Ground-air amphibious unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a ground-air amphibious unmanned aerial vehicle which comprises a rack and amphibious driving assemblies arranged on the two sides of the rack. The amphibious driving assembly comprises a machine arm, a walking paddle impeller assembly and a steering paddle impeller assembly, and the walking paddle impeller assembly and the steering paddle impeller assembly are arranged on the machine arm; the machine arms are hinged to the machine frame, driving mechanisms are arranged between the machine arms and the machine frame, and the machine arms are driven by the driving mechanisms to rotate. The walking paddle impeller assembly and the steering paddle impeller assembly are arranged on the machine arm, a driving mechanism is arranged between the machine arm and the machine frame, the machine arm is driven by the driving mechanism to rotate, and therefore the angle of the machine arm is changed. When the arms are in a horizontal state, the aircraft is in an air flight mode, and when the arms are in a vertical state, the aircraft is in a ground running mode. And due to the arrangement of the driving mechanism, manual bending adjustment can be omitted.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to an amphibious unmanned aerial vehicle for ground and air. Background Art

[0002] In the current application field of unmanned vehicles, wheeled unmanned vehicles have been widely used in aspects such as approaching reconnaissance, security patrol, and transporting explosives due to their mobility and controllability. However, the inherent limitations of the wheeled structure result in insufficient obstacle-crossing ability. When facing complex terrains such as mountains, ravines, and rugged woodlands, the passing ability is greatly reduced, severely restricting its scope of use and mission execution ability. Although some multi-legged or tracked unmanned vehicles attempt to solve this problem, they have the disadvantages of complex structure and high energy consumption.

[0003] Therefore, an amphibious unmanned aerial vehicle for ground and air came into being. It combines the capabilities of flying in the air and traveling on the ground, and realizes the flexible conversion between the two modes through mode switching technology. For example, the utility model patent with the patent application number 202220113462.4 discloses a deformable amphibious unmanned aerial vehicle for ground and air. It has a foldable arm hinged at each of the four corners of the fuselage, and the foldable arm is manually bent by 90 degrees to achieve the conversion between the air and ground modes. However, such a manual operation method limits the operation during remote control. Content of the Utility Model

[0004] In view of the above technical problems, the utility model provides an amphibious unmanned aerial vehicle for ground and air. The unmanned aerial vehicle is provided with a driving mechanism, which drives the arm to rotate, thereby realizing the conversion between the air and ground modes without manual bending.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is as follows:

[0006] An amphibious unmanned aerial vehicle for ground and air, comprising a frame and amphibious driving components arranged on both sides of the frame; the amphibious driving components include arms, walking paddle wheel components and steering paddle wheel components, and the walking paddle wheel components and the steering paddle wheel components are arranged on the arms; the arms are hinged to the frame, and a driving mechanism is arranged between the arms and the frame to drive the arms to rotate through the driving mechanism.

[0007] The walking paddle wheel component includes a first mounting seat, a first driving motor, a first driving component and a walking wheel. The first mounting seat is fixedly connected to the arm, the housing of the first driving motor is fixedly connected to the first mounting seat, and a first paddle is fixedly connected to the output shaft of the first driving motor; the walking wheel is rotatably connected to the first mounting seat, and the walking wheel is driven to rotate through the first driving component.

[0008] The first driving component includes a motor, a driving gear and a driven gear ring. The housing of the motor is fixedly connected to the machine arm, the output shaft of the motor is fixedly connected to the driving gear, and the driven gear ring is coaxially fixed to the walking wheel and meshes with the driving gear.

[0009] The first driving motor is a brushless motor.

[0010] It further includes a first support and limit plate cooperating with the walking wheel. The first support and limit plate is fixedly connected to the frame, and a first limit cover contacting the outer surface of the walking wheel is fixed on the first support and limit plate.

[0011] The steering paddle wheel assembly includes a second mounting seat, a second driving motor and a steering wheel. The second mounting seat is connected to the machine arm through a steering motor. The housing of the steering motor is fixedly connected to the machine arm, and the output shaft of the steering motor is fixedly connected to the second mounting seat;

[0012] The housing of the second driving motor is fixedly connected to the second mounting seat, and a second paddle is fixedly connected to the output shaft of the second driving motor; the steering wheel is rotatably connected to the second mounting seat.

[0013] It further includes a second support and limit plate cooperating with the steering wheel. The second support and limit plate is fixedly connected to the frame, and a second limit cover contacting the outer surface of the steering wheel is fixed on the second support and limit plate.

[0014] The driving mechanism uses an electric push rod. The two ends of the electric push rod are respectively hinged to the machine arm and the frame, and corresponding hinge seats are provided on both the machine arm and the frame.

[0015] The amphibious driving component further includes a landing gear, and the landing gear is fixedly connected to the machine arm.

[0016] A limit seat is fixed on the landing gear of one of the amphibious driving components, and a telescopic electromagnet is fixed on the landing gear of the other amphibious driving component. A jack for inserting the push rod of the telescopic electromagnet is provided on the limit seat.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0018] The walking paddle wheel assembly and the steering paddle wheel assembly are arranged on the machine arm. A driving mechanism is provided between the machine arm and the frame. The driving mechanism drives the machine arm to rotate, thereby changing the angle of the machine arm. When the machine arm is in a horizontal state, it is in the air flight mode, and when the machine arm is in a vertical state, it is in the ground driving mode. The setting of the driving mechanism can eliminate manual bending adjustment.

[0019] Due to the structural settings of the first support limiting plate and the second support limiting plate, when the machine arm is in a horizontal state, the first limiting cover contacts the outer surface of the traveling wheel, thereby restricting the rotation of the traveling wheel; the second limiting cover contacts the outer surface of the steering wheel, thereby restricting the rotation of the steering wheel. This avoids unnecessary rotation of the traveling wheel and the steering wheel during flight.

[0020] The telescopic electromagnet can, when the machine arm is in a vertical state, achieve the insertion between the two landing gears, and further play a role in restricting the rotation of the two machine arms. Brief Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of one direction of the air flight mode of the present utility model;

[0022] Figure 2 is a schematic structural diagram of another direction of the air flight mode of the present utility model;

[0023] Figure 3 is Figure 1 a cross-sectional view of the shown structure;

[0024] Figure 4 is a schematic structural diagram of one direction of the ground driving mode of the present utility model;

[0025] Figure 5 is Figure 4 an internal structural diagram of the shown structure;

[0026] Figure 6 is a schematic structural diagram of one direction of the amphibious drive assembly of the present utility model;

[0027] Figure 7 is a schematic structural diagram of another direction of the amphibious drive assembly of the present utility model;

[0028] Figure 8 is a schematic structural diagram of the landing gear of the present utility model;

[0029] Where: 1 is the frame, 2 is the amphibious drive assembly, 3 is the machine arm, 4 is the traveling paddle wheel assembly, 40 is the first mounting seat, 41 is the first drive motor, 42 is the first drive assembly, 43 is the traveling wheel, 44 is the first paddle, 45 is the motor, 46 is the driving gear, 47 is the driven gear ring, 5 is the steering paddle wheel assembly, 50 is the second mounting seat, 51 is the second drive motor, 52 is the steering wheel, 53 is the steering motor, 54 is the second paddle, 6 is the drive mechanism, 7 is the first support limiting plate, 70 is the first limiting cover, 8 is the second support limiting plate, 80 is the second limiting cover, 9 is the hinge seat, 10 is the landing gear, 11 is the limiting seat, 110 is the jack, 12 is the telescopic electromagnet, 120 is the push rod. Detailed Embodiment

[0030] The technical solutions in the embodiments of the present utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0031] As Figures 1-7 shown, an amphibious unmanned aerial vehicle includes a frame 1 and two amphibious drive components 2, which are respectively arranged on both sides of the frame 1. The amphibious drive component 2 includes an arm 3, a walking paddle impeller component 4 and a steering paddle impeller component 5. The walking paddle impeller component 4 and the steering paddle impeller component 5 are arranged on the arm 3. Both the walking paddle impeller component 4 and the steering paddle impeller component 5 have blades and wheels. The arm 3 is hinged to the frame 1, and a drive mechanism 6 is provided between the arm 3 and the frame 1 to drive the arm 3 to rotate through the drive mechanism 6.

[0032] When the arm 3 is in a horizontal state, it is in an air flight mode, and flight is achieved through the rotation of the blades. When the arm 3 is in a vertical state, it is in a ground driving mode. The rotation of the wheels in the walking paddle impeller component 4 serves as the power for forward and backward movement; the rotation of the wheels in the steering paddle impeller component 5 is used to achieve left and right steering.

[0033] For the sake of convenience in description, the blade in the walking paddle impeller component 4 is named the first blade 44, and the wheel in the walking paddle impeller component 4 is named the walking wheel 43; the blade in the steering paddle impeller component 5 is named the second blade 54, and the wheel in the steering paddle impeller component 5 is named the steering wheel 52. The following is a detailed description of the specific structures of the walking paddle impeller component 4 and the steering paddle impeller component 5.

[0034] Furthermore, the walking paddle impeller component 4 includes a first mounting seat 40, a first drive motor 41, a first drive component 42 and a walking wheel 43. The first mounting seat 40 is fixedly connected to the arm 3, the outer shell of the first drive motor 41 is fixedly connected to the first mounting seat 40, a first blade 44 is fixedly connected to the output shaft of the first drive motor 41, and the rotation of the first blade 44 is achieved through the first drive motor 41. The first drive motor 41 specifically uses a brushless motor 45.

[0035] The walking wheel 43 is rotatably connected to the first mounting seat 40, and the walking wheel 43 is driven to rotate through the first drive component 42, so as to be used as a driving wheel for forward and backward movement in the ground driving mode.

[0036] Furthermore, the first drive component 42 includes a motor 45, a driving gear 46 and a driven gear ring 47. The outer shell of the motor 45 is fixedly connected to the arm 3, the output shaft of the motor 45 is fixedly connected to the driving gear 46, and the driven gear ring 47 is coaxially fixed to the walking wheel 43 and meshes with the driving gear 46. When the motor 45 is started, the driving gear 46 meshes with the driven gear ring 47, thereby driving the walking wheel 43 to rotate.

[0037] Further, in order to prevent unnecessary rotation of the traveling wheel 43 during flight achieved by the rotation of the first paddle 44, a first support limiting plate 7 cooperating with the traveling wheel 43 is further included. The first support limiting plate 7 is fixedly connected to the frame 1, and a first limiting cover 70 contacting the outer surface of the traveling wheel 43 is fixed on the first support limiting plate 7. That is, when the arm 3 is in a horizontal state, the outer surface of the traveling wheel 43 contacts the first limiting cover 70, and the friction between the two is used to prevent the traveling wheel 43 from rotating randomly.

[0038] In the walking paddle wheel assembly 4, when the arm 3 is in a horizontal state, it is in the air flight mode, and flight is achieved by the rotation of the first paddle 44. When the arm 3 is in a vertical state, it is in the ground traveling mode, and the rotation of the traveling wheel 43 in the walking paddle wheel assembly 4 is used as the power for forward and backward movement.

[0039] Further, the steering paddle wheel assembly 5 includes a second mounting seat 50, a second drive motor 51 and a steering wheel 52. The second mounting seat 50 is connected to the arm 3 through a steering motor 53. Specifically, the housing of the steering motor 53 is fixedly connected to the arm 3, and the output shaft of the steering motor 53 is fixedly connected to the second mounting seat 50.

[0040] The housing of the second drive motor 51 is fixedly connected to the second mounting seat 50, and a second paddle 54 is fixedly connected to the output shaft of the second drive motor 51. The rotation of the output shaft of the second drive motor 51 drives the rotation of the second paddle 54. The steering wheel 52 is rotatably connected to the second mounting seat 50.

[0041] The rotation of the output shaft of the steering motor 53 enables the rotation of the second mounting seat 50 and the steering wheel 52 thereon, that is, it can provide steering during the ground traveling mode.

[0042] Similarly, in order to prevent unnecessary rotation of the steering wheel 52 during flight achieved by the rotation of the second paddle 54, a second support limiting plate 8 cooperating with the steering wheel 52 is further included. The second support limiting plate 8 is fixedly connected to the frame 1, and a second limiting cover 80 contacting the outer surface of the steering wheel 52 is fixed on the second support limiting plate 8. That is, when the arm 3 is in a horizontal state, the outer surface of the steering wheel 52 contacts the second limiting cover 80, and the friction between the two is used to prevent the steering wheel 52 from rotating randomly.

[0043] Further, the driving mechanism 6 adopts an electric push rod 120. The two ends of the electric push rod 120 are respectively hinged to the machine arm 3 and the machine frame 1, and corresponding hinge seats 9 are provided on both the machine arm 3 and the machine frame 1. Specifically: by the elongation of the electric push rod 120, the machine arm 3 is driven to rotate to a horizontal state, that is, the aerial flight mode at this time; by the retraction of the electric push rod 120, the machine arm 3 is driven to rotate to a vertical state, that is, the ground driving mode at this time. It should be noted that the conversion between the two modes needs to be ensured to be carried out in a non-moving state, such as when parked on the ground.

[0044] Further, the amphibious driving assembly 2 further includes a landing gear 10, and the landing gear 10 is fixedly connected to the machine arm 3.

[0045] Further, an electric push rod 120 is adopted. The electric push rod 120 is a common component in the prior art and has a self-locking function after stopping. When in the ground driving mode, the electric push rod 120 is in a self-locking state to ensure that the machine arm 3 remains in a vertical state; if only relying on its self-locking to maintain the vertical state of the machine arm 3, it will cause its service life to be reduced and looseness will occur (during driving, inevitable vibrations occur between the wheels and the ground).

[0046] Therefore, the following structure is also provided. Its main purpose is to limit the positions of the two machine arms 3 when used in the ground driving mode, rather than only relying on the self-locking of the electric push rod 120 to maintain. As Figure 8 shown, the specific structure is set as follows:

[0047] A limit seat 11 is fixed on the landing gear 10 of one of the amphibious driving assemblies 2, and a telescopic electromagnet 12 is fixed on the landing gear 10 of the other amphibious driving assembly 2. A jack 110 for inserting the push rod 120 of the telescopic electromagnet 12 is provided on the limit seat 11. The telescopic electromagnet 12 preferably has its push rod 120 in an extended state under the condition of power-off.

[0048] When converting to the ground driving mode, the telescopic electromagnet 12 is powered on and its push rod 120 retracts; when the two machine arms 3 are in a vertical state and the two landing gears 10 are close to each other, the telescopic electromagnet 12 is powered off and its push rod 120 resets and extends and inserts into the jack 110. That is, through this structural setting, the positions of the two landing gears 10 and the machine arm 3 are fixed, reducing the influence on the electric push rod 120.

[0049] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments.

Claims

1. A ground-to-air amphibious drone, characterized by: The invention comprises a frame (1) and an amphibious drive assembly (2) arranged on both sides of the frame (1); the amphibious drive assembly (2) comprises an arm (3), a walking paddle wheel assembly (4) and a steering paddle wheel assembly (5); the walking paddle wheel assembly (4) and the steering paddle wheel assembly (5) are arranged on the arm (3); the arm (3) is hinged to the frame (1), and a drive mechanism (6) is provided between the arm (3) and the frame (1), and the arm (3) is driven to rotate by the drive mechanism (6); The steering impeller assembly (5) comprises a second mounting seat (50), a second drive motor (51) and a steering wheel (52); the second mounting seat (50) is connected to the machine arm (3) via a steering motor (53); a housing of the steering motor (53) is fixedly connected to the machine arm (3); and an output shaft of the steering motor (53) is fixedly connected to the second mounting seat (50); The housing of the second drive motor (51) is fixedly connected to the second mounting seat (50), and the second blade (54) is fixedly connected to the output shaft of the second drive motor (51); the steering wheel (52) is rotatably connected to the second mounting seat (50); A limiting seat (11) is fixed on the landing gear (10) in one of the amphibious drive assemblies (2), and a telescopic electromagnet (12) is fixed on the landing gear (10) in the other amphibious drive assembly (2). The limiting seat (11) is provided with a socket (110) that is plugged into a push rod (120) of the telescopic electromagnet (12).

2. The ground-to-air amphibious drone according to claim 1, characterized in that: The walking blade wheel assembly (4) comprises a first mounting seat (40), a first drive motor (41), a first drive assembly (42) and a walking wheel (43), wherein the first mounting seat (40) is fixedly connected to the machine arm (3), the housing of the first drive motor (41) is fixedly connected to the first mounting seat (40), and a first blade (44) is fixedly connected to the output shaft of the first drive motor (41); the walking wheel (43) is rotatably connected to the first mounting seat (40), and the walking wheel (43) is driven to rotate by the first drive assembly (42).

3. The ground-to-air amphibious drone according to claim 2, characterized in that: The first driving assembly (42) comprises a motor (45), a driving gear (46) and a driven ring gear (47); the housing of the motor (45) is fixedly connected to the machine arm (3); the output shaft of the motor (45) is fixedly connected to the driving gear (46); and the driven ring gear (47) is coaxially fixed to the travel wheel (43) and meshes with the driving gear (46).

4. The ground-to-air amphibious drone according to claim 2 or 3, characterized in that: The first drive motor (41) is a brushless motor (45).

5. The ground-to-air amphibious UAV according to claim 2 or 3, characterized in that: It also includes a first support and limit plate (7) that cooperates with the travel wheel (43), the first support and limit plate (7) is fixedly connected to the frame (1), and a first limit cover (70) that contacts the outer surface of the travel wheel (43) is fixed on the first support and limit plate (7).

6. The ground-to-air amphibious drone according to claim 1, characterized in that: It also includes a second support and limit plate (8) that cooperates with the steering wheel (52), the second support and limit plate (8) is fixedly connected to the frame (1), and a second limit cover (80) that contacts the outer surface of the steering wheel (52) is fixed on the second support and limit plate (8).

7. The ground-to-air amphibious drone according to claim 1, characterized in that: The driving mechanism (6) adopts an electric push rod (120), and both ends of the electric push rod (120) are respectively hinged to the machine arm (3) and the frame (1), and the machine arm (3) and the frame (1) are provided with corresponding hinge seats (9).

8. The ground-to-air amphibious UAV according to claim 1, characterized in that: The amphibious drive assembly (2) further includes a landing gear (10), and the landing gear (10) is fixedly connected to the machine arm (3).

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