Air-ground amphibious unmanned aerial vehicle

Abstract

The utility model discloses a land-air amphibious unmanned aerial vehicle which comprises a flying mechanism and a ground executing mechanism, a connecting support is arranged between the flying mechanism and the ground executing mechanism, and the flying mechanism and the ground executing mechanism are respectively arranged from top to bottom in the vertical direction. According to the technical scheme, the air flight capacity of the unmanned aerial vehicle and the ground running capacity of the tracked vehicle are combined, the use scene is greatly widened, ground obstacle avoidance is more flexible through the flight mode, and the effective endurance mileage is remarkably increased through the low-energy-consumption characteristic of land running. Air and land amphibious can be freely switched, the deployment flexibility and the quick response capacity of the unmanned aerial vehicle are utilized, and the adaptability to complex and changeable terrains is enhanced by additionally arranging a crawler walking tool.

Description

TECHNICAL FIELD

[0001] The utility model belongs to unmanned aerial vehicle technical field, concretely relates to a amphibious unmanned aerial vehicle. BACKGROUND

[0002] With the sharp increase of the demand of people to unmanned aerial vehicle in the military and civilian application fields such as agricultural plant protection, logistics distribution, security patrol, rescue emergency, reconnaissance surveillance, the related technology of amphibious unmanned aerial vehicle develops rapidly.

[0003] Multi-rotor unmanned aerial vehicle has the advantages of wide detection range, convenient and flexible use, simple structure, etc., has been widely used in many fields, and because it can reach the position that people and other vehicles cannot reach or is dangerous, it is considered as the first choice for rescue task. Such as the utility model disclosure text with the announcement number CN221272462U and the invention creation name A track type amphibious unmanned aerial vehicle, it provides the technical scheme of track cooperation with rotor, solves the problems of slow overall speed and large running sound of traditional track type robot, large influence of flying robot by air environment and poor concealment, imperfect flight system; Such as the invention application disclosure text with the publication number CN109398009A and the invention creation name A track type mobile robot, it provides the composite technical scheme of track and flight system, which solves the problems of slow ground travel speed and poor through capacity of track type robot, poor air concealment of air rotor robot and no ground travel ability.

[0004] But the existing technology ignores the problem of endurance, the endurance of multi-rotor unmanned aerial vehicle is low, and the energy conversion efficiency is low, which becomes a serious factor limiting its application; At the same time, the connection structure between the flight mechanism and the ground execution mechanism is complex, which is not conducive to the assembly of the equipment. In order to solve at least one of the above technical problems, it is necessary to develop an amphibious unmanned aerial vehicle. UTILITY MODEL CONTENT

[0005] The utility model aims at providing an amphibious unmanned aerial vehicle to solve the above technical problems, the flight mechanism is arranged above, and the ground execution mechanism is arranged below through the connecting support, so that the amphibious unmanned aerial vehicle can respond to different scenes according to needs, for example, in the rescue process, the ground execution mechanism is used to drive on land when the road condition is suitable, and the flight mechanism is used to cross the obstacles that the ground execution mechanism cannot cross, so as to improve the efficiency, endurance and maneuverability. The ground execution mechanism is selected for the land driving part of the unmanned aerial vehicle, which can ensure that the whole unmanned aerial vehicle can drive on the ground in the area with poor ground condition, such as soft ground or rugged area, which helps to reduce the flight time of the unmanned aerial vehicle and prolong the endurance;

[0006] The technical scheme combines the aerial flight of the unmanned aerial vehicle and the ground driving of the tracked vehicle, use scenarios are greatly widened, the flight mode makes ground obstacle avoidance more flexible, and the low energy consumption characteristics of land driving help to significantly increase effective cruising range.

[0007] To achieve the above-mentioned utility model purposes, the technical scheme adopted by the utility model is as follows:

[0008] The land-air amphibious unmanned aerial vehicle comprises a flight mechanism and a ground execution mechanism, a connecting support is arranged between the flight mechanism and the ground execution mechanism, and the flight mechanism and the ground execution mechanism are arranged in a vertical direction from top to bottom. The flight mechanism is arranged above and connected to the ground execution mechanism arranged below through the connecting support, so that the land-air amphibious unmanned aerial vehicle can cope with different scenes as required, for example, in a rescue process, the ground execution mechanism is used to drive on land when the road conditions are suitable, and flight is used to cross obstacles that cannot be crossed by the ground execution mechanism, thereby improving efficiency, cruising range and maneuverability. The ground execution mechanism is selected for the land driving part of the unmanned aerial vehicle, so that the entire unmanned aerial vehicle can drive on the ground in areas with poor ground conditions, such as soft ground or rugged ground, which helps to reduce the flight time of the unmanned aerial vehicle and achieve the purpose of prolonging the cruising range.

[0009] The technical scheme combines the aerial flight of the unmanned aerial vehicle and the ground driving of the tracked vehicle, use scenarios are greatly widened, the flight mode makes ground obstacle avoidance more flexible, and the low energy consumption characteristics of land driving help to significantly increase effective cruising range. The land-air amphibious unmanned aerial vehicle can be freely switched, which utilizes the deployment flexibility and rapid response capability of the unmanned aerial vehicle and increases the adaptability to complex and variable terrains by using the tracked walking tool.

[0010] Preferably, the connecting support comprises a pipe body and a rack connected to the pipe body; the pipe body is connected to the flight mechanism, and the rack is connected to the ground execution mechanism. The flight mechanism is connected to both ends of the pipe body; the pipe body is a carbon fiber pipe; the flight mechanism is connected through both ends of the pipe body, so that the flight mechanism can be above the ground execution mechanism and has a certain extension space, and the pipe body is connected, which is simple and easy to implement. The rack connected to the pipe body is arranged, so that the ground execution mechanism is arranged away from the flight mechanism to avoid intersection and interference between the two. Meanwhile, the bottom surface execution mechanism below can be in contact with the ground to operate in the ground scene.

[0011] Preferably, the pipe body and the rack are arranged perpendicularly to each other. The rack extends away from both ends of the pipe body to avoid interference of the bottom surface execution mechanism connected to the rack with the operation of the flight mechanism.

[0012] Preferably, one end of the rack is connected with the pipe body, and the other end of the rack extends downward and is connected with the ground execution mechanism. Specifically, the rack is in the shape of “\”, and the two ends of the rack extend away from the pipe body, so as to avoid interference between the ground execution mechanism and the flight mechanism, and to make the ground execution mechanism be on the lower side of the line connecting the two ends of the pipe body.

[0013] Preferably, one or multiple racks are provided. In this technical solution, two racks are provided and symmetrically arranged, and the symmetry axis of the racks passes through the midpoint of the pipe body, so as to improve the connection stability of the rack and the ground execution mechanism, and specifically, the connection stability between the rack and the first plate body and the second plate body.

[0014] Preferably, the flight mechanism comprises a steering mechanism connected with the pipe body and a screw mechanism in driving connection with the steering mechanism. The steering mechanism is fixedly connected with the end of the pipe body, and the pipe body is connected with the steering mechanism, and the inclination angle of the screw mechanism is controlled through the steering mechanism, so as to control the flight state of the amphibious unmanned aerial vehicle.

[0015] Preferably, the steering mechanism comprises a fixed seat connected with the pipe body and a rudder connected with the fixed seat, and the screw mechanism comprises a hinged seat hinged with the fixed seat, a first motor fixedly arranged on the hinged seat, and a propeller in driving connection with the first motor, and the rudder is in driving connection with the hinged seat. The driving end of the rudder and the hinged end of the hinged seat are coaxially arranged, the hinged seat is hinged with the fixed seat, so that the hinged seat can rotate relative to the fixed seat, the first motor drives the hinged seat to rotate, so that the first motor is driven, and the propeller in driving connection with the first motor is controlled to rotate, so as to control the flight state of the amphibious unmanned aerial vehicle.

[0016] Preferably, the ground execution mechanism comprises a track fixing plate connected with the rack, a track roller group in movable connection with the track fixing plate, a track connected with the track roller group, and a second motor fixedly arranged on the track fixing plate and in driving connection with the track roller group. The ground execution mechanism is arranged at the two ends of the rack, and is arranged in groups; the flight mechanism is arranged at the two ends of the pipe body, and is arranged in groups; the ground execution mechanism is arranged obliquely below the flight mechanism; specifically, the tracks are arranged below the two sides of the line connecting the two propellers; the second motor is connected with the track fixing plate and drives the track roller group, so that the track can rotate, and the walking operation on the ground is realized.

[0017] Preferably, the track fixing plate comprises a first plate body and a second plate body, both of which are connected with the end of the rack.

[0018] The track roller group is arranged between the first plate body and the second plate body, and the track roller group is provided with a plurality of connecting ends, so that the operation stability is improved, and the tracks are arranged below two sides of the two propellers in parallel, so that the stability during movement is improved.

[0019] Preferably, a center plate is arranged above and / or below the frame at one end close to the pipe body.

[0020] The application has the following beneficial technical effects:

[0021] The amphibious unmanned aerial vehicle can cope with different scenes according to needs, for example, in a rescue process, the ground execution mechanism is used to drive on land when the road condition is suitable, and flight is used to cross obstacles that cannot be crossed by the ground execution mechanism, so that the efficiency, endurance and maneuverability are improved.

[0022] The technical scheme combines the aerial flight of the unmanned aerial vehicle and the ground driving of the track vehicle, the use scene is greatly widened, the flight mode makes the ground obstacle avoidance more flexible, and the low energy consumption characteristics of land driving help to significantly increase the effective endurance mileage. BRIEF DESCRIPTION OF DRAWINGS

[0023] Fig. 1 The structure schematic view of the utility model is shown;

[0024] Fig. 2 The explosion structure schematic view of the utility model is shown;

[0025] Fig. 3 The explosion structure schematic view of the fixed seat and the pipe body is shown.

[0026] REFERENCE NUMERALS

[0027] 1-flight mechanism; 2-ground executive mechanism; 3-connection support; 31-tube body; 32-rack; 111-fixed seat; 112-rudder; 121-hinged seat; 122-first motor; 123-propeller; 21-track fixing plate; 22-track roller group; 23-track; 24-second motor; 211-first plate body; 212-second plate body; 33-center plate. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, specific embodiments of the present application will be described below with reference to the drawings. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can also be obtained.

[0029] The technical solutions of the present application will be described in detail below with specific embodiments.

[0030] Referring to Figs. 1 to 3 As shown in the figure, an amphibious unmanned aerial vehicle includes a flight mechanism 1 and a ground executive mechanism 2, a connection support 3 is arranged between the flight mechanism 1 and the ground executive mechanism 2, and the flight mechanism 1 and the ground executive mechanism 2 are arranged from top to bottom in the vertical direction. Among them, the flight mechanism 1 adopts a double-rotor design and is arranged in parallel with the two tracks; the flight mechanism 1 is arranged above and connected to the ground executive mechanism 2 arranged below through the connection support 3, so that the amphibious unmanned aerial vehicle can respond to different scenes as needed, for example, in the rescue process, when the road conditions are suitable, the ground executive mechanism is used to drive on land, and flight is used to cross obstacles that the ground executive mechanism cannot cross, thereby improving efficiency, endurance and maneuverability; for the land driving part of the unmanned aerial vehicle, the ground executive mechanism is selected, which can ensure that the entire unmanned aerial vehicle can drive on the ground in areas with poor ground conditions, such as soft ground or rugged terrain, which helps to reduce the time required for the unmanned aerial vehicle to fly and achieve the purpose of prolonging the endurance;

[0031] The technical solution combines the capabilities of unmanned aerial vehicles flying in the air and track vehicles driving on the ground, greatly expands the use scenarios, and makes the ground obstacle avoidance more flexible in flight mode. The low energy consumption characteristics of land driving help to significantly increase the effective endurance mileage. The amphibious unmanned aerial vehicle can be freely switched, which not only utilizes the deployment flexibility and rapid reaction capability of the unmanned aerial vehicle, but also increases the adaptability to complex and variable terrain by using the track walking tool.

[0032] The amphibious unmanned aerial vehicle scheme installs a track system on a double-rotor unmanned aerial vehicle system, so that it can move without relying on rotors, and the power consumption of driving the track is much smaller than that of driving the propeller, thereby greatly improving the endurance.

[0033] The connecting support 3 comprises a pipe body 31 and a rack 32 connected with the pipe body 31; the pipe body 31 is connected with the flight mechanism 1, and the rack 32 is connected with the ground executive mechanism 2. The flight mechanism 1 is connected with both ends of the pipe body 31; the pipe body 31 is a carbon fiber pipe; the flight mechanism 1 is connected through both ends of the pipe body 31, so that the flight mechanism 1 can be above the ground executive mechanism 2 and has a certain extension space, and the connection is simple and easy to realize. The rack 32 connected with the pipe body 31 is arranged, so that the ground executive mechanism 2 is arranged away from the flight mechanism 1, avoiding the intersection interference between the two; at the same time, the bottom surface executive mechanism 2 below can be in contact with the ground, so as to operate the ground scene.

[0034] The pipe body 31 and the rack 32 are arranged perpendicularly to each other. The rack 32 extends away from both ends of the pipe body 31, avoiding the interference of the bottom surface executive mechanism 2 connected with the rack 32 with the operation of the flight mechanism 1.

[0035] One end of the rack 32 is connected with the pipe body 31, and the other end of the rack 32 away from the pipe body 31 extends downward and is connected with the ground executive mechanism 2. Specifically, the rack 32 is in the shape of “︹”; the rack 32 extends away from both ends of the pipe body 31, avoiding the interference of the bottom surface executive mechanism 2 connected with the rack 32 with the operation of the flight mechanism, so that the ground executive mechanism 2 is below the line connecting both ends of the pipe body 31.

[0036] The rack 32 is arranged in one or multiple parallel arrangements. In this technical solution, the number of racks 32 is 2, and the racks 32 are symmetrically arranged, and the symmetry axis of the rack 32 passes through the midpoint of the pipe body 31, improving the connection stability of the rack 32 and the ground executive mechanism 2; specifically, the connection stability between the rack 32 and the first plate body and the second plate body is improved.

[0037] The flight mechanism 1 comprises a steering mechanism connected with the pipe body 31 and a spiral mechanism in transmission connection with the steering mechanism. The steering mechanism is fixedly connected with the end of the pipe body; the pipe body 31 is connected with the steering mechanism, and the inclination angle of the spiral mechanism is controlled through the steering mechanism, so as to control the flight state of the amphibious unmanned aerial vehicle.

[0038] The steering mechanism comprises a fixed seat 111 connected with the pipe body 31, and a rudder 112 arranged on the fixed seat 111. The screw mechanism comprises a hinged seat 121 hingedly connected with the fixed seat 111, a first motor 122 fixedly arranged on the hinged seat 121, and a propeller 123 in transmission connection with the first motor 122. The transmission end of the rudder 112 is coaxially arranged with the hinged end of the hinged seat 121. The hinged seat 121 is hingedly connected with the fixed seat 111, so that the hinged seat 121 can be rotated relative to the fixed seat 111. The hinged seat 121 is driven by the first motor 122 to rotate, so that the first motor 122 is driven. Thus, the rotation of the propeller 123 in transmission connection with the first motor 122 is controlled, so as to control the flight state of the amphibious unmanned aerial vehicle.

[0039] The ground execution mechanism 2 comprises a track fixing plate 21 connected with the frame 32, a track roller set 22 movably connected with the track fixing plate 21, a track 23 connected with the track roller set 22, and a second motor 24 fixedly arranged on the track fixing plate 21 and in transmission connection with the track roller set 22. The ground execution mechanism 2 is arranged at both ends of the frame 32 in a group. The flight mechanism 1 is arranged at both ends of the pipe body 31 in a group. The ground execution mechanism 2 is arranged obliquely below the flight mechanism 1. Specifically, the track 23 is arranged below both sides of the line connecting the two propellers 123. The second motor 24 is connected with the track fixing plate 21 and in transmission connection with the track roller set 22, so that the track 23 can rotate to realize walking operation on the ground.

[0040] The track fixing plate 21 comprises a first plate body 211 and a second plate body 212 both connected with the end of the frame 32.

[0041] The track roller set 22 is arranged between the first plate body 211 and the second plate body 212. The track roller set 22 has multiple connection ends to improve operation stability. The track 23 is arranged below both sides of the line connecting the two propellers 123 in parallel to improve stability during movement. The second motor 24 is fixedly arranged on the second plate body 212. The control board of the ground execution mechanism 2 is attached to the inner track fixing plate, i.e. the second plate body 212, of one track. The remote controller receiving machines of the flight mechanism 1 and the ground execution mechanism 2 are attached below the frame 32.

[0042] A center plate 33 is arranged above and / or below one end of the pipe body 31. The center plate 33 can effectively improve the connection stability between the two frames 32, thereby improving the operation stability of the amphibious unmanned aerial vehicle. The center plate 33 can be connected with the flight control of the flight mechanism 1, specifically by being attached to the upper center plate 33.

[0043] Wherein the track 23 and the track fixing plate 21, the hinge seat and the fixed seat 111, the frame are all made by 3D printing.

[0044] The height of the propeller 123 and the track 23 in the horizontal direction is different, and the flight mechanism is located at a higher position. Two different control means are adopted to control the movement of the flight mechanism and the movement of the track vehicle, i.e. the ground executive mechanism.

[0045] The propeller is installed on the first motor, and the first motor is fixed on the 3D printed hinge seat through four screw holes on the hinge seat 121. A set of matching 3D printed fixing parts are designed according to the shape and size of the rudder, and are connected with the first motor 122 and the fixed seat. The rudder is responsible for controlling the orientation of the propeller, thereby controlling the flight of the unmanned aerial vehicle system.

[0046] Each track is engaged with two track wheels through teeth, and the track and the track wheel are both made by 3D printing. The two track wheels on each side are fixed on the inner side and the outer side through the first plate body and the second plate body made by 3D printing, respectively, and are fixed by using screws. The second motor is fixed on the second plate body on the inner side through a screw hole.

[0047] A tube body 31 formed by a 12mm carbon fiber pipe and two hanger-shaped 3D printed parts, i.e. frames, thereby constituting a connecting bracket 3, wherein the center part is provided with a center plate above and below, respectively, and the two ends of the carbon fiber pipe are each fixed with a set of fixed seats 111 in the flight mechanism, and the frames formed by the hanger-shaped 3D printed parts are each fixed with a set of track fixing plates at the two ends.

[0048] The unmanned aerial vehicle can use the track vehicle part, i.e. the ground executive mechanism, to travel on land when the road conditions allow, and can switch to use the flight mechanism to fly in the air when the road conditions do not allow, thereby flexibly avoiding obstacles.

[0049] The fixed seat 111 comprises a first seat body 1111 and a second seat body 1112 arranged in sequence, the tube body 31 is fixedly arranged between the first seat body 1111 and the second seat body 1112, the first seat body 1111 is connected with the rudder 112, and the first seat body 1111 is hingedly connected with the hinge seat 121; the first seat body 1111 and the second seat body 1112 are connected by screws and clamp the tube body 31, the first seat body 1111 is provided with a first fitting groove 1113 fitted with the upper end surface of the tube body 31, and the second seat body 1112 is provided with a second fitting groove 1114 fitted with the lower end surface of the tube body 31; there is a gap between the lower end surface of the first seat body 1111 and the upper end surface of the second seat body 1112; the first motor of the flight mechanism and the fixed seat are fixed on the 12mm carbon fiber pipe by using parts that cannot be tightly fitted, and the connection is made more firm by extrusion.

[0050] The first plate body 211 and the second plate body 212 are arranged, and the track roller set is fixed by using two fixed plates inside and outside; wherein the center of the driving wheel of the track roller set is reserved with two concentric holes of different sizes and depths, which are used to connect the motor shaft of the second motor and the first plate body and the second plate body, respectively.

[0051] Two clothes hanger type 3D printed skeletons, i.e. the racks 32, are fixed between the first plate body and the second plate body. Meanwhile, the central plates are arranged above and below to fix the racks 32 from both sides. In the technical solution, PLA material is used as the main material for 3D printing. TPU material is used as the material for printing the track roller set.

[0052] In order to improve the adaptability and endurance of the complex environment, the technical solution adopts the design of the flight mechanism combined with the ground execution mechanism. The track type dual-rotor amphibious unmanned aerial vehicle manufactured by the technical solution has the functions of air flight and land driving, and the advantages include stronger endurance than the traditional unmanned aerial vehicle, and the adaptability to the two different environments of land and air.

[0053] The technical features of the above-described embodiments can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that it is within the scope of the description.

[0054] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but it should not be understood as the limitation of the scope of the utility model patent. It should be pointed out that for ordinary skilled persons in the art, without departing from the concept of the utility model, a number of modifications and improvements can be made, which are within the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

[0055] The embodiments of the amphibious unmanned aerial vehicle provided by the utility model are described in detail. The principles and implementation manners of the utility model are described by applying specific examples in this paper, and the description of the above embodiments is only used to help understand the core idea of the utility model. It should be pointed out that for ordinary skilled persons in the technical field, without departing from the principles of the utility model, the utility model can be improved and modified, and these improvements and modifications also fall within the protection scope of the claims of the utility model.

Claims

1. An amphibious unmanned aerial vehicle comprising a flight mechanism (1), a ground executive mechanism (2), characterized in that, The connecting bracket (3) is arranged between the flight mechanism (1) and the ground execution mechanism (2), and the flight mechanism (1) and the ground execution mechanism (2) are arranged from top to bottom in the vertical direction respectively. The connecting bracket (3) comprises a pipe body (31) and a rack (32) connected with the pipe body (31); the pipe body (31) is connected with the flight mechanism (1), and the rack (32) is connected with the ground execution mechanism (2). The pipe body (31) and the rack (32) are arranged perpendicularly to each other.

2. The amphibious unmanned aerial vehicle of claim 1, wherein, One end of the rack (32) is connected with the pipe body (31), and the other end of the rack (32) away from the pipe body (31) extends downwardly and is connected with the ground execution mechanism (2).

3. The amphibious unmanned aerial vehicle of claim 1, wherein, The rack (32) is provided with one or a plurality of racks arranged in parallel.

4. The amphibious unmanned aerial vehicle of claim 1, wherein, The flight mechanism (1) comprises a steering mechanism connected with the pipe body (31) and a spiral mechanism in transmission connection with the steering mechanism.

5. The amphibious unmanned aerial vehicle of claim 4, wherein, The steering mechanism comprises a fixed seat (111) connected with the pipe body (31) and a rudder (112) arranged on the fixed seat (111), and the spiral mechanism comprises a hinged seat (121) hinged with the fixed seat (111), a first motor (122) fixedly arranged on the hinged seat (121), and a propeller (123) in transmission connection with the first motor (122), wherein the rudder (112) is in transmission connection with the hinged seat (121).

6. The amphibious unmanned aerial vehicle of claim 5, wherein, The fixed seat (111) comprises a first seat body (1111) and a second seat body (1112) arranged in sequence, the pipe body (31) is fixedly arranged between the first seat body (1111) and the second seat body (1112), the first seat body (1111) is connected with the rudder (112), and the first seat body (1111) is hinged with the hinged seat (121).

7. The amphibious unmanned aerial vehicle of claim 6, wherein, The first seat body (1111) is provided with a first fitting groove (1113) fitted with the upper end surface of the pipe body (31), and the second seat body (1112) is provided with a second fitting groove (1114) fitted with the lower end surface of the pipe body (31).

8. The amphibious unmanned aerial vehicle of claim 1, wherein, The ground execution mechanism (2) comprises a track fixed plate (21) connected with the rack (32), a track roller group (22) in movable connection with the track fixed plate (21), a track (23) connected with the track roller group (22), and a second motor (24) fixedly arranged on the track fixed plate (21) and in transmission connection with the track roller group (22).

9. The amphibious unmanned aerial vehicle of claim 8, wherein, The track fixed plate (21) comprises a first plate body (211) and a second plate body (212) both connected with the end of the rack (32). The track roller group (22) is arranged between the first plate body (211) and the second plate body (212).

10. The amphibious unmanned aerial vehicle of claim 1, wherein, A central plate (33) is arranged above and / or below the rack (32) close to one end of the pipe body (31).

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