Triphibian coaxial unmanned aerial vehicle

Abstract

The utility model provides a water-land-air triphibian coaxial unmanned aerial vehicle which comprises a coaxial unmanned aerial vehicle body, a balance car and an underwater propeller, and the balance car is provided with walking wheels; the coaxial unmanned aerial vehicle is arranged at the top of the balance car, and the underwater propeller is connected with walking wheels of the balance car. The unmanned aerial vehicle has the advantages that by adopting the structural design of combining the coaxial unmanned aerial vehicle and the balance vehicle, the whole structure is very simple, the size is small, and the carrying is very convenient; and meanwhile, the movement speed in water, air and land can be increased, so that the operation efficiency is improved.

Description

Technical field

[0001] The utility model relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an amphibious coaxial UAV. [Background Technology]

[0002] Traditional drones are limited by their flight time and their own characteristics and can only perform short-term aerial reconnaissance missions, but are unable to perform land or underwater operations. In order to achieve multi-purpose use of one machine and expand the wide range of drone missions, drones with amphibious or tri-amphibious capabilities have emerged.

[0003] For example, Chinese utility model patent application number CN202420162589.4 discloses an amphibious robot, wherein multiple paddle wheel and tire structures are connected to the bottom of the main body for movement on land and in water. Multiple blades are fixedly connected to a shaft cylinder at one end and extend radially outward at the other end. The width direction of the blades extends along the central axis of the shaft cylinder. The wheel rim is a circular structure centered on the shaft cylinder, surrounding the other ends of the multiple blades, with at least a portion of the blades in the width direction exposed outside the wheel rim. A first motor drives the paddle wheel and tire structures; multiple rotors are provided on the top of the main body for flight movement; a second motor drives the rotors; and a control system is connected to the first and second motors. However, existing amphibious drones are generally improved upon quadrotors, resulting in a larger overall size, complex structure, low speed on land or underwater, and low operating efficiency. In view of the above-mentioned problems, the inventors of this case conducted in-depth research on this issue, which led to the creation of this case. [Utility Model Content]

[0004] The technical problem to be solved by the present invention is to provide an amphibious coaxial drone that can be used on land, water and air, so as to solve the problem that existing amphibious drones are usually improved on the basis of quadcopters, resulting in a large overall size, complex structure, low land or underwater movement speed and low operating efficiency.

[0005] The present invention is realized as follows: a tri-amphibious coaxial UAV for land, water and air comprises a coaxial UAV, a balancing vehicle and an underwater propulsion paddle, wherein the balancing vehicle has running wheels; the coaxial UAV is arranged on the top of the balancing vehicle, and the underwater propulsion paddle is connected to the running wheels of the balancing vehicle.

[0006] Furthermore, the balancing vehicle is a self-balancing unicycle.

[0007] Furthermore, the underwater propulsion paddles are symmetrically arranged on both sides of the balancing vehicle.

[0008] Furthermore, the balance vehicle also includes an outer shell and a drive shaft, the running wheels are rotatably connected to the outer shell through the drive shaft, the upper part of the running wheels is located in the outer shell, and the lower part of the running wheels is exposed outside the outer shell; the underwater propulsion paddle is arranged at the end of the drive shaft.

[0009] Furthermore, the outer shell has a semicircular arc structure.

[0010] Furthermore, shaft support seats are provided on both sides of the bottom of the outer shell, the drive shaft is rotatably provided on the shaft support seats, and the end of the drive shaft passes through the shaft support seats and is connected to the underwater propulsion paddle.

[0011] Furthermore, the coaxial UAV includes at least two rotor assemblies located on the same axis and arranged up and down.

[0012] Furthermore, it also includes a control module, which is arranged on the top of the balance car, and the coaxial drone is installed on the top of the control module; the coaxial drone and the balance car are both electrically connected to the control module.

[0013] Furthermore, it also includes a power battery. The power battery is provided on both sides of the balance vehicle, and the power battery is electrically connected to the control module.

[0014] By adopting the technical solution of the utility model, at least the following beneficial effects are achieved:

[0015] 1. The structural design combining coaxial drone and balance car makes the overall structure very simple, small in size and very convenient to carry.

[0016] 2. The balance car moves quickly and efficiently, and the coaxial drone also has high flight efficiency. Through the combination of the coaxial drone and the balance car, the movement speed in water, air and land can be increased, thereby improving work efficiency.

[0017] 3. The underwater propulsion blade is directly connected to the traveling wheels of the balance vehicle. The balance vehicle can be used to directly drive the underwater propulsion blade to work without providing an additional driving device for the underwater propulsion blade. This not only helps to simplify the structure and make it smaller, but also reduces costs.

[0018] 4. With modular design, the coaxial drone, balance car and underwater propulsion propeller can all be designed as independent modules, which can be quickly disassembled and assembled to facilitate the rapid replacement of damaged parts.

[0019] 5. Coaxial drones have a larger payload than traditional quadrotor drones and can improve payload scalability.

Brief Description of the Drawings

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a three-dimensional structural diagram of an amphibious coaxial UAV of the utility model;

[0022] Figure 2 This is a front view of an amphibious coaxial UAV of the utility model;

[0023] Figure 3 This is a side view of an amphibious coaxial drone of the utility model;

[0024] Figure 4 It is a top view of an amphibious coaxial UAV of the utility model.

[0025] Description of reference numerals:

[0026] Amphibious coaxial drone 100;

[0027] Coaxial UAV 1, rotor assembly 11;

[0028] Balance vehicle 2, running wheels 21, outer shell 22, drive shaft 23, shaft support seat 24;

[0029] Underwater propulsion propeller 3, blade 31;

[0030] Control module 4;

[0031] Power battery 5. [Specific implementation method]

[0032] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0033] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of these embodiments and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. In addition, the terms "first," "second," and the like are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features defined as "first," "second," and the like may explicitly or implicitly include one or more of such features.

[0034] See also Figures 1 to 4As shown, the present invention is a preferred embodiment of an amphibious coaxial drone 100 that can be used on land, water and air. The amphibious coaxial drone 100 includes a coaxial drone 1, a balance vehicle 2 and an underwater propulsion paddle 3, wherein the coaxial drone 1 is used to achieve air flight, the balance vehicle 2 is used to achieve walking on land, and the underwater propulsion paddle 3 is used to achieve walking underwater; the balance vehicle 2 has walking wheels 21; the coaxial drone 1 is arranged on the top of the balance vehicle 2, and the underwater propulsion paddle 3 is connected to the walking wheels 21 of the balance vehicle 2.

[0035] The working principle of the amphibious coaxial drone 100 of the present invention is as follows: when it is necessary to fly in the air, the coaxial drone 1 is controlled to provide the power required for flight. When it is necessary to move in the water, the coaxial drone 1 is controlled to provide suspension force, so that the amphibious coaxial drone 100 is suspended in the water as a whole and does not fall to the bottom of the water. At the same time, the balance vehicle 2 is controlled to use the running wheels 21 to drive the underwater propulsion paddle 3 to rotate and achieve forward movement, and the motor differential of the coaxial drone 1 can achieve different headings. When it is necessary to move on land, the balance vehicle 2 is controlled to drive the balance vehicle 2 to drive the entire coaxial drone 1 to move on land. At the same time, when entering the air from water or land, the coaxial drone 1 provides lifting force.

[0036] By adopting the above technical solution of the utility model, at least the following beneficial effects are achieved:

[0037] 1. The structural design of the combination of the coaxial drone 1 and the balance car 2 makes the overall structure very simple, small in size and very convenient to carry.

[0038] 2. The self-balancing vehicle 2 moves quickly and efficiently, and the coaxial drone 1 also has high flight efficiency. By combining the coaxial drone 1 and the self-balancing vehicle 2, the movement speed in water, air and land can be increased, thereby improving work efficiency.

[0039] 3. The underwater propulsion paddle 3 is directly connected to the traveling wheel 21 of the balance vehicle 2. The balance vehicle 2 can be used to directly drive the underwater propulsion paddle 3 to work without providing an additional driving device for the underwater propulsion paddle 3. This not only helps to simplify the structure and make it smaller, but also reduces costs.

[0040] 4. With modular design, the coaxial drone 1, the self-balancing vehicle 2 and the underwater propulsion paddle 3 can all be designed as independent modules, which can be quickly disassembled and assembled to facilitate the rapid replacement of damaged parts.

[0041] 5. Compared with traditional quad-rotor drones, the coaxial drone 1 has a larger payload and can improve payload scalability.

[0042] In a preferred embodiment of the present invention, the balancing vehicle 2 is a self-balancing unicycle. A self-balancing unicycle is an electrically driven vehicle with self-balancing capabilities. Since self-balancing unicycles are prior art, their specific structure and principles are well known to those skilled in the art, and therefore, the specific structure and principles of the self-balancing unicycle will not be described in detail here.

[0043] In a preferred embodiment of the present invention, the underwater propulsion paddles 3 are symmetrically provided on both sides of the balance vehicle 2 so that the amphibious coaxial drone 100 can move more smoothly in the water.

[0044] In a preferred embodiment of the present invention, the balance vehicle 2 further includes an outer shell 22 and a drive shaft 23, the running wheels 21 are rotatably connected to the outer shell 22 via the drive shaft 23, and the upper portion of the running wheels 21 is located inside the outer shell 22, while the lower portion of the running wheels 21 is exposed outside the outer shell 22, so that the balance vehicle 2 can travel on land; the underwater propulsion paddle 3 is provided at the end of the drive shaft 23, so as to utilize the drive shaft 23 to drive the underwater propulsion paddle 3 to rotate. As a specific embodiment of the present invention, the drive shaft 23 can adopt a motor-integrated drive shaft, which is a component that integrates a motor and a drive shaft, and is intended to simplify the connection between the motor and the mechanical system, and improve the overall efficiency and reliability of the system; since the motor-integrated drive shaft belongs to the prior art, its specific structure and principle are well known to those skilled in the art, so the specific structure and principle of the motor-integrated drive shaft will not be introduced in detail here.

[0045] As a specific embodiment of the present invention, in order to better adapt to the traveling wheel 21 and allow the lower portion of the traveling wheel 21 to be exposed to the outside, the outer shell 22 has a semicircular arc structure.

[0046] In a preferred embodiment of the present invention, in order to better meet the rotation support requirements for the drive shaft 23, shaft support seats 24 are provided on both sides of the bottom of the outer shell 22, and the drive shaft 23 is rotatably set on the shaft support seat 24, and the end of the drive shaft 23 passes through the shaft support seat 24 and is connected to the underwater propulsion paddle 3.

[0047] In a preferred embodiment of the present invention, to ensure the load capacity of the coaxial drone 1, the coaxial drone 1 includes at least two rotor assemblies 11 located on the same axis and arranged one above the other. Preferably, the coaxial drone 1 includes two rotor assemblies 11 located on the same axis and arranged one above the other. This can not only meet the load capacity requirements, but also reduce costs and make the entire amphibious coaxial drone 100 smaller.

[0048] In a preferred embodiment of the present invention, the amphibious coaxial drone 100 further includes a control module 4 for controlling the operation of the coaxial drone 1 and the self-balancing vehicle 2. The control module 4 is disposed on top of the self-balancing vehicle 2, and the coaxial drone 1 is mounted on top of the control module 4. The coaxial drone 1 and the self-balancing vehicle 2 are both electrically connected to the control module 4. In a specific implementation of the present invention, the control module 4 and the self-balancing vehicle 2 are detachably connected, the coaxial drone 1 and the control module 4 are also detachably connected, and the underwater propulsion blade 3 and the self-balancing vehicle 2 are also detachably connected, so that the modules can be easily disassembled and assembled during use.

[0049] In a preferred embodiment of the present invention, the amphibious coaxial drone 100 further includes a power battery 5, which is provided on both sides of the self-balancing vehicle 2. The power battery 5 is electrically connected to the control module 4 to provide the power required for operation of the control module 4, the self-balancing vehicle 2, and the coaxial drone 1. In a specific implementation of the present invention, the blades 31 of the underwater propulsion blade 3 can be located outside the power battery 5 to ensure that the power battery 5 does not affect the operation of the underwater propulsion blade 3.

[0050] Although the specific implementation methods of the present invention are described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An amphibious coaxial drone, characterized by: The invention comprises a coaxial UAV, a balancing vehicle and an underwater propulsion paddle, wherein the balancing vehicle has running wheels; the coaxial UAV is arranged on the top of the balancing vehicle, and the underwater propulsion paddle is connected to the running wheels of the balancing vehicle.

2. The amphibious coaxial drone according to claim 1, characterized in that: The balancing vehicle is a self-balancing unicycle.

3. The amphibious coaxial drone according to claim 2, characterized in that: The underwater propulsion paddles are symmetrically arranged on both sides of the balancing vehicle.

4. The amphibious coaxial drone according to claim 2, characterized in that: The balancing vehicle also includes an outer shell and a drive shaft. The running wheels are rotatably connected to the outer shell through the drive shaft, and the upper part of the running wheels is located in the outer shell, and the lower part of the running wheels is exposed outside the outer shell; the underwater propulsion paddle is arranged at the end of the drive shaft.

5. The amphibious coaxial drone according to claim 4, characterized in that: The outer shell is in a semicircular arc shape.

6. The amphibious coaxial drone according to claim 4, characterized in that: Both sides of the bottom of the outer shell are provided with shaft support seats, the driving shaft is rotatably provided on the shaft support seats, and the end of the driving shaft passes through the shaft support seats and is connected to the underwater propulsion paddle.

7. The amphibious coaxial drone according to claim 1, characterized in that: The coaxial UAV includes at least two rotor assemblies located on the same axis and arranged up and down.

8. The amphibious coaxial drone according to any one of claims 1 to 7, characterized in that: It also includes a control module, which is arranged on the top of the balance car, and the coaxial drone is installed on the top of the control module; the coaxial drone and the balance car are both electrically connected to the control module.

9. The amphibious coaxial drone according to claim 8, characterized in that: It also includes a power battery. The power battery is provided on both sides of the balance vehicle and is electrically connected to the control module.

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