a supporting umbrella-shaped frame. The supporting umbrella-shaped frame is fixed to the central ring, and the other end is fixed to the output shaft of the second rotating part. The inner propeller includes multiple sets of blades and a blade protective umbrella net, which is disposed inside the central ring. The inner propeller section also includes a third rotating part. The blade protection umbrella net is fixedly or movably connected to the inner side of the central ring. The third rotating part is fixed to the center position on one side of the blade protection umbrella net. Multiple sets of blades are fixedly connected to the output shaft of the third rotating part. The blade protection umbrella net is connected to the central ring through multiple electric cylinders. The two ends of the electric cylinders are respectively hinged to the central ring and the blade protection umbrella net. The propeller section also includes an outer rotor section; the outer rotor section is located outside the central ring and is rotatably connected to the central ring, and in the axial direction, the height of the outer rotor section is 1.5-5 times the height of the central ring; The outer rotating wheel includes a flexible frame and an inner rotating frame. The side of the inner rotating frame is rotatably connected to the outer side of the central ring and is provided with a locking structure. The inner rotating frame includes an inner ring, an upper plate, a lower plate, and fins. The inner ring is a tubular structure, and the upper and lower plates are disc-shaped structures with central openings. The central openings are fixed to the upper and lower parts of the inner ring, respectively. The fins are fixed between the upper and lower plates, with one end fixedly connected to the outer side of the inner ring. The fins are inclined at a certain angle to the radial direction of the inner ring. An array of through holes is provided on the inner ring at the junction of the fins and the inner ring.

2. The amphibious unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The first rotating shaft assembly and the second rotating part include a motor and a reduction gear structure.

3. The amphibious unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The flexible frame includes multiple radial support rods and two outer flexible rings. The radial support rods are evenly arranged on both sides of the inner rotating frame, with one end fixed to the inner rotating frame and the other end fixed to the outer flexible ring.

4. The amphibious unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The inner rotating frame is provided with a sliding groove on the inner side, and a slider is provided on the outer side of the central ring. The slider includes a connecting rod and an end slider. The end slider has a partial cross-section of a circular ring. The sliding groove and the end slider have protrusions or grooves on their opposite sides.

5. The amphibious unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The locking structure is an electric locking structure, in which a pin driven by a motor or electric cylinder locks the inner rotating frame to the central ring.

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