Air-ground amphibious multi-rotor unmanned vehicle

Abstract

The invention discloses an air-ground amphibious multi-rotor unmanned vehicle which is characterized in that a first driving assembly is mounted on the left side of a main frame, and a first electric push rod is mounted in the main frame; one end of the first electric push rod is mounted in the main frame, and the other end of the first electric push rod is mounted on the surface of the first driving assembly; a second driving assembly is mounted on the right side of the main frame, and a second electric push rod is mounted in the main frame; one end of the second electric push rod is mounted in the main frame, and the other end of the second electric push rod is mounted on the surface of the second driving assembly; the undercarriage assembly is installed at the bottom of the main frame. According to the invention, the problems of insufficient dual-mode cooperation and weak environmental adaptability are solved through the modular design, and the control reliability is greatly improved through the control of multiple groups of motors. The unmanned aerial vehicle is suitable for small unmanned operation equipment which needs to take the air flying function and the ground driving function into consideration, and the equipment installation and stable operation requirements under the scenes of field emergency, environment monitoring, short-distance logistics and the like can be met.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of amphibious unmanned vehicles, and particularly relates to an amphibious multi-rotor unmanned vehicle. BACKGROUND

[0002] The amphibious multi-rotor unmanned vehicle has irreplaceable advantages in field emergency rescue, complex terrain environment monitoring, short-distance material delivery and the like scenes due to the dual-mode operation capability of "air flight + ground driving", and a core control module (including power management, power regulation, attitude control unit) is a key component for guaranteeing stable operation of the equipment. The module needs to be firmly integrated with an equipment main frame, and meanwhile needs to meet the requirements of "quick disassembly and assembly, emergency maintenance" in field operation scenes - for example, the control module needs to be temporarily replaced in a rescue task, or the installation position of the module needs to be adjusted according to operation requirements, which all put forward high requirements for installation efficiency and reliability.

[0003] The core pain points of the existing amphibious unmanned vehicle are concentrated in "insufficient dual-mode cooperation, weak environmental adaptability and low control reliability", and breakthroughs need to be made from three aspects of structural modularization, power redundancy optimization and intelligent control algorithm upgrading, so that the vehicle can better adapt to core scenes such as field emergency and heavy-load logistics.

[0004] Therefore, in order to solve this problem, it is necessary to develop and design an amphibious multi-rotor unmanned vehicle, which solves the problems of insufficient dual-mode cooperation, weak environmental adaptability and low control reliability of the existing technology. SUMMARY

[0005] In view of the deficiencies in the prior art, the application provides an amphibious multi-rotor unmanned vehicle.

[0006] The amphibious multi-rotor unmanned vehicle comprises a main frame, a first driving assembly, a first electric push rod, a second driving assembly, a second electric push rod and a landing gear assembly. The first driving assembly is installed on the left side of the main frame, and the first electric push rod is installed in the interior of the main frame. One end of the first electric push rod is installed in the main frame, and the other end of the first electric push rod is installed on the surface of the first driving assembly. The second driving assembly is installed on the right side of the main frame, and the second electric push rod is installed in the interior of the main frame. One end of the second electric push rod is installed in the main frame, and the other end of the second electric push rod is installed on the surface of the second driving assembly. The landing gear assembly is installed at the bottom of the main frame.

[0007] Preferably, the first driving assembly of the present application comprises a first support, a first wheel, a first driving motor, a first steering motor, a steering arm, the first support surface mounts the first wheel, and the first support surface mounts the first driving motor, the gear ring inside the first wheel is engaged with the first gear, the first gear is mounted on the output shaft surface of the first driving motor, the first steering motor is mounted on the surface of the first support, and the steering arm is mounted on the output shaft of the first steering motor, and the steering arm surface mounts the second wheel.

[0008] Preferably, the first flight motor of the present application is mounted on the surface of the first wheel, and the output shaft of the first flight motor mounts the first flight blade, the second flight motor is mounted on the surface of the second wheel, and the output shaft of the second flight motor mounts the second flight blade.

[0009] Preferably, the first driving assembly and the second driving assembly of the present application are the same structure.

[0010] Preferably, the landing gear assembly of the present application comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the second connecting rod and the third connecting rod are mounted on the surface of the first connecting rod, and the second connecting rod is connected with the third connecting rod; the fourth connecting rod and the fifth connecting rod are mounted on the surface of the first connecting rod, and the third connecting rod and the fourth connecting rod are connected; the sixth connecting rod is connected with the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod respectively; one end of the third electric push rod is connected with the sixth connecting rod, and the other end of the third electric push rod is connected with the second connecting rod and the fourth connecting rod respectively.

[0011] The present application solves the problems of insufficient cooperation of dual mode and weak environmental adaptability through modular design, and greatly improves the reliability of control through the control of multiple groups of motors. The cooperation of various components realizes the dual mode function of air flight and ground driving, and the present application has the characteristics of convenient use. It is suitable for small unmanned operation equipment which needs to consider air flight and ground driving function, and can meet the equipment installation and stable operation demand in the scene of field emergency, environmental monitoring and short-distance logistics. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is the orthographic drawing of the present application.

[0013] Figure 2 It is the structural schematic diagram of the present application.

[0014] Figure 3 It is the top view of the present application.

[0015] Figure 4 It is the orthographic drawing of the first driving assembly of the present application.

[0016] Figure 5 It is the structural schematic diagram of the first driving assembly of the present application.

[0017] Figure 6 This is an orthographic view of the landing gear assembly of the present invention.

[0018] Reference numerals: 1. First drive assembly; 2. Second drive assembly; 3. Main frame; 4. Second electric push rod; 5. First electric push rod; 6. Landing gear assembly; 1001. First wheel; 1002. First flight blade; 1003. First flight motor; 1004. Second wheel; 1005. Second flight blade; 1006. Second flight motor; 1007. Steering arm; 1008. First steering motor; 1009. First drive motor; 1010. First support; 1011. First gear; 10011. Gear ring; 6001. First connecting rod; 6002. Second connecting rod; 6003. Third connecting rod; 6004. Fourth connecting rod; 6005. Fifth connecting rod; 6006. Sixth connecting rod; 6007. Third electric push rod. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0021] Please see Figure 1 , Figure 2 , Figure 3 A multi-rotor unmanned aerial vehicle suitable for amphibious use on land and in air includes a main frame 3, a first drive assembly 1, a first electric push rod 5, a second drive assembly 2, a second electric push rod 4, and a landing gear assembly 6. The first drive assembly 1 is installed on the left side of the main frame 3, and the first electric push rod 5 is installed inside the main frame 3. One end of the first electric push rod 5 is installed inside the main frame 3, and the other end of the first electric push rod 5 is installed on the surface of the first drive assembly 1. The second drive assembly 2 is installed on the right side of the main frame 3, and the second electric push rod 4 is installed inside the main frame 3. One end of the second electric push rod 4 is installed inside the main frame 3, and the other end of the second electric push rod 4 is installed on the surface of the second drive assembly 2. The landing gear assembly 6 is installed at the bottom of the main frame 3.

[0022] like Figure 4 , Figure 5As shown, the first drive assembly 1 of the present invention includes a first bracket 1010, a first wheel 1001, a first drive motor 1009, a first steering motor 1008, and a steering arm 1007. The first wheel 1001 is mounted on the surface of the first bracket 1010, and the first drive motor 1009 is mounted on the surface of the first bracket 1010. The gear ring 10011 inside the first wheel 1001 meshes with the first gear 1011. The first gear 1011 is mounted on the surface of the output shaft of the first drive motor 1009. The first steering motor 1008 is mounted on the surface of the first bracket 1010, and the steering arm 1007 is mounted on the output shaft of the first steering motor 1008. A second wheel 1004 is mounted on the surface of the steering arm 1007.

[0023] like Figure 4 As shown, the first flight motor 1003 of the present invention is mounted on the surface of the first wheel 1001, and the first flight blade 1002 is mounted on the output shaft of the first flight motor 1003. The second flight motor 1006 is mounted on the surface of the second wheel 1004, and the second flight blade 1005 is mounted on the output shaft of the second flight motor 1006.

[0024] like Figure 1 , Figure 2 , Figure 3 As shown, the first drive assembly 1 and the second drive assembly 2 of the present invention have the same structure.

[0025] A multi-rotor unmanned aerial vehicle suitable for both land and air amphibious applications, also including a landing gear assembly, such as Figure 6 As shown, the landing gear assembly 6 of the present invention includes a first link 6001, a second link 6002, a third link 6003, and a fourth link 6004. The second link 6002 and the third link 6003 are mounted on the surface of the first link 6001, and the second link 6002 is connected to the third link 6003. The fourth link 6004 and the fifth link 6005 are mounted on the surface of the first link 6001, and the third link 6003 is connected to the fourth link 6004. The sixth link 6006 is connected to the second link 6002, the third link 6003, the fourth link 6004, and the fifth link 6005. One end of the third electric push rod 6007 is connected to the sixth link 6006, and the other end of the third electric push rod 6007 is connected to the second link 6002 and the fourth link 6004.

[0026] The present invention is applicable to amphibious multi-rotor unmanned aerial vehicles, and its working principle is as follows: This invention achieves dual-mode switching between air flight and ground operation through modular structural design and multi-power unit collaborative control. It also adapts to complex terrain using adjustable landing gear. The specific working principle can be divided into four parts: ground operation mode, air flight mode, dual-mode switching mechanism, and landing gear adjustment mechanism, as detailed below: I. Working principle of ground driving mode: The ground driving function is achieved collaboratively by the first drive assembly 1 and the second drive assembly 2. Both have the same structure; the first drive assembly will be used as an example: 1. Power transmission: After the first drive motor 1009 starts, its output shaft drives the first gear 1011 on the surface to rotate; since the first gear 1011 meshes with the gear ring 10011 inside the first wheel 1001, the power is transmitted to the first wheel 1001 through gear transmission, driving the first wheel to rotate; the second wheel 1004 moves synchronously with the first wheel 1001, together providing the ground driving power for the vehicle.

[0027] 2. Steering control: When it is necessary to adjust the driving direction, the first steering motor 1008 is started, and its output shaft drives the steering arm 1007 to rotate around the motor shaft; the steering arm 1007 is rigidly connected to the second wheel 1004, so the rotation of the steering arm will change the orientation of the second wheel 1004, thereby realizing the ground steering of the aircraft.

[0028] 3. Optimized driving stability: The first electric push rod 5 and the second electric push rod 4 on both sides of the main frame 3 can finely adjust the lateral position of the first drive assembly 1 and the second drive assembly 2 in real time to ensure that the wheel track of the two drive assemblies is adapted to different road widths and improve driving stability on complex terrains such as gravel roads and slopes.

[0029] II. Working principle of in-flight mode: The aerial flight function is achieved by integrating flight motors and blades on the drive assembly, with the core being multi-rotor power coordination and attitude control: 1. Lift generation: When the vehicle switches to flight mode, the first flight motor 1003 on the surface of the first wheel 1001 and the second flight motor 1006 on the surface of the second wheel 1004 start synchronously; the first flight motor 1003 drives the first flight blade 1002 to rotate at high speed, and the second flight motor 1006 drives the second flight blade 1005 to rotate at high speed. The four sets of blades, two sets on each side of the drive assembly, jointly generate upward lift. When the lift is greater than the vehicle's own weight, the vehicle leaves the ground and takes off.

[0030] 2. Flight attitude control: Attitude adjustment is achieved by regulating the speed of different flight motors. By adjusting the speed difference between the flight motors of the first and second drive assemblies on the left and right sides, the aircraft can be tilted laterally to achieve left and right turns. Adjusting the speed difference of the first flight motor 1003 and the second flight motor 1006 in the same drive assembly can fine-tune the longitudinal attitude of the aircraft, ensuring smooth flight; Synchronously increasing or decreasing the speed of all flight motors can realize the ascent or descent of the aircraft.

[0031] Three, dual-mode switching mechanism: The switching between the ground mode and the air mode is realized by the start-stop of the power unit and the state coordination, and the core is to avoid the interference of different mode power units: 1, ground→air switching: first, stop the first drive motor 1009 and the first steering motor 1008, cut off the ground power and the steering system; then start the third electric push rod 6007, lift the wheels off the ground through the folding of the landing gear assembly 6 to avoid wind resistance of the wheels during flight; finally, start all flight motors synchronously, and complete the switching when the lift is sufficient.

[0032] 2, air→ground switching: first, reduce the speed of all flight motors to make the aircraft slowly descend; when the landing gear assembly 6 contacts the ground, start the third electric push rod 6007 to control the landing gear to expand to the supporting state, ensuring the aircraft to land stably; then stop the flight motor and start the first drive motor 1009 to switch to the ground driving mode.

[0033] Four, landing gear assembly adjustment principle The landing gear assembly 6 cooperates with the electric push rod through the connecting rod mechanism to realize the expansion support and folding storage, adapting to different mode requirements: 1, expand support ground driving / landing buffer: when the third electric push rod 6007 is extended, its two ends respectively push the second connecting rod 6002 and the fourth connecting rod 6004 to rotate around the hinge point of the first connecting rod 6001; the second connecting rod 6002 drives the third connecting rod 6003, and the fourth connecting rod 6004 drives the fifth connecting rod 6005 to expand synchronously, and finally through the linkage of the sixth connecting rod 6006, the entire landing gear presents a “triangular support structure”, providing stable ground support for the aircraft, and buffering the ground impact force when landing.

[0034] 2, fold storage air flight: when the third electric push rod 6007 is retracted, it pulls the second connecting rod 6002 and the fourth connecting rod 6004 to rotate in the opposite direction, driving the third connecting rod 6003 and the fifth connecting rod 6005 to fold towards the main frame 3 direction, and finally the landing gear is close to the bottom of the main frame, reducing the air resistance during flight and improving the flight efficiency.

[0035] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An amphibious multi-copter unmanned vehicle suitable for land and air, characterized by Including the main frame (3), first drive assembly (1), first electric push rod (5), second drive assembly (2), second electric push rod (4) and landing gear assembly (6), the left side of the main frame (3) is installed first drive assembly (1), and the inside of the main frame (3) is installed first electric push rod (5); One end of the first electric push rod (5) is installed in the main frame (3), and the other end of the first electric push rod (5) is installed on the surface of the first drive assembly (1); The right side of the main frame (3) is installed second drive assembly (2), and the inside of the main frame (3) is installed second electric push rod (4); One end of the second electric push rod (4) is installed in the main frame (3), and the other end of the second electric push rod (4) is installed on the surface of the second drive assembly (2); The bottom of the main frame (3) is installed landing gear assembly (6).

2. The amphibious multi-copter unmanned vehicle of claim 1, wherein, The first drive assembly (1) includes first support (1010), first wheel (1001), first drive motor (1009), first steering motor (1008), steering arm (1007), the surface of the first support (1010) is installed first wheel (1001), and the surface of the first support (1010) is installed first drive motor (1009), the gear ring (10011) inside the first wheel (1001) is engaged with the first gear (1011), the first gear (1011) is installed on the surface of the first drive motor (1009) output shaft, the first steering motor (1008) is installed on the surface of the first support (1010), and the steering arm (1007) is installed on the output shaft of the first steering motor (1008), the surface of the steering arm (1007) is installed second wheel (1004).

3. The amphibious multi-copter unmanned vehicle of claim 2, wherein, The first flight motor (1003) is installed on the surface of the first wheel (1001), and the output shaft of the first flight motor (1003) is installed first flight blade (1002), the second flight motor (1006) is installed on the surface of the second wheel (1004), and the output shaft of the second flight motor (1006) is installed second flight blade (1005).

4. The amphibious multi-copter unmanned vehicle of claim 1, wherein, The first drive assembly (1) and the second drive assembly (2) are the same structure.

5. The amphibious multi-copter UAV of claim 1, wherein, The landing gear assembly (6) comprises a first connecting rod (6001), a second connecting rod (6002), a third connecting rod (6003) and a fourth connecting rod (6004), the second connecting rod (6002) and the third connecting rod (6003) are installed on the surface of the first connecting rod (6001), and the second connecting rod (6002) is connected with the third connecting rod (6003); the fourth connecting rod (6004) and the fifth connecting rod (6005) are installed on the surface of the first connecting rod (6001), and the third connecting rod (6003) and the fourth connecting rod (6004) are connected; the sixth connecting rod (6006) is connected with the second connecting rod (6002), the third connecting rod (6003), the fourth connecting rod (6004) and the fifth connecting rod (6005) respectively; one end of the third electric push rod (6007) is connected with the sixth connecting rod (6006), and the other end of the third electric push rod (6007) is connected with the second connecting rod (6002) and the fourth connecting rod (6004) respectively.

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