A coaxial four-rotor amphibious unmanned aerial vehicle platform

Abstract

The application relates to the technical field of unmanned aerial vehicles, and discloses a coaxial four-rotor amphibious unmanned aerial vehicle platform, which comprises an unmanned aerial vehicle body, the bottom of the unmanned aerial vehicle body is provided with a bottom bridge, the outer wall of one side of the bottom bridge is rotationally provided with a turnover rod, one end of the turnover rod is provided with a driving wheel, the other end is provided with an obstacle wheel, and the middle positions of the two groups of driving wheels are provided with adjusting assemblies for driving the turnover rod to rotate and switch the advancing mode of the unmanned aerial vehicle body. The equipment is matched by adjusting motors, piston cylinders, pressing rings, inner cylinders, piston blocks, hinge rods, turnover rods, driving wheels and obstacle wheels and the like, the pressing ring is driven by the adjusting motor to rotate and move along the piston cylinder, the damping liquid is extruded to drive the piston block to slide the hinge rod, the posture of the driving wheel and the obstacle wheel is switched by the rotation of the turnover rod, the advancing mode of the equipment is switched, different road conditions can be adapted, the advancing stability of the equipment on the complex rugged and pitted road surface is improved, and the overturning risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to a coaxial quadcopter amphibious unmanned aerial vehicle platform. Background Technology

[0002] Multi-rotor drones have gained widespread application due to their rapid vertical takeoff and flexible aerial flight capabilities, such as in military surveillance, logistics delivery, environmental monitoring, pesticide spraying, and search and rescue operations. However, it's worth noting that multi-rotor drones have some drawbacks, such as high energy consumption, short flight time, and high noise levels, making them unsuitable for missions requiring long endurance and high stealth. Furthermore, when drones need to move extensively into confined spaces to perform specific tasks, space constraints prevent them from performing flight maneuvers, thus hindering their ability to complete the designated mission. Therefore, in recent years, research has gradually begun on amphibious drones, combining the advantages of multi-rotor drones and mobile robots.

[0003] However, the existing drones still have the following shortcomings: First, drones are often used in complex scenarios such as field surveys, disaster relief, and material transportation. When they travel on the road, they are prone to sudden changes in the road surface (such as the sudden appearance of deep potholes or bumps). Drones need to travel on complex roads for a long time, and the vibration environment is continuous, which can easily cause the equipment to shake and overturn, thereby damaging the fuselage components and interrupting the operation. Summary of the Invention

[0004] The technical problem to be solved by this invention is that the existing technology has the disadvantage of complex road surfaces restricting the stable and safe movement of UAVs on land. To this end, we propose a coaxial quadcopter amphibious UAV platform.

[0005] To achieve the above objectives, this application adopts the following technical solution: a coaxial quadcopter amphibious unmanned aerial vehicle (UAV) platform, comprising a UAV body, a bottom bridge frame installed at the bottom of the UAV body, a flip rod rotatably mounted on one side of the outer wall of the bottom bridge frame, a drive wheel mounted at one end of the flip rod, and an obstacle-crossing wheel mounted at the other end, an adjustment component for driving the flip rod to rotate and switch the UAV body's travel mode is installed at the middle position of the two sets of drive wheels; the adjustment component includes hinge rods coaxially hinged to one side of the two sets of drive wheels, the two sets of hinge rods are symmetrical to each other, and one end of the two sets of hinge rods is hinged together, with a central wheel rotatably mounted at the hinge point of the two sets of hinge rods. Both sets of hinge rods have piston cylinders slidably mounted on their outer walls. The inner cavity of each piston cylinder is filled with damping fluid. A pressure ring is threaded onto the inner wall of each piston cylinder. An inner cylinder is slidably inserted through the axis of the pressure ring. A piston block is slidably connected to the inner cavity of the inner cylinder. Both ends of the inner cylinder have perforated structures for the flow of damping fluid. An electrically controlled flow valve is fixedly mounted on the outer wall of each piston cylinder, and both ends of the electrically controlled flow valve are connected to both ends of the piston cylinder via oil pipes. A connecting rod is fixed at the axis of the outer wall of each set of piston blocks on the side closest to each other. An adjusting motor is located in the middle of the two sets of piston cylinders, and the output shaft of the adjusting motor is fixed to the connecting rod via a coupling.

[0006] Preferably, a power battery for providing additional energy for the equipment's movement on the road is fixed on the upper surface of the bottom bridge, the bottom of the drone body is connected and fixed to the bottom bridge via quick-release parts, and the drive wheels and obstacle-crossing wheels are both connected to the control system via wires.

[0007] Preferably, a sliding sleeve is rotatably mounted on one side of the outer wall of the piston cylinder, the sliding sleeve is slidably sleeved on the smooth outer wall of the hinge rod, and a first limiting member is fixed on the lower surface of a set of piston cylinders.

[0008] Preferably, a second limiting member is fixed to the lower surface of another set of piston cylinders, and the first limiting member and the second limiting member are in a sliding interlocking relationship.

[0009] Preferably, a limiting block matching the second limiting member is fixed on the lower surface of the regulating motor, the second limiting member passes through the limiting block, the second limiting member and the limiting block form a sliding interlocking relationship, and the regulating motor is connected to the control system through a wire.

[0010] Preferably, the cross-sectional shape of the piston block is a rectangle with rounded chamfers, and the cross-sectional shape of the inner cavity of the inner cylinder is consistent with the cross-sectional shape of the piston block.

[0011] Preferably, the two sets of piston cylinders are symmetrical to each other, the inner cylinder is a double-opening tube, and the outer wall of the inner cylinder is fixed with multiple sets of limiting strips at equal angles around the axis. The pressure ring has a through hole of matching size and shape at the contact position with the inner cylinder and the limiting strips.

[0012] Preferably, seals are installed at the contact points between the inner cylinder and the pressure ring, the piston block and the inner wall of the inner cylinder, and the piston cylinder and the connecting rod, and the connecting rod passes through one end of the piston cylinder at the axial position.

[0013] Preferably, the inner cylinder is rotatably mounted on the inner wall of the piston cylinder, and the axes of the inner cylinder and the piston cylinder coincide. The central wheel and the electrically controlled flow valve are both connected to the control system via wires.

[0014] Preferably, the driving wheel and the obstacle-crossing wheel travel along the same path, and the driving wheel and the center wheel travel parallel to each other.

[0015] The technical effects and advantages of this invention are as follows: In this invention, the device uses a combination of components such as an adjustable motor, piston cylinder, pressure ring, inner cylinder, piston block, hinge rod, tilting rod, drive wheel, and obstacle-crossing wheel. The adjustable motor drives the pressure ring to rotate and move along the piston cylinder, squeezing the damping fluid to push the piston block to slide the hinge rod, causing the tilting rod to rotate and switch the posture of the drive wheel and obstacle-crossing wheel, thereby realizing the switching of the device's travel mode to adapt to different road conditions, improve the device's travel stability on complex, rugged, and potholed roads, and reduce the risk of tipping over.

[0016] In this invention, the device uses an electrically controlled flow valve, a piston cylinder, damping fluid, and a piston block. When the device is traveling on the road, the electrically controlled flow valve opens slowly and in a low amount, allowing the damping fluid to flow slightly. The piston block moves slowly with the movement of the device, absorbing the shaking generated during the movement of the device and preventing the device from tipping over due to large and violent shaking, thereby further improving the stability of the device when traveling on the road. Attached Figure Description

[0017] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0018] Figure 1 This is a schematic diagram of the main structure during the switching process from standby mode to off-road mode of the present invention; Figure 2 This is a side view of the main structure of the present invention in standby mode; Figure 3 This is a schematic diagram of the main structure of the invention in its off-road mode; Figure 4 This is a side view of the main structure of the present invention in off-road mode; Figure 5 This is a schematic diagram of the main structure in the stable mode of the present invention; Figure 6 This is a side view of the main structure in the stable mode of the present invention; Figure 7 This is a rear view schematic diagram of the main structure in the stable mode of the present invention; Figure 8 This is a schematic diagram of the main structure of the adjustment component of the present invention; Figure 9This is a cross-sectional and disassembled schematic diagram of a portion of the adjustment component during the switching process from standby mode to off-road mode of the device according to the present invention. Figure 10 This is a cross-sectional schematic diagram of a portion of the adjustment component in the off-road mode of the device according to the present invention; Figure 11 This is a cross-sectional schematic diagram of a portion of the adjustment component in the stable mode of the device according to the present invention.

[0019] Legend: 1. UAV body; 11. Bottom bridge; 12. Tilting rod; 13. Drive wheel; 14. Obstacle wheel; 2. Adjustment assembly; 21. Hinge rod; 22. Piston cylinder; 221. Sliding sleeve; 222. First limiting component; 223. Second limiting component; 23. Pressure ring; 24. Inner cylinder; 25. Piston block; 3. Central wheel; 4. Electrically controlled flow valve; 5. Adjustment motor. Detailed Implementation

[0020] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0021] Reference Figure 1-11 As shown, the present invention provides a technical solution: a coaxial quadcopter amphibious unmanned aerial vehicle (UAV) platform, comprising a UAV body 1, a bottom bridge 11 mounted on the bottom of the UAV body 1, a flip rod 12 rotatably mounted on one side of the outer wall of the bottom bridge 11, a drive wheel 13 mounted on one end of the flip rod 12, and an obstacle-crossing wheel 14 mounted on the other end. An adjustment component 2 for driving the flip rod 12 to rotate and switch the travel mode of the UAV body 1 is installed at the middle position of the two sets of drive wheels 13; the adjustment component 2 includes hinge rods 21 coaxially hinged to one side of the two sets of drive wheels 13, the two sets of hinge rods 21 being symmetrical to each other, and one end of the two sets of hinge rods 21 being hinged together. A central wheel 3 is rotatably mounted at the hinge point of the two sets of hinge rods 21. Piston cylinders 22 are slidably mounted on the outer walls of the two sets of piston cylinders 21. The inner cavity of the piston cylinders 22 is filled with damping fluid. A pressure ring 23 is threadedly connected to the inner wall of the piston cylinders 22. An inner cylinder 24 is slidably inserted at the axis of the pressure ring 23. A piston block 25 is slidably connected to the inner cavity of the inner cylinder 24. Both ends of the inner cylinder 24 are provided with hollow structures for the flow of damping fluid. An electrically controlled flow valve 4 is fixedly mounted on the outer wall of the piston cylinders 22, and both ends of the electrically controlled flow valve 4 are connected to both ends of the piston cylinders 22 through oil pipes. A connecting rod is fixed at the axis of the outer wall of the two sets of piston blocks 25 that are close to each other. An adjusting motor 5 is set in the middle position of the two sets of piston cylinders 22, and the output shaft of the adjusting motor 5 is fixed to the connecting rod through a coupling.

[0022] Reference Figure 1-7As shown in this embodiment: a power battery for providing additional energy for the equipment to travel on the road is fixed on the upper surface of the bottom bridge 11, the bottom of the drone body is connected and fixed to the bottom bridge 11 through quick-release parts, and the drive wheel 13 and obstacle-crossing wheel 14 are both connected to the control system through wires.

[0023] Reference Figure 8-11 As shown in this embodiment: a sliding sleeve 221 is rotatably mounted on one side of the outer wall of the piston cylinder 22. The sliding sleeve 221 is slidably sleeved on the smooth outer wall of the hinge rod 21. A first limiting member 222 is fixed on the lower surface of one set of piston cylinders 22. A second limiting member 223 is fixed on the lower surface of another set of piston cylinders 22. The first limiting member 222 and the second limiting member 223 are in a sliding interlocking relationship. A limiting block matching the second limiting member 223 is fixed on the lower surface of the adjusting motor 5. The second limiting member 223 passes through the limiting block, and the second limiting member 223 and the limiting block form a sliding interlocking relationship. The adjusting motor 5 is connected to the control system through a wire. The cross-sectional shape of the piston block 25 is a rectangle with rounded chamfers, and the cross-sectional shape of the inner cavity of the inner cylinder 24 is consistent with the cross-sectional shape of the piston block 25. The two sets of piston cylinders 22 are symmetrically arranged. The inner cylinder 24 is a double-opening tubular shape, and multiple sets of limiting strips are fixed at equal angles around the axis on the outer wall of the inner cylinder 24. The pressure ring 23 has through holes of matching size and shape at the contact positions with the inner cylinder 24 and the limiting strips. Seals are installed at the contact positions of the inner cylinder 24 and the pressure ring 23, the piston block 25 and the inner wall of the inner cylinder 24, and the piston cylinder 22 and the connecting rod. The connecting rod passes through one end of the piston cylinder 22 at the axial position. The inner cylinder 24 is rotatably mounted on the inner wall of the piston cylinder 22, and the axes of the inner cylinder 24 and the piston cylinder 22 coincide. The centrally mounted wheel 3 and the electrically controlled flow valve 4 are both connected to the control system through wires.

[0024] Reference Figure 1-11 As shown in this embodiment, the forward paths of the drive wheel 13 and the obstacle-crossing wheel 14 coincide, and the forward paths of the drive wheel 13 and the central wheel 3 are parallel.

[0025] Working principle: When the equipment needs to travel on complex and rugged roads, simply switch the equipment from standby mode (i.e., the angle between the axis of the flipping rod 12 and the road surface is 90 degrees) to off-road mode. First, the control system needs to start the regulating motor 5 (specifically a small servo motor, connected to the equipment's control system via wires). The regulating motor 5 drives the piston block 25, inner cylinder 24, and pressure ring 23 to rotate through its output end. Since the pressure ring 23 and the inner wall of the piston cylinder 22 are threadedly connected, and the outer wall of the inner cylinder 24 is provided with multiple sets of limit strips arranged at equal angles, the pressure ring 23 and... The inner cylinder 24 is in a sliding insertion relationship (the pressure ring 23 has through holes of matching size and shape at the contact points with the inner cylinder 24 and multiple sets of limiting strips); the piston block 25 is in a sliding sleeve relationship with the inner wall of the inner cylinder 24, and the piston block 25 is specifically a rectangular block with rounded corners, and the cross-sectional shape of the inner wall of the inner cylinder 24 matches that of the piston block 25; the inner cylinder 24 and the piston cylinder 22 are coaxial, and the inner walls of the inner cylinder 24 and the piston cylinder 22 are rotatably connected, and both ends of the inner cylinder 24 have a hollow structure; therefore, while the adjusting motor 5 drives the piston block 25 to rotate in one direction (this... When the electronically controlled flow valve 4 is fully closed, the pressure ring 23 will move to one side. As the pressure ring 23 moves, it will squeeze the damping fluid filled inside the piston cylinder 22. The damping fluid, under pressure, enters the inner cylinder 24 through the hollow structure at the end of the inner cylinder 24 (note that the inner cylinder 24 has a double-opening structure). Since the damping fluid is incompressible, under strong pressure, the piston block 25 is squeezed to the other side (opposite to the pressure ring 23). At this time, due to the shortened distance between the two sets of piston cylinders 22, the sliding sleeve 221 continuously slides upwards on the outer wall of the hinge rod 21 (closer to the central wheel). 3) Simultaneously, the distance between the two sets of drive wheels 13 is also shortened, so the flipping rod 12 rotates synchronously. After the adjustment is completed, the obstacle-crossing wheel 14 is in a forward-leaning posture, the overall height of the equipment is reduced, and the center of gravity shifts downward for the first time, reducing the possibility of the equipment tipping over and improving the stability of the equipment. At the same time, the angle between the flipping rod 12 and the road surface in front of the equipment is an acute angle. By first reducing the height of the obstacle-crossing wheel 14 from the ground and increasing the distribution area of ​​the equipment and the road surface in the front and rear directions (the drive wheels 13, obstacle-crossing wheels 14, etc. are surfaces composed of tires), the stability of the equipment when moving over obstacles is further improved.

[0026] When the equipment needs to travel on a relatively flat road surface with potholes of varying sizes and uneven distribution, simply switch the equipment from off-road mode to smooth mode (the actual mode depends on the road conditions; maintain off-road mode when the potholes are deep). First, as described above when switching to off-road mode, the pressure ring 23 is indirectly moved on the inner wall of the piston cylinder 22 by continuing to start the regulating motor 5, which squeezes and guides the damping fluid to the inner wall of the inner cylinder 24, thereby squeezing and driving the piston block 25 to continue moving to one side. At this time, the distance between the two sets of drive wheels 13 is further shortened until the obstacle-crossing wheel 14 is in complete contact with the road surface in front and behind. At this time, the distribution area of ​​the equipment and the road surface is further increased, thereby further improving the stability of the equipment when traveling.

[0027] It should be noted that a first limiting member 222 (specifically a long tubular structure that runs through the front and back) is fixed to the lower surface of one set of piston cylinders 22, and a second limiting member 223 (specifically a smooth long rod) is fixed to the lower surface of the other set of corresponding piston cylinders 22. The second limiting member 223 always penetrates the inner wall of the first limiting member 222, and a limiting block that matches the second limiting member 223 is installed on the lower surface of the adjusting motor 5. The second limiting member 223 penetrates the limiting block, forming a sliding interlocking relationship, which is used to provide structural support for the drive motor and prevent it from rotating during operation.

[0028] In the three modes (specifically, when traveling on the road surface), the electronically controlled flow valve 4 needs to be opened by the control system and kept in a slow and low-volume state. By changing the incompressible damping fluid into a state where it can flow slightly and transfer to another chamber (the piston block 25, together with the inner cylinder 24 and the pressure ring 23, divides the inner wall of the piston cylinder 22 into two chambers), the piston block 25 can move slowly to one side during travel. During this period, the shaking generated when the equipment passes through complex road surfaces can be absorbed by the piston block 25 and the damping fluid in the active state, preventing the equipment from tipping over due to large and violent shaking and improving the stability of the equipment during travel.

[0029] It should be noted that when the equipment is stationary or during mode switching, the electrically controlled flow valve 4 is in a fully closed state to prevent pressure changes from causing instability in the equipment's attitude switching.

[0030] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A coaxial quadcopter amphibious unmanned aerial vehicle (UAV) platform, comprising a UAV body, wherein a bottom bridge is mounted on the bottom of the UAV body, characterized in that, A flip rod is rotatably mounted on one side of the outer wall of the bottom bridge frame. A drive wheel is mounted at one end of the flip rod, and an obstacle-crossing wheel is mounted at the other end. An adjustment assembly for driving the flip rod to rotate and switch the drone's main body's travel mode is installed in the middle of the two sets of drive wheels. The adjustment assembly includes hinge rods coaxially hinged to one side of the two sets of drive wheels. The two sets of hinge rods are symmetrical, and one end of each set is hinged. A central wheel is rotatably mounted at the hinge point of the two sets of hinge rods. Piston cylinders are slidably mounted on the outer walls of both sets of hinge rods, and the inner cavity of the piston cylinders is filled with a... The piston cylinder has a threaded connection to a pressure ring on its inner wall. An inner cylinder is slidably inserted through the axis of the pressure ring. A piston block is slidably connected to the inner cavity of the inner cylinder. Both ends of the inner cylinder are provided with perforated structures to allow the damping fluid to flow. An electrically controlled flow valve is fixedly installed on the outer wall of the piston cylinder, and both ends of the electrically controlled flow valve are connected to both ends of the piston cylinder through oil pipes. A connecting rod is fixed at the axis of the outer wall of the two sets of piston blocks that are close to each other. An adjusting motor is set in the middle of the two sets of piston cylinders, and the output shaft of the adjusting motor is fixed to the connecting rod through a coupling.

2. The coaxial quadrotor amphibious unmanned aerial vehicle platform according to claim 1, characterized in that: The upper surface of the bottom bridge is fixed with a power battery for providing additional energy for the equipment to travel on the road. The bottom of the drone body is connected and fixed to the bottom bridge via quick-release parts. The drive wheels and obstacle-crossing wheels are both connected to the control system via wires.

3. The coaxial quadcopter amphibious unmanned aerial vehicle platform according to claim 1, characterized in that: A sliding sleeve is rotatably mounted on one side of the outer wall of the piston cylinder, and the sliding sleeve is slidably sleeved on the smooth outer wall of the hinge rod. A first limiting member is fixed on the lower surface of a set of piston cylinders.

4. The coaxial quadrotor amphibious unmanned aerial vehicle platform according to claim 3, characterized in that: Another set of piston cylinders has a second limiting member fixed to its lower surface, and the first limiting member and the second limiting member are in a sliding interlocking relationship.

5. A coaxial quadcopter amphibious unmanned aerial vehicle platform according to claim 4, characterized in that: The lower surface of the regulating motor is fixed with a limiting block that matches the second limiting member. The second limiting member passes through the limiting block, and the second limiting member and the limiting block form a sliding interlocking relationship. The regulating motor is connected to the control system through a wire.

6. The coaxial quadrotor amphibious unmanned aerial vehicle platform according to claim 1, characterized in that: The piston block has a rectangular cross-sectional shape with rounded chamfers, and the inner cavity of the inner cylinder has the same cross-sectional shape as the piston block.

7. The coaxial quadrotor amphibious unmanned aerial vehicle platform according to claim 1, characterized in that: The two sets of piston cylinders are symmetrical to each other. The inner cylinder is a double-opening tube, and the outer wall of the inner cylinder is fixed with multiple sets of limiting strips at equal angles around the axis. The pressure ring has a through hole of matching size and shape at the contact position with the inner cylinder and the limiting strips.

8. The coaxial quadrotor amphibious unmanned aerial vehicle platform according to claim 1, characterized in that: Furthermore, seals are installed at the contact points between the inner cylinder and the pressure ring, the piston block and the inner wall of the inner cylinder, and the piston cylinder and the connecting rod, and the connecting rod passes through one end of the piston cylinder at the axial position.

9. A coaxial quadrotor amphibious unmanned aerial vehicle platform according to claim 1, characterized in that: The inner cylinder is rotatably mounted on the inner wall of the piston cylinder, and the axes of the inner cylinder and the piston cylinder coincide. The central wheel and the electrically controlled flow valve are both connected to the control system through wires.

10. A coaxial quadrotor amphibious unmanned aerial vehicle platform according to claim 1, characterized in that: The driving wheel and the obstacle-crossing wheel travel along the same path, and the driving wheel and the center wheel travel parallel to each other.

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