An amphibious unmanned aerial vehicle

Abstract

The utility model discloses a amphibious unmanned aerial vehicle, including fuselage, the both sides of fuselage are installed with first motor and side plate, and first motor is used for driving side plate to unfold or fold, realizes the switching between air mobile mode and land mobile mode, install mechanical arm on the side plate, and the number of mechanical arm on the same side plate is two, and each has one in front and back, install the mechanical arm bidirectional drive mechanism for driving mechanical arm direct current or inversion on the back of side plate, and the number and position of mechanical arm bidirectional drive mechanism correspond with mechanical arm one to one, mechanical arm has distal end machine arm and proximal end machine arm, and the outside installation of proximal end machine arm has the rotor, and the two machine arms are connected through two rudders. The utility model can avoid the same side mechanical arm interference, avoid the rotor and external object interference, and do not need to reset mechanical arm when mode conversion, and the response speed is fast.

Description

Technical Field

[0001] This utility model relates to unmanned aerial vehicles, specifically to an amphibious unmanned aerial vehicle. Background Technology

[0002] Amphibious unmanned aerial vehicles (UAVs) combine the advantages of high-speed aerial maneuverability and stealthy ground maneuverability. Current amphibious UAVs directly connect the robotic arm to the fuselage, with the rotor mounted on the outside of the robotic arm, presenting the following technical challenges:

[0003] (1) When the aircraft is in land maneuvering mode, the robotic arms on the same side may come into contact at their far ends during the swinging process, that is, the robotic arms may interfere with each other incorrectly.

[0004] (2) When switching between air maneuvering mode and land maneuvering mode, each robotic arm must be reset twice. The first time is to reset the motor at the connection between the robotic arm and the fuselage. In air maneuvering mode, it must be kept horizontal. The second time is to reset the rotor to face upward. At the same time, each reset needs to be corrected. Otherwise, the torque between multiple rotors will be difficult to balance and will cause a crash, resulting in poor responsiveness. Utility Model Content

[0005] Purpose of the utility model: The purpose of this utility model is to provide an amphibious unmanned aerial vehicle with high mode switching efficiency and the ability to reduce the possibility of interference between robotic arms.

[0006] Technical solution: This utility model discloses an amphibious unmanned aerial vehicle, comprising a fuselage and a robotic arm. A first motor and a side plate are respectively installed on both sides of the fuselage. The first motor is used to drive the side plate to unfold or fold, realizing the switching between air maneuvering mode and land maneuvering mode. The robotic arm is installed on the side plate, with two robotic arms on the same side plate, one at the front and one at the back. A bidirectional drive mechanism for driving the robotic arm to rotate forward or backward is installed on the back of the side plate, and the number and position of the bidirectional drive mechanism correspond one-to-one with the robotic arm. A rotor is installed on the outer side of the robotic arm.

[0007] Furthermore, landing gear is installed at the bottom of the fuselage.

[0008] Furthermore, the first motor is connected to the fixed plate on the upper side of the back of the side plate.

[0009] Furthermore, the side plate is driven by multiple first motors evenly distributed on the same side of the fuselage.

[0010] Furthermore, the robotic arm includes a remote arm, a remote servo motor, a near-end servo motor, and a near-end arm; the output end of the near-end servo motor is connected to the lower end of the near-end arm, and the output end of the remote servo motor is connected to the upper end of the remote arm, with the two servo motors fixedly connected; the rotor is mounted on the outside of the near-end arm.

[0011] When existing amphibious unmanned aerial vehicles (UAVs) perform land maneuvers in complex terrain, their rotors may interfere with foreign objects and be damaged. This invention utilizes a remote arm to provide some protection for the rotor, reducing the risk of rotor interference with foreign objects.

[0012] Furthermore, the rotor includes a rotor disk located on the outside of the proximal arm, on which rotor blades are rotatably mounted; a third motor is installed on the inside of the proximal arm, and the output shaft of the third motor passes through the proximal arm and is connected to the rotor blades, thereby driving the rotor blades to rotate.

[0013] Furthermore, the fuselage and the distal arm have a hollow structure.

[0014] Furthermore, the two-way drive mechanism of the robotic arm includes a triangular connector, a base, a rotating shaft, a sleeve, and two second motors. The base is fixed to the back of the side plate. The rotating shaft has a centering gear and a ratchet at each end. The sleeve is fitted onto the rotating shaft, and the sleeve also has a centering gear and a ratchet at each end, with the two ratchets facing opposite directions. The left end of the rotating shaft is rotatably engaged with the triangular connector via a bearing, and a nut is installed on the thread at the left end of the rotating shaft for axial limiting. The right ends of the rotating shaft and the sleeve pass through the base and the side plate. The upper end of the proximal robotic arm is fitted onto the right end of the rotating shaft and the sleeve, and engages with the two ratchets one by one through two sets of internal pawls. A nut is installed on the thread at the right end of the rotating shaft for axial limiting.

[0015] Two second motors are fixed side by side on the back of the side plate. An eccentric gear is installed on the output shaft of the second motor. The end of the output shaft is rotatably engaged with the triangular connector and axially limited. The two eccentric gears are connected to the two concentric gears one by one through a gear belt.

[0016] Furthermore, a washer is fitted on the output shaft, which is located between the eccentric gear and the triangular connector.

[0017] Beneficial Effects: Compared with existing technologies, this invention has the following advantages: It connects the fuselage and robotic arms via side plates, using the side plates as an intermediary to assist in mode switching between land and air amphibious operations. Firstly, the side plates fix the two robotic arms on the same side to the same plane, reducing degrees of freedom and lowering the possibility of erroneous interference between the robotic arms on the same side (specifically, for UAVs without side plates, the two robotic arms on the same side can be at different heights, and during movement, one robotic arm may extend inside the other; if the inner robotic arm extends outward, erroneous interference may occur). It also allows for a more uniform mass distribution, which is beneficial for flight attitude stability. Secondly, each of the two robotic arms on the same side only needs to control one rotation angle, eliminating the need for arm reset during mode switching, effectively improving response speed and maneuverability. Attached Figure Description

[0018] Figures 1 to 3 This is a schematic diagram of the structure of the amphibious unmanned aerial vehicle provided in this embodiment of the present invention, wherein... Figure 2 The robotic arm is in its fully extended state. Figure 3 The robotic arm is in a fully folded state.

[0019] Figure 4 This is a schematic diagram of the structure of the robotic arm in an embodiment of this utility model;

[0020] Figure 5 This is a structural schematic diagram of the back of the side plate in an embodiment of this utility model;

[0021] Figure 6 This is a schematic diagram of the mating structure of the rotating shaft and the sleeve in an embodiment of this utility model;

[0022] Figure 7 This is a schematic diagram of the mating structure of the ratchet and pawl in an embodiment of this utility model;

[0023] Figure 8 This is a structural schematic diagram of the front side panel in an embodiment of this utility model;

[0024] Figure 9 This is a schematic diagram of the fuselage structure in an embodiment of this utility model;

[0025] Figure 10 This is a schematic diagram of the connection structure of two servo motors in an embodiment of this utility model. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] Appendix Figures 1 to 10 The accompanying figure labels are as follows:

[0028] 1. Fuselage; 11. Landing gear; 12. First motor;

[0029] 2. Side plate; 21. Fixed plate; 22. Bidirectional drive mechanism for robotic arm; 221. Triangular connector; 222. Second motor; 223. Base; 224. Washer; 225. Eccentric gear; 226. Alignment gear; 227. Rotating shaft; 228. Sleeve; 229. Ratchet;

[0030] 3. Robotic arm; 31. Remote arm; 321. Remote servo motor; 322. Proximal servo motor; 33. Proximal arm; 34. Rotor; 341. Rotor blade; 342. Rotor disk.

[0031] like Figures 1 to 3 as well as Figure 9As shown, this embodiment of the utility model provides an amphibious unmanned aerial vehicle, including a fuselage 1 and two side plates 2, with three sets of first motors 12 installed at intervals on each side of the fuselage 1. Combined with... Figure 5 The output end of the first motor 12 is fixed to the fixed plate 21 on the upper side of the back of the side plate 2. Under the joint drive of the three sets of first motors 12 on the same side, the side plate 2 can unfold outward or fold inward. The robotic arm 3 is installed on the front of the side plate 2. There are two robotic arms 3 on the same side plate 2, one at the front and one at the back. The landing gear 11 is fixedly installed at the bottom of the fuselage 1 with screws.

[0032] Combination Figure 4 and Figure 10 The robotic arm 3 includes a remote arm 31, a remote servo motor 321, a proximal servo motor 322, and a proximal arm 33. The output end of the proximal servo motor 322 is connected to the lower end of the proximal arm 33, and the output end of the remote servo motor 321 is connected to the upper end of the remote arm 31. The two servo motors are fixedly connected.

[0033] A rotor 34 is mounted on the outer side of the robotic arm 3. Specifically, the rotor 34 includes a rotor disk 342 located on the outer side of the proximal arm 33, with rotor blades 341 rotatably mounted on the rotor disk 342. A third motor is mounted on the inner side of the proximal arm 33, and the output shaft of the third motor passes through the proximal arm 33 and connects to the rotor blades 341, thereby driving the rotor blades 341 to rotate and generate lift. In this embodiment, the fuselage 1 and the distal arm 31 are designed with a hollow structure, which not only reduces air resistance and fuselage weight, but also significantly reduces noise and greatly improves stealth.

[0034] Combination Figures 5 to 8A two-way drive mechanism 22 for the robotic arm is installed on the back of the side plate 2. The number and position of the two-way drive mechanisms 22 correspond one-to-one with the robotic arms 3. The two-way drive mechanism 22 can drive the corresponding robotic arm 3 to rotate forward or backward. Specifically, the two-way drive mechanism 22 includes a triangular connector 221, a base 223, a rotating shaft 227, a sleeve 228, and two second motors 222. The base 223 is fixed to the back of the side plate 2 with bolts. The rotating shaft 227 is provided with a centering gear 226 and a ratchet 229 at both ends, and the centering gear 226 is connected to the rotating shaft 227 by a key. The sleeve 228 is sleeved on the rotating shaft 227. The sleeve 228 is also provided with a centering gear 226 and a ratchet 229 at both ends, and the centering gear 226 and the sleeve 228 are integral structures. The two ratchet 229s are in opposite directions. The left end of the rotating shaft 227 is rotatably connected to the triangular connector 221 via a bearing. A nut is installed on the thread of the left end of the rotating shaft 227 for axial positioning. The right ends of the rotating shaft 227 and the sleeve 228 pass through the base 223 and the side plate 2. The upper end of the proximal arm 33 is sleeved on the right end of the rotating shaft 227 and the sleeve 228, and engages with two ratchet wheels 229 through two sets of internal pawls. A nut is installed on the thread of the right end of the rotating shaft 227 for axial positioning.

[0035] Two second motors 222 are bolted side-by-side to the back of side plate 2 and located below base 223. An eccentric gear 225 is mounted on the output shaft of each second motor 222. The end of the output shaft rotatably engages with a triangular connector 221. A bolt with a head slightly larger than the hole diameter is used for axial positioning, and lubricant is applied to the side to prevent jamming during rotation. A washer 224 is also fitted onto the output shaft, positioned between the eccentric gear 225 and the triangular connector 221. The two eccentric gears 225 are connected to the two opposing gears 226 via gear belts.

[0036] When one of the second motors 222 drives the corresponding centering gear 226 to rotate, the corresponding ratchet 229 and pawl lock, causing the robotic arm 3 to rotate. At the same time, the other set of ratchet 229 and pawl is disengaged and does not transmit power. Thus, the two second motors 222 can drive the corresponding robotic arm 3 to rotate forward or backward respectively.

[0037] The purpose of using an eccentric gear 225 at the output end of the second motor 222 is to prevent slippage. Specifically, the gears on both sides of the eccentric gear 225 exert the same force, but with different lever arms, which causes the eccentric gear 225 to tend to rotate around the motor shaft. In order to prevent the motor shaft from rotating, there is a reverse torque, which plays a role in preventing slippage.

[0038] The working principle of this utility model is as follows:

[0039] The first motor 12 drives the side plate 2 to unfold or fold, enabling rapid switching between air maneuvering mode and land maneuvering mode. In air maneuvering mode, the third motor drives the rotor 34 to rotate, achieving flight. In land maneuvering mode, the bidirectional drive mechanism 22 of the robotic arm drives the robotic arm 3 to rotate. The rotation of the near-end servo motor 322 enables the crawling function, thereby achieving the purpose of walking on land. The far-end servo motor 321 can control the degree of outward extension of the robotic arm 3.

Claims

1. An amphibious unmanned aerial vehicle, comprising a fuselage (1) and a robotic arm (3), characterized in that, The fuselage (1) is equipped with a first motor (12) and a side plate (2) on both sides. The first motor (12) is used to drive the side plate (2) to unfold or fold, so as to switch between air maneuvering mode and land maneuvering mode. The mechanical arm (3) is installed on the side plate (2). There are two mechanical arms (3) on the same side plate, one in front and one in back. The back of the side plate (2) is equipped with a mechanical arm bidirectional drive mechanism (22) for driving the mechanical arm (3) to rotate forward or backward. The number and position of the mechanical arm bidirectional drive mechanism (22) correspond one-to-one with the mechanical arm (3). The outside of the mechanical arm (3) is equipped with a rotor (34).

2. The amphibious unmanned aerial vehicle according to claim 1, characterized in that, The fuselage (1) is equipped with landing gear (11) at the bottom.

3. The amphibious unmanned aerial vehicle according to claim 1, characterized in that, The first motor (12) is connected to the fixed plate (21) on the upper side of the back of the side plate (2).

4. The amphibious unmanned aerial vehicle according to claim 1 or 3, characterized in that, The side plate (2) is driven by multiple first motors (12) evenly distributed on the same side of the fuselage (1).

5. The amphibious unmanned aerial vehicle according to claim 1, characterized in that, The robotic arm (3) includes a remote arm (31), a remote servo motor (321), a near-end servo motor (322), and a near-end arm (33); the output end of the near-end servo motor (322) is connected to the lower end of the near-end arm (33), and the output end of the remote servo motor (321) is connected to the upper end of the remote arm (31), and the two servo motors are fixedly connected; the rotor (34) is installed on the outside of the near-end arm (33).

6. The amphibious unmanned aerial vehicle according to claim 5, characterized in that, The rotor (34) includes a rotor disk (342) located on the outside of the proximal arm (33), and rotor blades (341) are rotatably mounted on the rotor disk (342); a third motor is installed on the inside of the proximal arm (33), and the output shaft of the third motor passes through the proximal arm (33) and is connected to the rotor blades (341), thereby driving the rotor blades (341) to rotate.

7. The amphibious unmanned aerial vehicle according to claim 5, characterized in that, The fuselage (1) and the remote arm (31) are hollow structures.

8. The amphibious unmanned aerial vehicle according to claim 5, characterized in that, The bidirectional drive mechanism (22) of the robotic arm includes a triangular connector (221), a base (223), a rotating shaft (227), a sleeve (228), and two second motors (222). The base (223) is fixed to the back of the side plate (2). The rotating shaft (227) is provided with a centering gear (226) and a ratchet (229) at both ends. The sleeve (228) is fitted onto the rotating shaft (227). The sleeve (228) is also provided with a centering gear (226) and a ratchet (229) at both ends. The two ratchets (229) The directions are opposite; the left end of the rotating shaft (227) and the triangular connector (221) are rotated and engaged by bearings, and a nut is installed on the thread of the left end of the rotating shaft (227) for axial limiting; the right end of the rotating shaft (227) and the sleeve (228) pass through the base (223) and the side plate (2), and the upper end of the near end arm (33) is sleeved on the right end of the rotating shaft (227) and the sleeve (228), and engages with two ratchet wheels (229) one by one through two sets of internal pawls, and a nut is installed on the thread of the right end of the rotating shaft (227) for axial limiting; Two second motors (222) are fixed side by side on the back of the side plate (2). An eccentric gear (225) is installed on the output shaft of the second motor (222). The end of the output shaft is rotated and axially limited by the triangular connector (221). The two eccentric gears (225) and the two centering gears (226) are connected one-to-one by a gear belt.

9. The amphibious unmanned aerial vehicle according to claim 8, characterized in that, A washer (224) is also fitted on the output shaft, which is located between the eccentric gear (225) and the triangular connector (221).

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