Air-land-water integrated unmanned aerial vehicle

Abstract

The utility model discloses an air-land-water integrated unmanned device which comprises a seat body, a flying mechanism arranged on the upper portion of the seat body, a land walking mechanism arranged on the lower portion of the seat body, an underwater driving unit arranged on the rear portion of the seat body, and a storage battery and a control unit arranged in the seat body. The flying mechanism comprises a plurality of arms, a concave area is arranged on the upper portion of a base, a plurality of driving mechanisms are mounted on the base, a first motor is mounted at one end of each arm, a first propeller is fixedly connected to a rotating shaft of each first motor, and the other end of each arm is connected to one driving mechanism. The driving mechanism can drive the vehicle arms to rotate so that the vehicle arms and the first propellers can be located in the sunken areas or the vehicle arms can be unfolded outwards. A water tank, a gas tank, a water pump and a gas pump are arranged on the seat body; a piston is arranged in the middle in the water tank; the water pump communicates with the water tank through a waterway pipeline; the air pump communicates with the air tank and the water tank through an air channel pipeline. And first and second electromagnetic gate valves are respectively arranged on the waterway pipeline and the gas pipeline. The utility model has the advantages of compact structure, stable operation under various working conditions, and wide application range.

Description

Technical Field

[0001] This utility model relates to the field of unmanned equipment manufacturing technology, and in particular to an air-land-water integrated unmanned vehicle. Background Technology

[0002] Currently, unmanned equipment such as drones and unmanned underwater vehicles are widely used in various situations. In order to adapt to different working scenarios and improve the functionality of unmanned equipment, it is necessary to develop unmanned equipment that can operate on land, in the air, on the water surface, and underwater. At present, such equipment is usually large in size and expensive.

[0003] On September 20, 2024, a Chinese invention application with application number 202410757222.1, entitled "A Quadrilateral Multi-Degree-of-Freedom Inspection Unmanned Aerial Vehicle (UAV) for Land, Sea, Air, and Submarine Use," was published. This invention includes a flight mechanism, a buoyancy mechanism, a walking mechanism, and an inspection mechanism. The flight mechanism includes a central outer shell and multiple connecting arms fixed to the outer periphery of the central outer shell. A side outer shell is rotatably connected to one end of each connecting arm away from the central outer shell. A central rotor is rotatably disposed within the central outer shell. The buoyancy mechanism includes two floats symmetrically arranged on the outer side of the central outer shell, and also includes an inflation / deflation assembly for inflating or deflating the airbags. The walking mechanism is located below the floats and propels the inspection UAV along the ground. The inspection mechanism includes an optical inspection system and an acoustic inspection system. This invention can operate on land, in the air, on the surface, and underwater, and possesses the advantages of quickly and safely traversing complex terrain, vertical terrain, narrow spaces, or stopping at specific locations. However, the connecting arm of this drone flight mechanism cannot retract, resulting in greater drag when diving, a top-heavy operation on land, poor stability, and a large overall size, thus its reliability needs to be improved. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an unmanned aerial vehicle that integrates air, land and water, with a compact structure, relatively stable operation under various working conditions, and a wide range of applications.

[0005] To achieve the above objectives, the technical solution of this utility model is: an air-land-water integrated unmanned vehicle, including a seat, a flight mechanism mounted on the upper part of the seat, and a land walking mechanism mounted on the lower part of the seat;

[0006] The flight mechanism includes multiple arms, and a recessed area is provided on the upper part of the seat. Multiple drive mechanisms are installed on the seat corresponding to the multiple arms. A first motor is installed on one end of each arm, and a first propeller for flight is fixedly connected to the shaft of the first motor. The other end of each arm is connected to a drive mechanism. The drive mechanism can drive the arm to rotate so that the arm and the first propeller are in the recessed area. The drive mechanism can also drive the arm to rotate in the opposite direction and unfold outward so that most of the arm and the first propeller are outside the seat.

[0007] The base is equipped with a water tank, an air tank, a water pump, and an air pump. A piston is installed in the middle of the water tank, and the lower part of the base is provided with water inlet and outlet. The outlet of the water pump is connected to the internal space of the water tank on one side of the piston through a water pipe, and the inlet of the water pump is connected to the inlet and outlet through a water pipe. The outlet of the air pump is connected to the internal cavity of the air tank through an air pipe, and the suction port of the air pump is connected to the internal space of the water tank on the other side of the piston through an air pipe. A first electromagnetic gate valve is installed on the water pipe, and a second electromagnetic gate valve is installed on the air pipe.

[0008] The rear of the seat is also equipped with an underwater drive unit; the seat contains a battery and a control unit. The battery is charged by an external power source and then provides power. The control unit is equipped with a communication component for bidirectional communication with the outside world. The control unit coordinates and controls the actions of each moving part.

[0009] In a further improvement, the seat body includes an upper seat body and a lower seat body, which are detachably and fixedly connected together. The walking mechanism is mounted on the lower seat body, and the flight mechanism is mounted on the upper seat body. This facilitates assembly and maintenance.

[0010] Furthermore, the front side of the lower seat gradually tapers inward from top to bottom, and both the front and rear ends of the upper seat are provided with semi-cylindrical surfaces. This facilitates movement on water or submersion.

[0011] Preferably, the recessed area is located on the upper seat.

[0012] Furthermore, the upper part of the upper seat is symmetrically provided with two recessed areas.

[0013] Preferably, the flight mechanism includes four arms, and the upper part of the seat is provided with two recessed areas. Each recessed area can accommodate two arms and two first propellers, and the two first propellers in the same recessed area are staggered vertically.

[0014] Preferably, the underwater drive unit includes a second motor and a second propeller, with the second propeller rotated by the second motor; the drive mechanism is a third motor, with the other end of each arm fixed to the shaft of the third motor. This drive unit and drive mechanism are easy to control and operate reliably.

[0015] Preferably, the land-based walking mechanism includes two tracks positioned on both sides of the base. Each track is driven to move cyclically by a driving track wheel and a driven track wheel, with the driving track wheel rotated by a fourth motor. This type of land-based walking mechanism operates relatively smoothly.

[0016] Preferably, there are two sets of the underwater drive unit, both installed at the rear of the base, to improve the stability and reliability of underwater driving.

[0017] Further improvements include the symmetrical installation of two water tanks on the outer sides of the base, with a piston installed in the center of each tank. The water pump outlet is connected via a water pipe to the internal space of the tank on one side of the piston in each of the two tanks, and the air pump inlet is connected via an air pipe to the internal space of the tank on the other side of the piston in each of the two tanks; the air tank is located within the base. This enhances the reliability of the unmanned vehicle's diving and surfacing.

[0018] This invention enables flight operations via multiple arms, a first motor, and a first propeller; land-based movement via a land-based walking mechanism; and water-based cruising via an underwater drive unit. Through the coordinated operation of a water tank, an air tank, a water pump, an air pump, a first electromagnetic gate valve, and a second electromagnetic gate valve, along with the underwater drive unit, it can dive and surface. Therefore, it can operate under various conditions. Furthermore, by incorporating other camera equipment, sensors, instruments, and other mounted equipment, it can complete a wide range of tasks, making it widely applicable.

[0019] In addition, since the drive mechanism can drive the arm to rotate so that the arm and the first propeller retract into the recessed area, the upper part of the unmanned vehicle can be retracted; when taking off and landing on land, the land walking mechanism can also be used as landing gear, making the overall structure more compact; which is conducive to land movement, water cruising, diving and surfacing, and can operate relatively smoothly under various working conditions, with high reliability. Attached Figure Description

[0020] Figure 1 This is a three-dimensional view of the retracted arm of this utility model;

[0021] Figure 2 This is a front view of the retracted arm of this utility model;

[0022] Figure 3 This is a bottom view of the retracted arm of this utility model;

[0023] Figure 4 This is a rear view of the arm of this utility model in the retracted state;

[0024] Figure 5 This is a perspective view of the robot arm of this utility model in its retracted state with the upper body hidden;

[0025] Figure 6 This is a perspective view of the present invention with the arm retracted and the upper body and flight mechanism hidden.

[0026] Figure 7 yes Figure 6 Top view;

[0027] Figure 8 yes Figure 7 AA section view;

[0028] Figure 9This is a three-dimensional view of the extended arm of this utility model. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0030] Figures 1 to 9 As shown, an air-land-water integrated unmanned vehicle includes a base 1, a flight mechanism 2 mounted on the upper part of the base 1, and a land-based walking mechanism 3 mounted on the lower part of the base 1; the base 1 includes an upper base 11 and a lower base 12, which are detachably and fixedly connected together, the walking mechanism 3 is mounted on the lower base 12, and the flight mechanism 2 is mounted on the upper base 11.

[0031] The flight mechanism 2 includes four arms 21. The upper part of the base 1, i.e., the upper base 11, has two recessed areas 13, symmetrically arranged. Four drive mechanisms 22 are mounted on the base 1 corresponding to the four arms 21. A first motor 23 is mounted on one end of each arm 21, and a first propeller 24 for flight is fixedly connected to the shaft of the first motor 23. The other end of each arm 21 is connected to a drive mechanism 22, which can drive the arm 21 to rotate. The movement causes the arm 21 and the first propeller 24 to retract into the recessed area 13. The drive mechanism 22 can also drive the arm 21 to rotate in the opposite direction and unfold outward so that most of the arm 21 and the first propeller 24 are outside the base 1. Each recessed area 13 can accommodate two arms 21 and two first propellers 24, and the two first propellers 24 in the same recessed area 13 are staggered vertically. The drive mechanism 22 is a third motor, and the other end of each arm 21 is fixed to the shaft of the third motor.

[0032] Two water tanks 4 are symmetrically mounted on the two outer sides of the base 1. A piston 41 is installed in the middle of each water tank 4. The base 1 contains an air tank 5, a water pump 6, and an air pump 7. The lower part of the base 1 is provided with an inlet and outlet 14. The outlet of the water pump 6 is connected to the internal space of the water tank 4 on one side of the piston 41 in the two water tanks 4 through a water pipe 61. The inlet of the water pump 6 is connected to the inlet and outlet 14 through another water pipe. The outlet of the air pump 7 is connected to the inner cavity of the air tank 5 through an air pipe 71. The suction port of the air pump 7 is connected to the internal space of the water tank 4 on the other side of the piston 41 in the two water tanks 4 through an air pipe 71. A first electromagnetic gate valve 62 is installed on the water pipe 61, and a second electromagnetic gate valve 72 is installed on the air pipe 71.

[0033] The rear of the base 1 is also equipped with an underwater drive unit 8, which includes a second motor 81 and a second propeller 82. The second propeller 82 is driven to rotate by the second motor 81. There are two sets of the underwater drive unit 8, both of which are installed at the rear of the lower base 12 of the base 1.

[0034] The seat 1 contains a battery 9 and a control unit 10. The battery 9 is charged by an external power source and then powered by the control unit 10. The control unit 10 is equipped with a communication component for bidirectional communication with the outside. The control unit 10 coordinates and controls the actions of each moving part.

[0035] The front side 121 of the lower base 12 gradually tapers inward from top to bottom, and the front and rear ends of the upper base 11 are provided with semi-cylindrical surfaces 111. This is beneficial for the unmanned vehicle to move on the water surface or dive.

[0036] The land walking mechanism 3 includes two tracks 31 arranged on both sides of the seat 1. Each track 31 is driven to move in a cycle by an active track wheel 32 and a driven track wheel 33. Each active track wheel 32 is driven to rotate by a fourth motor 34.

[0037] The four operating states in this embodiment are as follows:

[0038] I. Flight State: Each drive mechanism 22 drives the arm 21 to rotate in the opposite direction and extend outward, so that most of the arm 21 and the first propeller 24 are outside the base 1. At this time, the arm 21 is in the extended state, as shown below. Figure 9 As shown; then the four first motors 23 rotate simultaneously, and the shafts of the four first motors 23 drive the four first propellers 24 to rotate simultaneously, so that it can take off. Then, by controlling the four first motors 23 to work separately through the control unit 10, various flight actions can be achieved.

[0039] II. Land travel state: When this embodiment lands on the ground, the two tracks 31 contact the ground, and then each drive mechanism 22 drives one arm 21 to rotate, so that the arm 21 and the first propeller 24 retract into the recessed area 13. At this time, the arm 21 is in a retracted state. Then, the two fourth motors 34 act simultaneously, driving the two active track wheels 32 to rotate in the same direction. With the rotation of the two driven track wheels 33, the two tracks 31 can move in the same direction in a cycle, and the unmanned vehicle can move forward or backward on the land.

[0040] III. Water Navigation Status: When the unmanned vehicle lands on the water, it will float on the water surface due to the action of the base 1. Then, the two second motors 81 of the two sets of underwater drive units 8 will rotate simultaneously, driving the two second propellers 82 to rotate, and the unmanned vehicle can move on the water surface.

[0041] IV. Underwater Diving State: When the unmanned vehicle lands on the water, if it needs to dive, the water pump 6 and the air pump 7 work simultaneously, and the first electromagnetic gate valve 62 and the second electromagnetic gate valve 72 open simultaneously. The water pump 6 pumps water through the water pipe 61 into the internal space of the two water tanks 4 on one side of the piston 41. At the same time, the air pump 7 compresses the gas in the internal space of the two water tanks 4 on the other side of the piston 41 into the air tank 5. In this way, the weight of the two water tanks 4, including the water, will gradually increase, enabling the unmanned vehicle to dive. With the drive of the two sets of underwater drive units 8, the diving speed of the unmanned vehicle will increase. When it dives to a certain depth and stops, the first electromagnetic gate valve 62 and the second electromagnetic gate valve 72 close simultaneously. Driven by the two sets of underwater drive units 8, it can also move in the underwater state.

[0042] When the work is completed and the unmanned vehicle needs to float, the first electromagnetic gate valve 62 and the second electromagnetic gate valve 72 open simultaneously. The water pump 6 and the air pump 7 stop working, and the gas in the air tank 5 re-enters the internal space of the water tank 4 on the other side of the piston 41 in the two water tanks 4. The piston 41 is driven to move by the air pressure, which forces the water in the two water tanks 4 out through the inlet and outlet 14. The weight of the two water tanks 4 is reduced, and the unmanned vehicle can float to the surface.

[0043] This unmanned vehicle can take off on both water and land; it operates relatively smoothly under various working conditions. When taking off and landing on land, the land walking mechanism 3 can also be used as landing gear, making the structure more compact; the control unit communicates bidirectionally with the outside world through the communication component and controls the operation of the unmanned vehicle.

[0044] Because this unmanned vehicle can achieve multiple working states, it can complete a variety of tasks when combined with other onboard facilities such as camera equipment, sensors, and instruments, making it widely applicable.

[0045] Although the present invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the present invention without departing from the spirit and scope of the present invention as defined in the appended claims, and all such changes shall be within the scope of protection of the present invention.

Claims

1. An air, land and water integrated unmanned vehicle, comprising a seat body, characterized in that: The upper part of the seat body is provided with a flight mechanism, and the lower part of the seat body is provided with a land walking mechanism; The flight mechanism comprises a plurality of arms, the upper part of the seat body is provided with a recessed area, the upper part of the seat body is provided with a plurality of driving mechanisms corresponding to the plurality of arms, one end of each arm is provided with a first motor, the rotating shaft of the first motor is fixedly connected with a first propeller for flight, the other end of each arm is connected to a driving mechanism, the driving mechanism can drive the arm to rotate so that the arm and the first propeller are located in the recessed area, and the driving mechanism can also drive the arm to rotate reversely and expand outward so that most of the arm and the first propeller are located outside the seat body; The seat body is provided with a water tank, an air tank, a water pump and an air pump, a piston is arranged in the middle of the water tank, and the lower part of the seat body is provided with a water inlet and outlet; the water outlet of the water pump is connected to the inner space of the water tank on one side of the piston through a water channel pipeline, the water inlet of the water pump is connected to the water inlet and outlet through a water channel pipeline; the air outlet of the air pump is connected to the inner cavity of the air tank through an air channel pipeline, and the air inlet of the air pump is connected to the inner space of the water tank on the other side of the piston through an air channel pipeline; a first electromagnetic gate valve is arranged on the water channel pipeline, and a second electromagnetic gate valve is arranged on the air channel pipeline; The seat body is further provided with a water driving unit at the rear part, and the seat body is provided with a battery and a control unit, the battery is charged by an external power supply and then realizes power supply, the control unit is provided with a communication component for bidirectional communication with the outside, and the control unit coordinates the actions of various movement components.

2. The air, land and water integrated unmanned vehicle according to claim 1, characterized in that: The seat body comprises an upper seat body and a lower seat body, the upper seat body and the lower seat body are detachably fixed together, the walking mechanism is arranged on the lower seat body, and the flight mechanism is arranged on the upper seat body.

3. The air, land and water integrated unmanned vehicle according to claim 2, characterized in that: The front side of the lower seat body is gradually inwardly recessed from top to bottom, and the front end and the rear end of the upper seat body are both provided with a semicylindrical surface.

4. The air, land and water integrated unmanned vehicle according to claim 2, characterized in that: The recessed area is arranged on the upper seat body.

5. The air, land and water integrated unmanned vehicle according to claim 4, characterized in that: Two recessed areas are symmetrically arranged on the upper part of the upper seat body.

6. The air, land and water integrated unmanned vehicle according to claim 1, characterized in that: The flight mechanism comprises four arms, the upper part of the seat body is provided with two recessed areas, each recessed area can accommodate two arms and two first propellers, and the two first propellers in the same recessed area are staggered upward and downward.

7. The air, land and water integrated unmanned vehicle according to claim 1, characterized in that: The water driving unit comprises a second motor and a second propeller, the second propeller is driven to rotate by the second motor; the driving mechanism is a third motor, and the other end of each arm is fixedly connected to the rotating shaft of the third motor.

8. The air, land and water integrated unmanned vehicle according to claim 1, characterized in that: The land walking mechanism comprises two caterpillar tracks arranged on the two sides of the seat body, each caterpillar track is driven to move circularly by a driving caterpillar track wheel and a driven caterpillar track wheel, and the driving caterpillar track wheel is driven to rotate by a fourth motor.

9. The air, land and water integrated unmanned vehicle according to claim 1, characterized in that: The water driving unit has two sets, and both are installed at the rear part of the seat body.

10. The air, land and water integrated unmanned vehicle according to any one of claims 1 to 9, characterized in that: Two water tanks are symmetrically arranged on the two outer sides of the seat body, a piston is arranged in the middle of each water tank, the water outlet of the water pump is connected to the inner space of the water tank on one side of the piston of each water tank through a water channel pipeline, and the air inlet of the air pump is connected to the inner space of the water tank on the other side of the piston of each water tank through an air channel pipeline; the air tank is arranged in the seat body.

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