Novel triphibian robot

Abstract

The novel triphibian robot comprises a lower-layer power system which is distributed up and down, and structurally comprises a lower-layer main body; the water-air dual-purpose propeller assembly can rotate and can horizontally and radially turn over by 90 degrees around a rotating shaft of the water-air dual-purpose propeller assembly; the steering control system is connected between the two adjacent water-air dual-purpose propeller assemblies and can control the two water-air dual-purpose propeller assemblies to steer synchronously; and the upper-layer power system structurally comprises an upper-layer main body and a flying propeller assembly. The triphibian unmanned aerial vehicle is compact and reasonable in structure and convenient to operate, the triphibian unmanned aerial vehicle is provided with the lower-layer power system and the upper-layer power system, conversion among different modes is achieved by changing the form and the orientation of the paddles, the conversion efficiency is high, the steering control system is further provided, and accurate control over the triphibian unmanned aerial vehicle is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of amphibious robots, in particular to a novel amphibious robot. Background Art

[0002] With the rapid development of UAV technology, its application areas are constantly expanding. However, most existing UAVs are limited to air flight and have limited mobility on land and in water. Therefore, developing an amphibious UAV that can adapt to a variety of environments has important practical value.

[0003] Although there are many amphibious robots now, the existing amphibious robots have complex structures and it is difficult to convert the power system: in water, land and air environments, the robot requires different propulsion methods. The design of the power system during the conversion process is complex and may be inefficient. For example, propeller propulsion is required in water, wheels or tracks may be required on land, and rotors or fixed wings are required in the air. The conversion process may not be smooth or inefficient.

[0004] To this end, we propose a new type of amphibious robot. Utility Model Content

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a new type of amphibious robot, which realizes the conversion between different modes by changing the shape and direction of the paddle.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A new type of amphibious robot, including upper and lower distributed:

[0008] The lower power system includes:

[0009] The underlying entity; and,

[0010] The dual-purpose propeller assemblies are four in number and arranged in a matrix, and the dual-purpose propeller assemblies are capable of rotating and performing a horizontal radial 90° flip around their rotation axis;

[0011] A steering control system, which is connected between two adjacent dual-purpose propeller assemblies for water and air, and is capable of controlling the synchronous steering of the two dual-purpose propeller assemblies for water and air;

[0012] The upper power system includes:

[0013] An upper body is arranged parallel to the lower body; and

[0014] There are four flying propeller assemblies which are distributed in a matrix. The flying propeller assemblies are located at the midpoint of two adjacent water-air dual-purpose propeller assemblies. The flying propeller assemblies can rotate and can perform a horizontal radial 90° flip around their rotation axes.

[0015] Furthermore, the water-air dual-purpose propeller assembly comprises:

[0016] A water-air dual-purpose propeller, comprising a plurality of propeller blades equidistantly distributed in an annular shape, and a wheel arranged around the periphery of the plurality of propeller blades;

[0017] A second power motor, a drive shaft of which is connected to the rotating shaft of the water-air dual-purpose propeller;

[0018] The lower mode switching motor is fixedly connected to the lower body through the lower second connecting member, and the output shaft of the lower mode switching motor is connected to the power motor 2 through the lower first connecting member, and drives the power motor 2 to flip.

[0019] Furthermore, the wheel is provided with a tire, and the tire is filled with gas to improve the water surface suspension and land vibration reduction effect.

[0020] Furthermore, the steering control system comprises:

[0021] The front crossbar and the rear crossbar are parallel to each other and the two ends are rotatably connected to the two lower mode switching motors;

[0022] The steering control motor is connected to the front cross bar and the rear cross bar through a steering control rod. The steering control rod is provided with three end points along the length direction. The middle end point is fixedly connected to the rear cross bar, and the other two end points are movably connected to the output shaft of the steering control motor and the front cross bar.

[0023] Furthermore, the flight propeller assembly comprises:

[0024] Flight propeller assembly;

[0025] A power motor 1, whose drive shaft is connected to the rotating shaft of the flight propeller;

[0026] The upper mode switching motor is fixed on the upper main body, and the output shaft of the upper mode switching motor is connected to the power motor one through the upper connecting piece, and drives the power motor one to flip.

[0027] Furthermore, limit blocks are provided on the side walls of the lower body and the upper body.

[0028] Furthermore, a control system is provided between the lower body and the upper body, and the control system controls the movements of the power motor 1, the power motor 2 and the mode switching motor respectively through a PLC controller.

[0029] The beneficial effects of the utility model are as follows:

[0030] The utility model has a compact and reasonable structure and is easy to operate. The amphibious UAV has a lower power system and an upper power system. By changing the shape and direction of the propeller, the conversion between different modes is realized, and the conversion efficiency is high. At the same time, the utility model also provides a steering control system to achieve precise control of the amphibious UAV. The amphibious UAV of the utility model includes a lower power system and an upper power system, which are independent of each other and work together to realize the amphibious function.

[0031] At the same time, the amphibious UAV of the utility model has the following advantages:

[0032] 1. The double-layer eight-propeller structural design realizes the ability of amphibious movement on land, in the air and in water, broadening the application scope of the UAV.

[0033] 2. Through the mode switching system, it is easy to switch between different modes, which improves the flexibility and adaptability of the drone.

[0034] 3. The optimized power system and structural design reduce component redundancy, reduce dead weight, and improve stability and flight efficiency.

[0035] 4. The steering control system is exquisitely designed, easy to operate, and can achieve precise steering control.

[0036] 5. The design of the dual-purpose propeller enables the UAV to work efficiently both in water and in the air, improving the practicality of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the utility model.

[0038] Figure 2 It is a schematic diagram of the structure of the utility model in flight state.

[0039] Figure 3 It is a structural schematic diagram of the flight propeller assembly in the utility model.

[0040] Figure 4 It is a structural schematic diagram of the steering control system in the utility model.

[0041] in:

[0042] 101, lower layer body; 102, upper layer body; 201, front cross bar; 202, rear cross bar; 203, steering control lever; 204, steering control motor; 301, wheel; 302, flight propeller; 303, power motor 1; 304, lower layer first connecting piece; 305, lower layer mode switching motor; 306, lower layer second connecting piece; 401, water-air dual-purpose propeller; 402, power motor 2; 403, upper layer connecting piece; 404, upper layer mode switching motor. DETAILED DESCRIPTION

[0043] The specific implementation of the present utility model is described below in conjunction with the accompanying drawings.

[0044] like Figure 1 As shown, the utility model provides an amphibious UAV and its power system, aiming to solve the problem of single function of existing UAVs. The amphibious UAV has a lower power system and an upper power system, and the conversion between different modes is realized by changing the shape and direction of the propeller, and the conversion efficiency is high. At the same time, the utility model also provides a steering control system to achieve precise control of the amphibious UAV. The amphibious UAV of the utility model includes a lower power system and an upper power system, which are independent of each other and work together to realize the amphibious functions.

[0045] The novel amphibious robot of this embodiment includes a lower power system and an upper power system distributed up and down;

[0046] In this embodiment, Figure 1 As shown, the lower power system has a structure including:

[0047] A lower body 101; and

[0048] The dual-purpose propeller assemblies are four in number and arranged in a matrix, and the dual-purpose propeller assemblies are capable of rotating and performing a horizontal radial 90° flip around their rotation axis;

[0049] Meanwhile, the lower power system also includes a steering control system, which is connected between two adjacent water-air dual-purpose propeller assemblies and can control the synchronous steering of the two water-air dual-purpose propeller assemblies;

[0050] The steering control system in this embodiment includes:

[0051] The front crossbar 201 and the rear crossbar 202 are parallel to each other and the two ends are rotatably connected to the two lower mode switching motors 305;

[0052] The steering control motor 204 is connected to the front cross bar 201 and the rear cross bar 202 through the steering control rod 203. The steering control rod 203 is provided with three endpoints along the length direction. The middle endpoint is fixedly connected to the rear cross bar 202, and the other two endpoints are movably connected to the output shaft of the steering control motor 204 and the front cross bar 201.

[0053] The steering control lever 203 is used to receive operation instructions, and the steering control motor 204 adjusts the directions of the upper and lower paddles according to the instructions, thereby achieving precise control of the flight, swimming and driving directions of the amphibious UAV.

[0054] In this embodiment, Figure 1 As shown, the upper power system has a structure including:

[0055] The upper body 102 is arranged parallel to the lower body 101; and

[0056] There are four flying propeller 302 assemblies, which are distributed in a matrix. The flying propeller 302 assembly is located at the midpoint of two adjacent dual-purpose water and air propeller assemblies. The flying propeller 302 assembly can rotate and can perform a horizontal radial 90° flip around its rotation axis.

[0057] In this embodiment, the structure is streamlined, the layout is reasonable, the overall stability is high, and an optimized power system and structural design are adopted to reduce component redundancy, reduce dead weight, and improve operational stability and flight efficiency in the air, water, and land.

[0058] The water-air dual-purpose propeller assembly in this embodiment includes:

[0059] A dual-purpose propeller 401 for water and air, comprising a plurality of propeller blades equidistantly distributed in an annular shape, and a wheel 301 arranged around the periphery of the plurality of propeller blades;

[0060] A second power motor 402, whose drive shaft is connected to the rotating shaft of the dual-purpose propeller 401;

[0061] The lower mode switching motor 305 is fixedly connected to the lower body 101 via the lower second connecting member 306, and the output shaft of the lower mode switching motor 305 is connected to the power motor 2 402 via the lower first connecting member 304, and drives the power motor 2 402 to flip.

[0062] In the land mode, the wheel contacts the ground to provide propulsion; in the air and water modes, the flight propeller 302 rotates to generate propulsion. The lower mode switching motor controls the direction of the power motor and the flight propeller 302 through the lower first connecting member to achieve mode conversion.

[0063] The dual-purpose propeller 401 is specially designed to generate propulsion in water and provide lift in the air. The second power motor 402 drives the dual-purpose propeller 401 to rotate and is fixed to the fuselage through the lower first connecting member 304. The upper mode switching motor is responsible for controlling the direction of the propeller to achieve the switching between the air and water modes.

[0064] The wheel 301 in this embodiment is provided with a tire, and the tire is filled with gas to improve the water surface suspension and land vibration reduction effect.

[0065] The flight propeller 302 assembly in this embodiment includes:

[0066] Flight propeller 302;

[0067] A power motor 1 303, whose drive shaft is connected to the rotating shaft of the flight propeller 302;

[0068] The upper mode switching motor 404 is fixed on the upper main body 102. The output shaft of the upper mode switching motor 404 is connected to the power motor 1 303 through the upper connecting member 403, and drives the power motor 1 303 to flip.

[0069] In this embodiment, limit blocks are provided on the side walls of the lower body 101 and the upper body 102 .

[0070] In this embodiment, a control system is also provided between the lower body 101 and the upper body 102. The control system controls the movements of the power motor 1 303, the power motor 2 402 and the mode switching motor respectively through a PLC controller.

[0071] This embodiment is described in detail according to different motion states in combination with the control system.

[0072] (1) Air-to-Land Mode Conversion

[0073] Initial state: The double-layer four propellers (i.e. eight propellers) are running at the same time, and the robot is hovering in the air (see Figure 2 ).

[0074] The specific operation is as follows: the double-layer four propellers (i.e. eight propellers) slowly decelerate to make it descend, and when it reaches near the ground, it is made to hover; the upper four propellers slowly accelerate, and the lower four propellers slowly decelerate until the lower four propellers completely stop, and the two accelerate and decelerate synchronously, during which the robot remains hovering near the ground; the lower four propellers rotate 90° inward based on the fuselage and transform into four wheels; the upper four propellers slowly decelerate, so that the lower four wheels touch the ground, and the upper four propellers continue to decelerate until they completely stop; the air-to-land mode conversion is completed, and the robot is parked on the ground.

[0075] (2) Land-to-air mode conversion

[0076] Initial state: the upper four propellers stop rotating, the lower four wheels touch the ground, and the robot is parked on the ground. The specific operation is as follows: the upper four propellers slowly accelerate to make the lower four wheels leave the ground, and when they are completely off the ground, they are allowed to hover; the lower four wheels rotate 90 degrees outward based on the fuselage and transform into four propellers; the double-layer four propellers (i.e. eight propellers) operate simultaneously to make it hover; the land-to-air mode conversion is completed, and the robot hovers in the air.

[0077] Due to the particularity of water, we divide the water mode into water (floating) mode and water (suspended) mode, that is, the conversion of air-water mode is divided into two steps: air-water (floating) mode conversion and water (floating)-water (suspended) mode conversion.

[0078] (3) Air-to-water (floating) mode conversion

[0079] Initial state: The double-layer four propellers (i.e. eight propellers) are running simultaneously, and the robot is hovering in the air (see Figure 2 ).

[0080] The specific operation is as follows: the double-layer four-propeller (i.e. eight-propeller) slowly decelerates to make it descend, and when it reaches near the water surface, it is made to hover; the upper four-propeller slowly accelerates, and the lower four-propeller slowly decelerates until the lower four-propeller completely stops, and the acceleration and deceleration of the two are synchronized, during which the robot is still kept hovering near the water surface; the upper four-propeller slowly decelerates to make the lower four-propeller touch the water surface (the lower four-propeller is defined as the lower four-propeller at this time); the upper four-propeller continues to decelerate until it stops completely; the upper four-propeller rotates inward 90° based on the geometric center and transforms into four propellers; the air-water (floating) mode conversion is completed, and the robot floats on the water surface.

[0081] (4) Water (floating)-water (suspended) mode conversion

[0082] Initial state: The double-layer four-propellers (i.e. eight propellers) stop rotating, and the robot floats on the water.

[0083] The specific operation is as follows: the four propellers on the lower layer are slowly accelerated to make them dive until the four propellers on the upper layer are completely immersed in the water, making them suspended; the water (floating)-water (suspension) mode conversion is completed, and the robot is suspended in the water.

[0084] Due to the particularity of water, we divide the water mode into water (floating) mode and water (suspended) mode, that is, divide the conversion of air-water mode into two steps: water (suspended)-water (floating) mode conversion and water (floating)-air mode conversion.

[0085] (5) Water (suspension)-water (floating) mode conversion

[0086] Initial state: the upper four propellers are stopped, the lower four propellers are running, and the robot is suspended in the water.

[0087] The specific operation is as follows: the four propellers on the lower layer slowly slow down to make it float up, until the four propellers on the lower layer stop rotating completely, making it float on the water surface; the water (suspension)-water (floating) mode conversion is completed, and the robot is suspended on the water surface.

[0088] (6) Water (floating)-air mode conversion

[0089] Initial state: The double-layer four-propeller (i.e. eight-propeller) stops rotating and the robot floats on the water.

[0090] The specific operation is as follows: the upper four propellers rotate 90° outward based on the geometric center and transform into four propellers; the upper four propellers slowly accelerate to make the lower four propellers leave the water surface, and when they completely leave the water surface, they are made to hover; the double-layer four propellers (i.e. eight propellers) operate simultaneously to make them hover; the water (floating)-air mode conversion is completed, and the robot hovers in the air (see Figure 2 ).

[0091] The terrain difference between water and land is too great, and the conditions for direct water-land mode conversion are too harsh. Therefore, most of the water-air mode conversion and air-land mode conversion are combined to complete the water-land mode conversion. Similarly, the land-water mode conversion is mostly completed by combining the land-air mode conversion and air-water mode conversion.

[0092] The amphibious UAV of the utility model has the following advantages:

[0093] The double-layer eight-propeller structural design achieves the ability to move on land, in the air and in water, broadening the scope of application of the drone.

[0094] Through the mode switching system, it is easy to switch between different modes, which improves the flexibility and adaptability of the drone.

[0095] It adopts an optimized power system and structural design to reduce component redundancy, lower its own weight, and improve stability and flight efficiency.

[0096] The steering control system is sophisticatedly designed, easy to operate, and can achieve precise steering control.

[0097] The design of the dual-purpose propeller 401 enables the UAV to work efficiently both in water and in the air, improving the practicality of the UAV.

[0098] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the protection scope of the utility model.

Claims

1. A new type of amphibious robot, It is characterized in that Including upper and lower distribution: The lower power system includes: a lower body (101); and The dual-purpose propeller assemblies are four in number and arranged in a matrix, and the dual-purpose propeller assemblies are capable of rotating and performing a horizontal radial 90° flip around their rotation axis; A steering control system, which is connected between two adjacent dual-purpose propeller assemblies for water and air, and is capable of controlling the synchronous steering of the two dual-purpose propeller assemblies for water and air; The upper power system includes: An upper body (102) is arranged in parallel with the lower body (101); and There are four flying propeller assemblies which are distributed in a matrix. The flying propeller assemblies are located at the midpoint of two adjacent water-air dual-purpose propeller assemblies. The flying propeller assemblies can rotate and can perform a horizontal radial 90° flip around their rotation axes.

2. A novel amphibious robot as claimed in claim 1, Features: The water-air dual-purpose propeller assembly comprises: A water-air dual-purpose propeller (401), comprising a plurality of propeller blades equidistantly distributed in an annular shape, and a wheel (301) arranged around the periphery of the plurality of propeller blades; A second power motor (402), whose driving shaft is connected to the rotating shaft of the dual-purpose propeller (401); The lower layer mode switching motor (305) is fixedly connected to the lower layer main body (101) via the lower layer second connecting member (306), and the output shaft of the lower layer mode switching motor (305) is connected to the second power motor (402) via the lower layer first connecting member (304), and drives the second power motor (402) to flip.

3. A novel amphibious robot as claimed in claim 2, Features: The wheel (301) is provided with a tire, and the tire is filled with gas to improve the water surface suspension and land vibration reduction effects.

4. A novel amphibious robot as claimed in claim 2, Features: The steering control system comprises: The front crossbar (201) and the rear crossbar (202) are parallel to each other and the two ends are rotatably connected to the two lower mode switching motors (305); The steering control motor (204) is connected to the front crossbar (201) and the rear crossbar (202) via a steering control rod (203). The steering control rod (203) is provided with three end points along the length direction. The end point in the middle is fixedly connected to the rear crossbar (202), and the other two end points are movably connected to the output shaft of the steering control motor (204) and the front crossbar (201).

5. A novel amphibious robot as claimed in claim 1, Features: The flight propeller assembly comprises: Flight propeller (302); A power motor 1 (303), whose drive shaft is connected to the rotating shaft of the flight propeller (302); The upper mode switching motor (404) is fixed on the upper main body (102). The output shaft of the upper mode switching motor (404) is connected to the power motor 1 (303) through the upper connecting member (403) and drives the power motor 1 (303) to flip.

6. A novel amphibious robot as claimed in claim 1, Features: Limit blocks are arranged on the side walls of the lower body (101) and the upper body (102).

7. A novel amphibious robot as claimed in claim 1, Features: A control system is also provided between the lower body (101) and the upper body (102), and the control system controls the movements of the power motor 1 (303), the power motor 2 (402) and the mode switching motor respectively through a PLC controller.

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