Air-land dual-purpose unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and provides an air-land dual-purpose unmanned aerial vehicle which is characterized in that a plurality of vertically through mounting holes are formed in a frame body, a fan blade is rotationally arranged in each mounting hole, and after the fan blades rotate, the fan blades are configured to drive the frame body to fly; the walking mechanism is arranged on the outer wall of the frame body and used for driving the frame body to walk. By means of the technical scheme, the technical problem that when an air-ground dual-purpose unmanned aerial vehicle works in a narrow area in the prior art, the fan blades are prone to colliding in the air-ground dual-purpose unmanned aerial vehicle is solved.

Description

Technical Field

[0001] The embodiments of this utility model relate to the field of unmanned aerial vehicle (UAV) technology, specifically to an air-to-land UAV. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and their own program control devices. However, UAVs with only flight capabilities are not ideal in certain special situations, such as when operating in narrow areas filled with harmful gases like methane. UAVs with only flight capabilities are not precise and stable enough when operating. Therefore, the emergence of land-air dual-use UAVs has solved the above problems well.

[0003] Specifically, amphibious drones can use stable walking mechanisms, such as wheels, to accurately complete tasks in narrow areas containing harmful gases. However, in the process of flying to the designated position within the narrow area, because their flight mechanism is generally composed of evenly distributed arrays of fan blades on the outer periphery of the drone body, the fan blades are prone to collisions within the narrow area, affecting operational efficiency and even damaging the drone. Utility Model Content

[0004] To overcome the above-mentioned defects, the embodiments of this utility model provide an air-to-land unmanned aerial vehicle (UAV) that solves the technical problem in related technologies where the blades of air-to-land UAVs are prone to collisions when operating in narrow areas.

[0005] According to one aspect, at least one embodiment of the present invention provides an air-to-ground amphibious unmanned aerial vehicle, comprising:

[0006] The frame has several through mounting holes, and each mounting hole has a fan blade that rotates in one direction. When the fan blade rotates, it is configured to drive the frame to fly.

[0007] A walking mechanism is provided on the outer wall of the frame and is used to drive the frame to move.

[0008] For example, in an air-to-land amphibious unmanned aerial vehicle provided in at least one embodiment of the present invention, the fan blades are divided into main fan blades and auxiliary fan blades, and there are four mounting holes. The main fan blades are rotatably installed in two of the mounting holes and are symmetrically arranged along the length of the frame. The auxiliary fan blades are rotatably installed in the other two mounting holes and are symmetrically arranged along the width of the frame. The two auxiliary fan blades are located between the two main fan blades.

[0009] For example, in at least one embodiment of this utility model, in an air-to-land amphibious unmanned aerial vehicle, the coverage area of ​​the main fan blade is greater than the coverage area of ​​the auxiliary fan blade.

[0010] For example, in at least one embodiment of this utility model, an air-to-ground amphibious unmanned aerial vehicle (UAV) further includes a balancing yaw mechanism. The balancing yaw mechanism is located at the bottom of the frame, directly below the main fan blade. The balancing yaw mechanism is used to balance the flight attitude of the frame and control the yaw angle of the frame. The balancing yaw mechanism includes:

[0011] Two sets of air guides are provided, both of which are oscillatingly mounted at the bottom of the frame and located on both sides of the main fan blade rotation axis. The oscillation axis of the air guides is horizontal. Each set of air guides includes several air guides spaced apart along the width of the frame. After the air guides oscillate, they are configured to guide the airflow direction to balance the flight attitude of the frame or control the yaw angle of the frame.

[0012] For example, in at least one embodiment of the present invention, in an air-to-land amphibious unmanned aerial vehicle, the length direction of the frame is parallel to the swing axis of the wind guide plate, each group of wind guide plates includes one wind guide plate, and the bottom of the frame is provided with a connecting rod that slides horizontally relative to each other. The two ends of the connecting rod are respectively hinged to the two wind guide plates, and the two wind guide plates are located on one side of the connecting rod.

[0013] For example, in at least one embodiment of the present invention, an air-to-land amphibious unmanned aerial vehicle has a vertical groove at the center of the connecting rod, a drive rod is swaying at the bottom of the frame, and an adjustable limiting part is provided on the drive rod. The limiting part slides in the vertical groove. After the drive rod sways, it is configured to drive the two wind guide plates to sway through the connecting rod.

[0014] For example, in an air-to-land amphibious unmanned aerial vehicle provided in at least one embodiment of the present invention, there are two balancing yaw mechanisms, which are arranged opposite to each other and correspond one-to-one with the two main fan blades, and the two drive rods are arranged adjacent to each other.

[0015] For example, in at least one embodiment of this utility model, the air guide plate of an amphibious unmanned aerial vehicle is a straight plate.

[0016] For example, in at least one embodiment of this utility model, an air-to-ground amphibious unmanned aerial vehicle (UAV) includes a walking mechanism comprising:

[0017] A plurality of traveling wheels are rotatably mounted on the outer wall of the frame and arranged in a matrix. The traveling wheels are used to drive the frame to move.

[0018] For example, in at least one embodiment of this utility model, an amphibious unmanned aerial vehicle (UAV) is provided, the walking wheels are four, and the walking mechanism further includes:

[0019] Two tracks, each of which circulates between two adjacent wheels, are used to propel the frame.

[0020] The beneficial effects of the embodiments of this utility model are as follows:

[0021] The drone's frame (main body) has several through mounting holes, and each mounting hole has a rotating fan blade. The rotation of the fan blade enables the overall flight function, which is separated from the walking function provided by the walking mechanism. This modular design makes it easy to use, and the simple structure also facilitates maintenance. Compared to a structure where the fan blades are evenly installed on the outer periphery of the drone, this reduces the probability of the fan blades colliding with the surrounding environment when flying in narrow areas, ensuring operational efficiency. Furthermore, compared to drones that combine walking and flying functions, it also saves time when switching between functions during operation. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of this utility model and these drawings without any creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an air-to-land amphibious unmanned aerial vehicle in one embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic diagram of the frame structure in the embodiment;

[0025] Figure 3 for Figure 1 The embodiment shows the assembly diagram of the frame and the balancing yaw mechanism;

[0026] Figure 4 for Figure 3 Enlarged view of section B;

[0027] Figure 5 for Figure 1 A partial structural schematic diagram of the balancing yaw mechanism in the embodiment;

[0028] Figure 6 for Figure 5 Enlarged view of section C;

[0029] Figure 7 for Figure 1 A schematic diagram of the drive rod in the embodiment;

[0030] Figure 8 for Figure 1A schematic diagram of the balancing yaw mechanism in the embodiment;

[0031] Figure 9 for Figure 1 Enlarged view of section A.

[0032] In the diagram: 1. Frame, 101. Mounting hole, 2. Fan blade, 201. Main fan blade, 202. Auxiliary fan blade, 3. Traveling mechanism, 301. Traveling wheel, 302. Track, 4. Balance yaw mechanism, 401. Air guide plate, 402. Connecting rod, 403. Vertical slot, 404. Drive rod, 405. Limiting part. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit its scope.

[0034] To keep the drawings concise, each drawing only schematically shows the parts relevant to the disclosure; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0035] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0038] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] like Figure 1 As shown, this invention illustrates an air-to-land amphibious drone in one embodiment. The frame 1 serves as the main body of the drone, supporting the fan blades 2 and the walking mechanism 3. The walking mechanism 3 for overall movement is installed on the outer wall of the frame 1. Common types include wheeled walking, tracked walking, or legged walking. For example, in a wheeled walking structure, two sets of axles are usually installed on the frame 1 via bearings, with wheels assembled at both ends of the axles. The axles are driven by a motor to rotate, which in turn causes the wheels to rotate, enabling the drone to move. This type of drone is more suitable for omnidirectional movement on flat ground.

[0040] In a confined space, to prevent the fan blades 2, which are externally mounted on the surface of the frame 1, from easily colliding with the inner wall of the space, several symmetrically arranged mounting holes 101 are directly opened on the frame 1. On the one hand, this provides a position for the fan blades 2 to be installed and protected. On the other hand, the symmetrical arrangement can ensure that the fan blades 2 drive the frame 1 to fly stably. The mounting holes 101 can be arranged in a matrix of four or in an even number of circles. Compared with directly covering the fan blades 2, which are externally mounted on the surface of the frame 1, the inner wall of the mounting holes 101 can not only provide protection, but also avoid affecting the upward airflow generated by the rotation, thus ensuring airflow stability and making the flight more stable.

[0041] Specifically, several mounting holes 101 can be directly opened in the main body of the frame 1, which can also serve as weight reduction holes to reduce the counterweight and make it more conducive to flight; or several mounting rings can be detachably connected at the specified position of the frame 1 by bolts, and the mounting holes 101 of the mounting rings can serve as the mounting positions of the fan blades 2, ensuring that the thickness of the mounting rings is greater than the thickness of the fan blades 2, so as to play a protective role.

[0042] Currently, there is an amphibious drone with coaxially rotating fan blades inside its wheels, integrating flight and walking functions. However, this type of drone has drawbacks. When switching between the two functions, the entire structure needs to be modified. That is, the vertical wheels need to be adjusted to a horizontal state to meet the flight conditions and further operations. Although the fan blades of this type of drone are not easily bumped in narrow spaces, compared with this drone, the integration of functions leads to limited operational efficiency. Only after the entire machine is in a stable state and the function switching is completed after a period of time can further precise operations be carried out. This drone can skip this period and directly carry out precise operations according to the needs, and also protects the fan blades.

[0043] like Figure 2 As shown, the main body has four mounting holes 101 (for weight reduction). Two mounting holes 101 are spaced apart along the length of the frame 1, where the main fan blades 201 are rotatably mounted. The other two mounting holes 101 are spaced apart along the width of the frame 1, where auxiliary fan blades 102 are rotatably mounted. Both auxiliary fan blades 202 are located between the two main fan blades 201. The four mounting holes 101 are arranged at the four corners of a rhombus, and the main and auxiliary fan blades 2 are distinguished in sequence. The two main fan blades 201 along the length mainly control the lifting and lowering of the frame 1 and the flight angle. The two auxiliary fan blades 202 along the width mainly control the balance of the frame 1 and the flight angle. The four fan blades 2 work together to realize the flight function of the UAV, and can also reduce a large part of the weight, making the flight smoother. The rotation of the fan blades 2 is mainly achieved by a motor.

[0044] like Figure 2 As shown, the two types of fan blades 2 are divided according to their duties and functions. Therefore, the coverage area of ​​the main fan blade 201 needs to be greater than that of the auxiliary fan blade 202. That is, the overall diameter of the main fan blade 201 needs to be greater than that of the auxiliary fan blade 202. In addition, a three-bladed fan blade 2 is usually selected to control the weight.

[0045] The larger diameter main fan blade 201 can push more air when rotating, generating stronger lift and providing the main power support for the drone's flight, ensuring that the drone can take off stably and maintain its flight status. Although the auxiliary fan blade 202 has a smaller diameter, it can play a role in fine-tuning the flight attitude, supplementing power, and maintaining flight balance. Through this design of main and auxiliary fan blades with different sizes, the flight performance of the drone can be optimized, enabling it to better adapt to and fly stably under different flight conditions.

[0046] like Figure 3As shown, it also includes a balancing yaw mechanism 4, which is located at the bottom of the frame 1 and directly below the main fan blade 201. The balancing yaw mechanism 4 is used to balance the flight attitude of the frame 1 and control the yaw angle of the frame 1. The balancing yaw mechanism 4 includes two sets of air guide plates 401, which are oscillatingly located at the bottom of the frame 1 and respectively on both sides of the rotation axis of the main fan blade 201. The oscillation axis of the air guide plates 401 is horizontal. Each set of air guide plates 401 includes several air guide plates 401 arranged at intervals along the width direction of the frame 1. After the air guide plates 401 oscillate, they are configured to guide the airflow direction to balance the flight attitude of the frame 1 or control the yaw angle of the frame 1.

[0047] Enhanced flight stability: During the flight of the UAV, the strong airflow generated by the main fan blade 201 may cause uneven force on the frame 1 due to various factors (such as external airflow interference, flight attitude adjustment, etc.). The air guide plate 401 located directly below the main fan blade 201 can change the direction of the airflow below the main fan blade 201 by swinging. When the frame 1 tends to tilt, the air guide plate 401 on the corresponding side swings to guide the airflow to exert a reverse force on the frame 1, thereby effectively balancing the flight attitude of the frame 1 and reducing the swaying caused by airflow instability or attitude changes.

[0048] Precise control of yaw angle: When it is necessary to change the flight direction of the UAV, i.e., to perform yaw operation, the airflow below the main fan blade 201 can be guided differently by controlling the different swing amplitudes and directions of the two sets of air guides 401. For example, one air guide 401 swings in a specific direction, causing the airflow on that side to be blocked or changed in direction, causing the frame 1 to change its flight direction. This yaw control method based on the air guide 401 structure has the advantages of being more responsive and having higher control precision compared to some traditional yaw control methods that rely on motors or other complex steering mechanisms.

[0049] like Figures 4-8 As shown, the length direction of the frame 1 is parallel to the swing axis of the air guide plate 401. Each set of air guide plates 401 includes one air guide plate 401. The bottom of the frame 1 is provided with a connecting rod 402 that slides horizontally relative to each other. The two ends of the connecting rod 402 are respectively hinged to the two air guide plates 401, and the two air guide plates 401 are located on one side of the connecting rod 402. The center of the connecting rod 402 has a vertical groove 403. The bottom of the frame 1 is provided with a swinging drive rod 404. The drive rod 404 is provided with a position-adjustable limiting part 405. The limiting part 405 slides in the vertical groove 403. After the drive rod 404 swings, it is configured to drive the two air guide plates 401 to swing through the connecting rod 402. There are two balancing yaw mechanisms 4. The two balancing yaw mechanisms 4 are arranged opposite each other and correspond to the two main fan blades 201. The two drive rods 404 are arranged adjacent to each other.

[0050] Each set of air deflectors 401 includes only one air deflector 401. Compared with multiple air deflector combinations, this simplifies the structure, reduces manufacturing and maintenance costs, and also reduces the overall weight. In addition, the two air deflectors 401 are connected by a connecting rod 402, and the air deflector 401 is controlled to swing by the connecting rod 402 driven by the drive rod 404. This forms an efficient linkage control mechanism. Only one drive rod 404 needs to be operated to make the two air deflectors 401 swing in coordination at the same time, so as to quickly respond to the needs of flight attitude adjustment or yaw control.

[0051] Precise and flexible attitude and yaw adjustment: The drive rod 404 is provided with an adjustable limiting part 405, and the limiting part 405 slides in the vertical groove 403 of the connecting rod 402. This design allows the driving rod 404 to flexibly change the way it acts on the connecting rod 402 by adjusting the position of the limiting part 405, thereby precisely controlling the swing amplitude of the air guide plate 401.

[0052] Two balancing yaw mechanisms 4 are arranged opposite each other and correspond one-to-one with the two main fan blades 201, and the two drive rods 404 are arranged adjacent to each other. This layout is more suitable for the layout of the two sets of main fan blades 201. The two balancing yaw mechanisms work together to further enhance the stability and reliability of the UAV flight.

[0053] Furthermore, the air guide plate 401 is set to be a straight plate with a regular shape, so that when guiding the airflow below the main fan blade 201, it can change the airflow direction in a more direct way. When the UAV needs to balance its flight attitude or adjust its yaw angle, the straight plate air guide plate 401 can quickly guide the airflow and generate a stable and directional force. Moreover, the air guide plate 401 is more convenient to connect and cooperate with components such as the connecting rod 402, which can better adapt to the overall mechanism layout and facilitate later maintenance.

[0054] like Figure 1 , Figure 9 As shown, the walking mechanism 3 includes several walking wheels 301, which are rotatably mounted on the outer wall of the frame 1 and arranged in a matrix. The walking wheels 301 are used to drive the frame 1 to move. There are four walking wheels 301. The walking mechanism 3 also includes two tracks 302. Each track 302 circulates on two adjacent walking wheels 301. The tracks 302 are used to drive the frame 1 to move.

[0055] The combination of the fixed-wheel design 301 and the track 302 enhances the drone's ability to traverse complex terrain, enabling rapid movement on flat surfaces. The track 302 also functions effectively in complex terrain, traversing small obstacles and allowing the drone to navigate various road conditions smoothly, thus expanding its operational range. Several wheels 301 are arranged in a matrix along the outer wall of the frame 1, providing a more stable support structure for the drone. The multiple wheels 301 also evenly distribute the weight of the fuselage.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An air-to-land amphibious unmanned aerial vehicle (UAV), characterized in that, include: The frame (1) has several through mounting holes (101) inside, and each mounting hole (101) is rotatably provided with a fan blade (2). After the fan blade (2) rotates, it is configured to drive the frame (1) to fly. The walking mechanism (3) is located on the outer wall of the frame (1) and is used to drive the frame (1) to move.

2. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, The fan blade (2) is divided into a main fan blade (201) and an auxiliary fan blade (202). There are four mounting holes (101). The main fan blade (201) is rotatably installed in two of the mounting holes (101) and is symmetrically arranged along the length of the frame (1). The auxiliary fan blade (202) is rotatably installed in the other two mounting holes (101) and is symmetrically arranged along the width of the frame (1). The two auxiliary fan blades (202) are located between the two main fan blades (201).

3. The air-to-land amphibious unmanned aerial vehicle according to claim 2, characterized in that, The main fan blade (201) has a larger coverage area than the auxiliary fan blade (202).

4. The air-to-land amphibious unmanned aerial vehicle according to claim 2, characterized in that, It also includes a balancing yaw mechanism (4), which is located at the bottom of the frame (1) and directly below the main fan blade (201). The balancing yaw mechanism (4) is used to balance the flight attitude of the frame (1) and control the yaw angle of the frame (1). The balancing yaw mechanism (4) includes: Two sets of air guides (401) are oscillatingly disposed at the bottom of the frame (1) and located on both sides of the rotation axis of the main fan blade (201). The oscillation axis of the air guides (401) is horizontal. Each set of air guides (401) includes several air guides (401) spaced apart along the width direction of the frame (1). After the air guides (401) oscillate, they are configured to guide the airflow direction to balance the flight attitude of the frame (1) or control the yaw angle of the frame (1).

5. The air-to-land amphibious unmanned aerial vehicle according to claim 4, characterized in that, The length direction of the frame (1) is parallel to the swing axis of the air guide plate (401). Each set of air guide plates (401) includes one air guide plate (401). The bottom of the frame (1) is provided with a connecting rod (402) that slides horizontally relative to each other. The two ends of the connecting rod (402) are respectively hinged to the two air guide plates (401), and the two air guide plates (401) are located on one side of the connecting rod (402).

6. The air-to-ground amphibious unmanned aerial vehicle according to claim 5, characterized in that, The connecting rod (402) has a vertical groove (403) at its center. The bottom of the frame (1) is provided with a swinging drive rod (404). The drive rod (404) is provided with a position-adjustable limiting part (405). The limiting part (405) slides in the vertical groove (403). After the drive rod (404) swings, it is configured to drive the two air guide plates (401) to swing through the connecting rod (402).

7. The air-to-ground amphibious unmanned aerial vehicle according to claim 6, characterized in that, There are two balancing yaw mechanisms (4), which are arranged opposite to each other and correspond one-to-one with the two main fan blades (201), and the two drive rods (404) are arranged adjacent to each other.

8. The air-to-land amphibious unmanned aerial vehicle according to claim 4, characterized in that, The air guide plate (401) is a straight plate type.

9. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, The walking mechanism (3) includes: A plurality of walking wheels (301) are rotatably mounted on the outer wall of the frame (1) and arranged in a matrix. The walking wheels (301) are used to drive the frame (1) to move.

10. An air-to-ground amphibious unmanned aerial vehicle according to claim 9, characterized in that, The walking wheels (301) are four in number, and the walking mechanism (3) further includes: Two tracks (302), each of which circulates on two adjacent wheels (301), the tracks (302) being used to drive the frame (1) to move.

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