CN104709465A - Technical scheme and implementation method of triphibian collision-resistant aircraft - Google Patents
Technical scheme and implementation method of triphibian collision-resistant aircraft Download PDFInfo
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- CN104709465A CN104709465A CN201510085792.1A CN201510085792A CN104709465A CN 104709465 A CN104709465 A CN 104709465A CN 201510085792 A CN201510085792 A CN 201510085792A CN 104709465 A CN104709465 A CN 104709465A
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Abstract
The invention discloses a technical scheme of a completely novel triphibian collision-resistant aircraft. The triphibian collision-resistant aircraft comprises a high-elasticity protecting cover, vertical rib rubber annular wheels, a central shaft, land and water driving motors, flying motors, propellers, a sealed cargo space, a gravity balance system, a control cabin, control equipment, a transparent floating ball, floating wings, mechanical arms, a flaky parachute and a bracket. The invention further discloses a technique of an aircraft security collision-resistant protecting cover, a technique for reducing the flying resistance of the collision-resistant protecting cover, an automatic minimum resistance adjusting technique, a technique for preventing a triphibian aircraft from turning to one side when sailing in water, a technique for improving the gliding lift force of the triphibian aircraft in air and the floating force of the triphibian aircraft in water, a technique for driving the triphibian aircraft to flexibly turn around both on land and in water, a self-balance flying motor system and a symmetric self-balance method, a technique of a special parachute system for the collision-resistant protecting cover, and an intelligent mechanical arm system of the triphibian aircraft. Due to the adoption of the technical scheme, the aircraft and a robot can be organically combined together, and thus a triphibian intelligent robot can be formed.
Description
Technical field
The water, land and air, three that the invention discloses a kind of brand-new type is dwelt impact resistant type vehicle technology scheme and implementation method, national's aviation field.
Background technology
Autogyro has been invented for many years, and autogyro can vertical takeoff and landing, convenient, flexible, to be widely used at present and to be used in very many fields, as: fire-fighting, rescue, sightseeing, public security, army, private home etc.Development along with personal aircraft can predict future aircraft universal just as automobile, every household all can have aircraft, and autogyro also will be a good selection.But, 1), safety problem there is following 3 subject matters and deficiency in autogyro:: the safety performance of autogyro compares poor, awing screw propeller is just in case encounter any object because of carelessness, as electric wire, branch, roof antenna etc., all will cause the situation of fatal crass; 2), autogyro generally can only be used for flight, long run cannot be carried out on land; 3), autogyro generally cannot navigate by water on the water.
For prior art shortcoming and supply, the water, land and air, three that the invention provides a kind of brand-new type is dwelt impact resistant type vehicle technology scheme and implementation method, use the present invention to make three dwell autogyro not only safe impact resistant, but also aloft can fly easily, land high speed long run, can also to roam on the water.
Summary of the invention
Dwell impact resistant vehicle technology scheme and implementation method in the land, water and air three that the invention provides a kind of brand-new type, described land, water and air three dwell impact resistant aircraft (be called for short aircraft, or triphibian) feature of technical scheme and implementation method is, this system comprises high resiliency protective cover, perpendicular rib rubber ring wheel, center shaft, land and water CD-ROM drive motor, flight motor, flight screw propeller, sealing cargo hold and weight balancing system, control cabinet and control convenience, transparent floater shot, floating wing, mechanical arm, lamp, camera, storage battery, fuel tank, sheet parachute and props up and is configured to, described perpendicular rib rubber ring wheel is arranged on outside high resiliency protective cover, to be arranged on inside high resiliency protective cover on horizontal center line for hollow in the middle of described center shaft, described transparent floater shot adopts transparent waterproof materials to make and is arranged on the two ends of high resiliency protective cover outer side center axle, described land and water CD-ROM drive motor is arranged in floater shot, also can install on center shaft after water-proofing treatment, described flight motor and flight screw propeller are by being arranged on center shaft upper end from symmetrical balance frame, flight motor is through water-proofing treatment, described sealing cargo hold and weight balancing system are fixed on center shaft lower end, described control cabinet and control convenience are arranged on center shaft upper end, described floating wing is arranged on sealing cargo hold both sides, fuel tank is arranged on floating wing inside, described storage battery is arranged on sealing tank top, it is inner that described lamp and camera are arranged on transparent floater shot, described mechanical arm is arranged on outside transparent floater shot, described sheet parachute and support installing are at control cabinet top, between described high resiliency protective cover and center shaft, bearing is installed, can rotates around center shaft under the driving of land and water CD-ROM drive motor, described sealing cargo hold is used to load the goods and materials that will transport, its basis rest battery pack is also furnished with 2 times that weight that weight balancing system makes it when zero load exceedes center shaft above all devices weight sum, during bringing onto load the ratio of its weight should remain on 2-10 doubly between, described control cabinet and control convenience comprise conputer controlled center, flight travel controller, direction controller, signal lamp camera controller, twoway radio, speed and height detecting equipment etc., described sheet parachute will be opened more than during 80km/h automatically at aircraft vertical descending speed, with ensure aircraft when just in case air crash can not more than the impact resistant speed of 100km/h, described technical scheme and implementation method both may be used for someone and have driven land, water and air three and to dwell impact resistant aircraft, also be applicable to driverless operation land, water and air three to dwell impact resistant aircraft, on manned aircraft, control cabinet adopts transparent sealing glass to make, unpiloted aircraft can not want control cabinet, and described control convenience can be arranged in sealing cargo hold.
The invention also discloses a kind of autogyro safe impact resistant protective cover technical scheme, the feature of described impact resistant protective cover technical scheme is, what this protective cover technical scheme used high resiliency light-duty alloy material to make intersects by cross rib and perpendicular rib the spherical cover body formed, described cross rib is to extraradial arcuation rib centered by one end of horizontal middle spindle, and focus on the other end of horizontal middle spindle, described perpendicular rib is the round shape rib with cross rib square crossing, described cross rib can be round shape or ellipticity rib, the number of described perpendicular rib and cross rib determines the density of protective cover, can according to the situation being suitable for road surface, the size of aircraft, the purposes of aircraft, collision resistance requirement and flight resistance set the density of protective cover, the higher collision resistance of density is stronger, but flight resistance is also larger, distance generally between both sides of the chest is relatively suitable for general use at 10CM-50CM, between described protective cover and horizontal middle spindle, bearing is installed, can rotate around center shaft, the outside of perpendicular rib is provided with perpendicular rib rubber ring wheel, for with road surface or earth surface, anti-skidding, wear-resisting, antidetonation, and the elastic performance that make use of protective cover decreases when three machines of dwelling travel on land due to vibrations that Uneven road produces.
The invention also discloses a kind of technical scheme and the minimum drag automatic adjustment technologies scheme that reduce impact resistant protective cover flight resistance, the feature of the technical scheme of described reduction impact resistant protective cover flight resistance is, the cross rib of protective cover is become flat-shaped aerodynamic force stream line pattern with the profile design of perpendicular rib, the one side of setting protective cover be flying surface and the angle adjusting the cross rib of protective cover makes protective cover fly towards flying surface direction time air resistance be minimum, cover in flight like this and do not reduce in elastomeric situation farthest to reduce the skyborne flight airflow resistance of the aircraft wearing this protective cover, but, reaching air resistance is minimumly must ensure flying surface forward, otherwise will air resistance be increased, because the heading of autogyro can change constantly, may fly forward, may retreat and fly, therefore the technical scheme that adjustment flying surface is consistent with heading in real time must be had to be used in combination, the feature of described minimum drag automatic adjustment technologies scheme is, the Analyzing on Building A Planning Scheme of resistance minimum and upper and lower resistance balance when this minimum drag automatic adjustment technologies scheme adopts flying surface consistent with heading, but not flying surface consistent with heading time upper and lower resistance unbalanced Analyzing on Building A Planning Scheme, that is, only flying surface consistent with heading constantly up and down resistance be equal and resistance is minimum, other any face is all designed to upper and lower resistance overbalance, like this, when protective cover automatically can be adjusted to that flying surface is consistent with heading to be ensured to fly by the effect downstream of out-of-balance force, resistance is minimum in-flight, and the bearing force of protective cover is maximum on flying surface, ensure enough drying power when can enjoy a trip in water simultaneously.
The invention also discloses a kind of pendulum-type sealing cargo hold and ensure triphibian on land with the weight balancing system technical scheme of running at high speed on the water surface, described sealing cargo hold and ensure that triphibian is with the feature of weight balancing system technical scheme of running at high speed on the water surface on land, sealing cargo hold is arranged on below center shaft by this technical scheme, the battery pack that its basis rest is heavier, and the weight that make use of the transport goods and materials that sealing cargo hold delivers comes together to carry out weight balancing, this weight balancing system technical scheme makes its overall weight exceed center shaft above all devices weight sum, and the ratio of its weight remains between 2-10 times, this weight balancing system ensures that the situation lower seal cargo hold at protective cover High Rotation Speed is positioned at the below of center shaft always, thus utilize the weight of institute's cargo self to carry out gravitational equilibrium, under the driving of land and water motor, ensure that three machines of dwelling are run at high speed on land with on the water surface, described sealing cargo hold is designed to air when not affecting content volume popular with the air resistance reduced when running at high speed and fly.
The invention also discloses the technical scheme preventing from when a kind of triphibian navigates by water in water turning on one's side, described triphibian prevents the feature of the technical scheme of turning on one's side to be when navigating by water in water, this technical scheme has installed transparent sealing floater shot respectively at center shaft two ends, described transparent sealing floater shot adopts sealed transparent material to make, inside can Vehicle clamp mounting and camera, but the total weight that the interior equipment installed of ball comprises the mechanical arm installed outside ball is less than the buoyancy of ball, simultaneously, the buoyancy of each transparent sealing floater shot should be greater than 1/2nd of whole triphibian total weight, this ensures that there triphibian and can not cause rollover in water, floating and that left and right is stable effect is played when triphibian is roamed in water, both left and right upset can not have been produced, also water logging can not be allowed to cross more than axis, even if also can automatically revert to when high sea throws whole triphibian sealing cargo hold under, control cabinet and flight screw propeller in the upper normal condition spilling the water surface, under the land and water drive motor on both sides, protective cover rotates around center shaft, cross rib drying produces powered triphibian and moves ahead in water, retreats, when one side revolution another side is motionless, triphibian can turn to flexibly in water, and when motor rotates forward another side reversion, triphibian can quick steering in water, the speed that triphibian is roamed in water can reach more than 40km/h, and meanwhile, owing to ensure that flight screw propeller is always more than the water surface, triphibian can also start flight motor at any time and rolling takeoff from waterborne.
The invention also discloses a kind of technical scheme promoting the skyborne glide lift of triphibian and the floating force in water, the feature of the technical scheme of the skyborne glide lift of described lifting triphibian and the floating force in water is, this technical scheme uses the floating wing being arranged on sealing cargo hold both sides, this floating wing adopts airflow design to play the effect of wing aloft, there is provided lift in-flight can to triphibian, and in water, play floating effect, also play the effect preventing triphibian from turning on one's side in water simultaneously, described floating wing is being sealed the both sides of cargo hold by support installing and highly can adjusted, the first half of sealing cargo hold is made to remain on above water, the inside of described floating wing is provided with fuel tank, do not need fuel oil or load carrying ability lighter triphibian on the floating wing not with fuel tank can be installed or floating wing be installed.
The invention also discloses a kind of triphibian that drives can exercise flexibly with land in water, the technical scheme of flexible turning, described driving triphibian can be exercised flexibly with land in water, the feature of the technical scheme of flexible turning is, this is exercised flexibly, protective cover is divided into left and right two halves along the perpendicular rib of centre by flexible turning technical scheme, perpendicular rib rubber ring wheel is all installed from the every half of protective cover of the safty shield of middle dimidiation, and every half of protective cover adopts independently land and water drive motor, adopt and be fixed on pendulum-type sealing cargo hold below center shaft and weight balancing system technical scheme and rotate around center shaft to the perpendicular rib rubber ring wheel ensureing land and water CD-ROM drive motor protective cover and outside can be driven to install, thus triphibian can be advanced with land in water, retreat, and, when land and water, one side CD-ROM drive motor rotate and another side motionless time triphibian can on land with turn in water, and when while rotate forward another side reversion time triphibian can on land with flipper turn in water, this technical scheme makes triphibian in water and land can be exercised flexibly, turn flexibly, described land and water CD-ROM drive motor can be electro-motor, also can be fuel engines, can be arranged in the transparent floater shot at center shaft two ends, also can install on center shaft, described land and water CD-ROM drive motor can drive triphibian on land moving velocity more than 300km/h, and less demanding to road, can afield, run at high speed in ground on hills.
The invention also discloses a kind of self-balancing flight motor system and from symmetrical balance method, described from symmetrical balance flight motor system and being from the feature of symmetrical balance method, the method adopts succinct symmetrical balance frame to realize ALB, saves space; If adopt all balance method on the center-point of equilibrium point centre axle, and 10-30CM balance space will be needed, above this center-point that just have impact on center shaft, need the problem of installing control cabinet; Equilibrium point is moved on to the both sides of center shaft from symmetrical balance method described in employing, thus do not affected the installation of control cabinet.
The invention also discloses the special parachute system technical scheme of a kind of impact resistant protective cover, the feature of the special parachute system technical scheme of described impact resistant protective cover is, this umbrella system solution that falls adopts sheet parachute and mounting system thereof, this system is arranged on the top in impact resistant protective cover internal piloting cabin, after the special sheet parachute of protective cover is opened, mesh above protective cover covers by sheet parachute under wind action, the first half of whole protective cover becomes a parachute, makes three machines of dwelling under any circumstance can both safe landing; The special parachute system of described impact resistant protective cover will be opened to ensure flight safety more than during 80km/h at aircraft vertical descending speed automatically.
The invention also discloses the intelligent mechanical arm system solution of a kind of triphibian machine, the feature of described triphibian Intelligentized mechanical arm system technical scheme is, this mechanical arm system is arranged on outside the impact resistant protective cover at the two ends of center shaft, fly at triphibian, waterbornely can be convenient to use this mechanical arm system when enjoying a trip to or run at high speed in road surface, such as win the article that veer away, put into or pulling items in sealing cargo hold, open the door, rescue, fire fighting, send express delivery, hold and rob aimed fire etc., aircraft and robot are organically combined, form three to dwell robot system.
The present invention is owing to adopting above technical scheme and technical design, it has the following advantages: 1, impact resistant: the potential safety hazard solving current autogyro, owing to have employed safty shield, the aircraft of the present invention's design collides general object awing, as building, electric wire, antenna etc. do not have potential safety hazard; 2, can run at high speed on land, rubber ring wheel is driven to adopt the aircraft of the present invention's design to run at high speed on road for a long time owing to have employed land and water motor, moving velocity is more than 300km/h, and less demanding to road, can afield, run at high speed in ground on hills; 3, can travel on the water, the speed that triphibian is roamed in water can reach more than 40km/h; 3, be installation manipulator arm system at aircraft, aircraft and robot are organically combined, make three and to dwell robot.
The aircraft industry of the present invention to China have and great meaning, and overturning traditional aircraft can not crash-resistant concept, and traditional aircraft can not the concept that uses of aeroamphibious simultaneously.The present invention is a revolution of aircraft industry and aeronautical technology, will become aviation development and aviation and popularize the new direction of development.
Accompanying drawing explanation
Fig. 1 is that water, land and air, three is dwelt impact resistant type air vehicle overall structure function module diagram.
Fig. 2 is that water, land and air, three impact resistant type aircraft of dwelling is equipped with multiple flight motor Facad structure schematic diagram.
Fig. 3 is that water, land and air, three is dwelt impact resistant type aircraft impact resistant protective cover Facad structure schematic diagram.
Fig. 4 is that water, land and air, three is dwelt impact resistant type aircraft protective cover cross-sectional.
Fig. 5 is that water, land and air, three impact resistant type aircraft of dwelling removes Facad structure schematic diagram after protective cover.
Fig. 6 is that water, land and air, three impact resistant type aircraft of dwelling removes protective cover trailing flank structural representation.
Fig. 7 is that water, land and air, three impact resistant type aircraft of dwelling removes plan structure schematic diagram after protective cover.
Detailed description of the invention
Below in conjunction with accompanying drawing and concrete instance, the present invention is described in detail.
Fig. 1 is that water, land and air, three is dwelt impact resistant type air vehicle overall structure function module diagram.As shown in Figure 1, described land, water and air three impact resistant aircraft (be called for short aircraft or triphibian) system of dwelling comprises high resiliency protective cover (1), perpendicular rib rubber ring wheel (3, 4), center shaft (2), land and water CD-ROM drive motor (12), flight motor (8, 21), flight screw propeller (7), sealed module and weight balancing system (15, 17), control cabinet and control convenience (6), transparent floater shot (19), floating wing (13, 18), mechanical arm (11, 20), lamp (9), camera (10), storage battery (15), fuel tank (14), sheet parachute and support (5) are formed, described perpendicular rib rubber ring wheel (3, 4) be arranged on outside high resiliency protective cover, to be arranged on inside high resiliency protective cover on horizontal center line for hollow in the middle of described center shaft (2), described transparent floater shot (19) adopts transparent waterproof materials to make and is arranged on the two ends of high resiliency protective cover outer side center axle (2), described land and water CD-ROM drive motor (12) is arranged in floater shot (19), also can be arranged on center shaft (2), described flight motor (8, 21) and flight screw propeller (7) be arranged on center shaft (2) upper end, described sealed module (17) and weight balancing system (15) are fixed on center shaft (2) lower end, described control cabinet and control convenience (6) are arranged on center shaft (2) upper end, described floating wing (13, 18) sealed module (17) both sides are arranged on, fuel tank (14) is arranged on floating wing (13, 18) inner, described storage battery (15) is arranged on sealed module (17) bottom, it is inner that described lamp (9) and shooting (10) head are arranged on transparent floater shot (19), described mechanical arm (11, 20) transparent floater shot (19) outside is arranged on, described sheet parachute and support (5) are arranged on control cabinet (6) top, between described high resiliency protective cover (1) and center shaft (2), bearing is installed, can rotates around center shaft under the driving of land and water CD-ROM drive motor (12), described sealed module (17) is used to load the goods and materials that will transport, its basis rest battery pack (15) is also furnished with 2 times that weight that weight balancing system (15) makes it when zero load exceedes center shaft (2) above all devices weight sum, during bringing onto load the ratio of its weight should remain on 2-10 doubly between, described control cabinet (6) and control convenience comprise conputer controlled center, flight travel controller, direction controller, signal lamp camera controller, twoway radio, speed and height detecting equipment etc., described sheet parachute (5) will be opened more than during 80km/h automatically at aircraft vertical descending speed, with ensure aircraft when just in case air crash can not more than the impact resistant speed of 100km/h, described technical scheme and implementation method both may be used for someone and have driven land, water and air three and to dwell impact resistant aircraft, also be applicable to driverless operation land, water and air three to dwell impact resistant aircraft, on manned aircraft, control cabinet (6) adopts transparent sealing glass to make, unpiloted aircraft can not wanted control cabinet (6), and described control convenience can be arranged in sealed module (17), perpendicular rib rubber ring wheel (3,4) is used to contact with ground (16) when described triphibian travels on land.
Fig. 2 is that water, land and air, three impact resistant type aircraft of dwelling is equipped with multiple flight motor Facad structure schematic diagram.Flight motor (32,33,34) is arranged on the top of center shaft, and land and water CD-ROM drive motor (31,36) can be installed on center shaft, also can be arranged in sealed transparent ball, as shown in Figure 1.Composition graphs 2 can illustrate a kind of pendulum-type disclosed by the invention sealing cargo hold (17) and guarantee triphibian on land with weight balancing system (15) technical scheme of running at high speed on the water surface, described sealing cargo hold (17) and ensure that triphibian is with the feature of weight balancing system technical scheme of running at high speed on the water surface on land, this technical scheme will seal cargo hold (17) and be arranged on center shaft (37) below, the battery pack (38) that its basis rest is heavier, and the weight that make use of the transport goods and materials that sealing cargo hold (17) delivers comes together to carry out weight balancing, this weight balancing system technical scheme makes its overall weight exceed center shaft above all devices weight sum, and the ratio of its weight remains between 2-10 times, this weight balancing system ensures that the situation lower seal cargo hold (17) at protective cover High Rotation Speed is positioned at the below of center shaft always, thus utilize the weight of institute's cargo self to carry out gravitational equilibrium, under the driving of land and water motor (31,36), guarantee three machine of dwelling is run at high speed on land with on the water surface, described sealing cargo hold (17) is designed to air when not affecting content volume popular with the air resistance reduced when running at high speed and fly.Composition graphs 2 can also illustrate the intelligent mechanical arm (35 of a kind of triphibian machine disclosed by the invention, 39) system solution, described triphibian Intelligentized mechanical arm system (35, 39) feature of technical scheme is, this mechanical arm system (35, 39) outside the impact resistant protective cover being arranged on the two ends of center shaft, fly at triphibian, waterbornely can be convenient to use this mechanical arm system when enjoying a trip to or road surface (30) run at high speed, such as win the article that veer away, put into or pulling items in sealing cargo hold, open the door, rescue, fire fighting, send express delivery, hold and rob aimed fire etc., aircraft and robot are organically combined, form three to dwell robot system.
Fig. 3 is that water, land and air, three is dwelt impact resistant type aircraft impact resistant protective cover Facad structure schematic diagram.As shown in the figure, this protective cover technical scheme use the light-duty alloy material of high resiliency to make by cross rib (50, 52) and perpendicular rib (51, 53, 54, 55, 56, 57) the spherical cover body of intersection formation, described cross rib (50, 52) be to extraradial arcuation rib centered by one end of horizontal middle spindle (58), and focus on the other end of horizontal middle spindle, described perpendicular rib is the round shape rib with cross rib square crossing, described cross rib can be round shape or ellipticity rib, described perpendicular rib (51, 53) with cross rib (50, 52) number determines the density of protective cover, can according to the situation being suitable for road surface, the size of aircraft, the purposes of aircraft, collision resistance requirement and flight resistance set the density of protective cover, the higher collision resistance of density is stronger, but flight resistance is also larger, distance generally between both sides of the chest is relatively suitable for general use at 10CM-50CM, between described protective cover and horizontal middle spindle (58), bearing is installed, can rotate around center shaft (58), the outside of perpendicular rib (53,56) is provided with perpendicular rib rubber ring wheel (53,56), for contacting (60,61) with road surface (62) or ground (62), anti-skidding, wear-resisting, antidetonation, and the elastic performance that make use of protective cover decreases when three machines of dwelling travel on land due to vibrations that Uneven road produces.
The sealed transparent ball (59,63) being fixed on center shaft (58) two ends outside protective cover prevents rollover when being and navigating by water in water for triphibian, described transparent sealing floater shot (59,63) adopts sealed transparent material to make, inside can Vehicle clamp mounting and camera, but the total weight that the interior equipment installed of ball comprises the mechanical arm installed outside ball is less than the buoyancy of ball, simultaneously, the buoyancy of each transparent sealing floater shot (59,63) should be greater than 1/2nd of whole triphibian total weight, this ensures that theres triphibian and can not cause rollover in water; Floating and that left and right is stable effect is played when triphibian is roamed in water, both left and right upset can not have been produced, also water logging can not be allowed to cross more than axis (58), even if also can automatically revert to when high sea throws whole triphibian sealing cargo hold (17) under, control cabinet (6) and flight screw propeller (7) in the upper normal condition spilling the water surface, as shown in Figure 1; Under land and water CD-ROM drive motor (12) on both sides drives, protective cover rotates around center shaft (2,58), cross rib (1,50,52) drying produces powered triphibian and moves ahead in water, retreats, when one side revolution another side is motionless, triphibian can turn to flexibly in water, and when motor rotates forward another side reversion, triphibian can quick steering in water; The speed that triphibian is roamed in water can reach more than 40km/h, and meanwhile, owing to ensure that flight screw propeller (7) is always more than the water surface, triphibian can also start flight motor (8,21,32,33,34) at any time and rolling takeoff from waterborne.
One disclosed by the invention drives triphibian in water and land can be exercised flexibly to coordinate Fig. 3 to explain, the technical scheme of flexible turning, described driving triphibian can be exercised flexibly with land in water, the feature of the technical scheme of flexible turning is, this is exercised flexibly, protective cover is divided (54 along the perpendicular rib of centre by flexible turning technical scheme, 55) be left and right two halves, perpendicular rib rubber ring wheel (53 is all installed from the every half of protective cover of the safty shield of middle dimidiation, 56), and every half of protective cover adopts independently land and water CD-ROM drive motor (31, 36, Fig. 2) drive, adopt the pendulum-type sealing cargo hold (17 be fixed on below center shaft, Fig. 1) with weight balancing system (15, Fig. 1) technical scheme ensures land and water CD-ROM drive motor (31, 36, the perpendicular rib rubber ring wheel (3 that protective cover and outside Fig. 2) can be driven to install, 4, Fig. 1) around center shaft (2, Fig. 1) rotate, thus triphibian can be advanced with land in water, retreat, and, when land and water, one side CD-ROM drive motor rotate and another side motionless time triphibian can on land with turn in water, and when while rotate forward another side reversion time triphibian can on land with flipper turn in water, this technical scheme makes triphibian in water and land can be exercised flexibly, turn flexibly, described land and water CD-ROM drive motor can be electro-motor, also can be fuel engines, can be arranged in the transparent floater shot at center shaft two ends, as Fig. 1, also can install on center shaft, as Fig. 2, described land and water CD-ROM drive motor (31,36, Fig. 2) can drive triphibian on land moving velocity more than 300km/h, and less demanding to road, can afield, run at high speed in ground on hills.
Fig. 4 is that water, land and air, three is dwelt impact resistant type aircraft protective cover cross-sectional.Coordinate Fig. 4 clearly can explain a kind of technical scheme and minimum drag automatic adjustment technologies scheme reducing impact resistant protective cover flight resistance disclosed by the invention, the feature of the technical scheme of described reduction impact resistant protective cover flight resistance is, by the cross rib (202 of protective cover, 204, 205) flat-shaped aerodynamic force stream line pattern is become with the profile design of perpendicular rib (203), the one side of setting protective cover is flying surface (201) and adjusts all cross ribs of protective cover (202, 204, 205) air resistance when angle makes protective cover fly towards flying surface (201) direction is minimum, cover in flight like this and do not reduce in elastomeric situation farthest to reduce the skyborne flight airflow resistance of the aircraft wearing this protective cover, but, reaching air resistance is minimumly must ensure flying surface forward, otherwise will air resistance be increased, because the heading of autogyro can change constantly, may fly forward, (206) may be retreated fly, therefore the technical scheme that adjustment flying surface is consistent with heading in real time must be had to be used in combination, the feature of described minimum drag automatic adjustment technologies scheme is, the Analyzing on Building A Planning Scheme of resistance minimum and upper and lower resistance balance when this minimum drag automatic adjustment technologies scheme adopts flying surface consistent with heading, but not flying surface consistent with heading time upper and lower resistance unbalanced Analyzing on Building A Planning Scheme, that is, only flying surface (201) consistent with heading constantly up and down resistance be equal and resistance is minimum, other any face is all designed to upper and lower resistance overbalance, like this, when protective cover automatically can be adjusted to that flying surface (201) is consistent with heading to be ensured to fly by the effect downstream of out-of-balance force, resistance is minimum in-flight, and the bearing force of protective cover is maximum on flying surface, ensure enough drying power when can enjoy a trip in water simultaneously.
Fig. 5 is that water, land and air, three impact resistant type aircraft of dwelling removes Facad structure schematic diagram after protective cover.Coordinate Fig. 5 and Fig. 3 that a kind of impact resistant protective cover disclosed by the invention special parachute (71) system solution can be described, the feature of described impact resistant protective cover special parachute (71) system solution is, this umbrella system solution that falls adopts sheet parachute (71) and support (72) system thereof, this system is arranged on the top in impact resistant protective cover internal piloting cabin, after the special sheet parachute (71) of protective cover is opened, mesh above protective cover covers by sheet parachute under wind action, the first half of whole protective cover becomes a parachute, make three machines of dwelling under any circumstance can both safe landing, the special parachute system of described impact resistant protective cover will be opened to ensure flight safety more than during 80km/h at aircraft vertical descending speed automatically.
Fig. 6 is that water, land and air, three impact resistant type aircraft of dwelling removes protective cover trailing flank structural representation.Coordinate Fig. 5 and Fig. 6 that a kind of technical scheme promoting the skyborne glide lift of triphibian and the floating force in water disclosed by the invention can be described, the feature of the technical scheme of the skyborne glide lift of described lifting triphibian and the floating force in water is, this technical scheme uses the floating wing (70 being arranged on sealing cargo hold (84) both sides, 77, 86), this floating wing (70, 77, 86) airflow design is adopted to play the effect of wing aloft, there is provided lift in-flight can to triphibian, and in water, play floating effect, also play the effect preventing triphibian from turning on one's side in water simultaneously, described floating wing (70, 77, 86) sealing the both sides of cargo hold by support installing and highly can adjust, the first half of sealing cargo hold (84) is made to remain on above water, the inside of described floating wing (70,77,86) is provided with fuel tank (14, Fig. 1), do not need fuel oil or load carrying ability lighter triphibian on the floating wing not with fuel tank can be installed or floating wing (70,77,86) is not installed.
Fig. 7 is that water, land and air, three impact resistant type aircraft of dwelling removes plan structure schematic diagram after protective cover.What show in figure is that the triphibian of 4 flight motors and flight screw propeller (93,97,102,105) is bowed and look at figure, sealing cargo hold (91,98) can be seen in figure, control cabinet (106), transparent floater shot (94), lamp, camera (95), floating wing (96,104), floating wing support (101), parachute (100), working direction (90) and direction of retreat (99).Coordinate Fig. 7 that a kind of self-balancing disclosed by the invention flight motor system can be described and from symmetrical balance method, described from symmetrical balance flight motor system and being from the feature of symmetrical balance method, the method adopts succinct symmetrical balance frame (103) to realize ALB, saves space; If adopt all balance method on the center-point of equilibrium point centre axle, and 10-30CM balance space will be needed, above this center-point that just have impact on center shaft, need the problem of installing control cabinet; Equilibrium point is moved on to the both sides of center shaft from symmetrical balance method described in employing, thus do not affected the installation of control cabinet.
With above-mentioned each examples of implementation only for illustration of the present invention; the structure of each parts, dimension scale and connection mode all can change to some extent; all according to the principle of the invention to structure, the size of parts out of the ordinary or connection mode is improved and equivalents, all should not get rid of outside protection scope of the present invention.
Claims (10)
1. dwell impact resistant vehicle technology scheme and implementation method in the land, water and air three of a brand-new type, described land, water and air three dwell impact resistant aircraft (be called for short aircraft, or three dwell machine) feature of technical scheme and implementation method is, this system comprises high resiliency protective cover, perpendicular rib rubber ring wheel, center shaft, land and water CD-ROM drive motor, flight motor, flight screw propeller, sealing cargo hold and weight balancing system, control cabinet and control convenience, transparent floater shot, floating wing, mechanical arm, lamp, camera, storage battery, fuel tank, sheet parachute and props up and is configured to, described perpendicular rib rubber ring wheel is arranged on outside high resiliency protective cover, to be arranged on inside high resiliency protective cover on horizontal center line for hollow in the middle of described center shaft, described transparent floater shot adopts transparent waterproof materials to make and is arranged on the two ends of high resiliency protective cover outer side center axle, described land and water CD-ROM drive motor is arranged in floater shot, also can install on center shaft after water-proofing treatment, described flight motor and flight screw propeller are by being arranged on center shaft upper end from symmetrical balance frame, flight motor is through water-proofing treatment, described sealing cargo hold and weight balancing system are fixed on center shaft lower end, described control cabinet and control convenience are arranged on center shaft upper end, described floating wing is arranged on sealing cargo hold both sides, fuel tank is arranged on floating wing inside, described storage battery is arranged on sealing tank top, it is inner that described lamp and camera are arranged on transparent floater shot, described mechanical arm is arranged on outside transparent floater shot, described sheet parachute and support installing are at control cabinet top, between described high resiliency protective cover and center shaft, bearing is installed, can rotates around center shaft under the driving of land and water CD-ROM drive motor, described sealing cargo hold is used to load the goods and materials that will transport, its basis rest battery pack is also furnished with 2 times that weight that weight balancing system makes it when zero load exceedes center shaft above all devices weight sum, during bringing onto load the ratio of its weight should remain on 2-10 doubly between, described control cabinet and control convenience comprise conputer controlled center, flight travel controller, direction controller, signal lamp camera controller, twoway radio, speed and height detecting equipment etc., described sheet parachute will be opened more than during 80km/h automatically at aircraft vertical descending speed, with ensure aircraft when just in case air crash can not more than the impact resistant speed of 100km/h, described technical scheme and implementation method both may be used for someone and have driven land, water and air three and to dwell impact resistant aircraft, also be applicable to driverless operation land, water and air three to dwell impact resistant aircraft, on manned aircraft, control cabinet adopts transparent sealing glass to make, unpiloted aircraft can not want control cabinet, and described control convenience can be arranged in sealing cargo hold.
2. an autogyro safe impact resistant protective cover technical scheme, the feature of described impact resistant protective cover technical scheme is, what this protective cover technical scheme used high resiliency light-duty alloy material to make intersects by cross rib and perpendicular rib the spherical cover body formed, described cross rib is to extraradial arcuation rib centered by one end of horizontal middle spindle, and focus on the other end of horizontal middle spindle, described perpendicular rib is the round shape rib with cross rib square crossing, described cross rib can be round shape or ellipticity rib, the number of described perpendicular rib and cross rib determines the density of protective cover, can according to the situation being suitable for road surface, the size of aircraft, the purposes of aircraft, collision resistance requirement and flight resistance set the density of protective cover, the higher collision resistance of density is stronger, but flight resistance is also larger, distance generally between both sides of the chest is relatively suitable for general use at 10CM-50CM, between described protective cover and horizontal middle spindle, bearing is installed, can rotate around center shaft, the outside of perpendicular rib is provided with perpendicular rib rubber ring wheel, for with road surface or earth surface, anti-skidding, wear-resisting, antidetonation, and the elastic performance that make use of protective cover decreases when three machines of dwelling travel on land due to vibrations that Uneven road produces.
3. one kind reduces technical scheme and the minimum drag automatic adjustment technologies scheme of impact resistant protective cover flight resistance, the feature of the technical scheme of described reduction impact resistant protective cover flight resistance is, the cross rib of protective cover is become flat-shaped aerodynamic force stream line pattern with the profile design of perpendicular rib, the one side of setting protective cover be flying surface and the angle adjusting all cross ribs of protective cover makes protective cover fly towards flying surface direction time air resistance be minimum, cover in flight like this and do not reduce in elastomeric situation farthest to reduce the skyborne flight airflow resistance of the aircraft wearing this protective cover, but, reaching air resistance is minimumly must ensure flying surface forward, otherwise will air resistance be increased, because the heading of autogyro can change constantly, may fly forward, may retreat and fly, therefore the technical scheme that adjustment flying surface is consistent with heading in real time must be had to be used in combination, the feature of described minimum drag automatic adjustment technologies scheme is, the Analyzing on Building A Planning Scheme of resistance minimum and upper and lower resistance balance when this minimum drag automatic adjustment technologies scheme adopts flying surface consistent with heading, but not flying surface consistent with heading time upper and lower resistance unbalanced Analyzing on Building A Planning Scheme, that is, only flying surface consistent with heading constantly up and down resistance be equal and resistance is minimum, other any face is all designed to upper and lower resistance overbalance, like this, when protective cover automatically can be adjusted to that flying surface is consistent with heading to be ensured to fly by the effect downstream of out-of-balance force, resistance is minimum in-flight, and the bearing force of protective cover is maximum on flying surface, ensure enough drying power when can enjoy a trip in water simultaneously.
4. pendulum-type sealing cargo hold and ensure triphibian on land with the weight balancing system technical scheme of running at high speed on the water surface, described sealing cargo hold and ensure that triphibian is with the feature of weight balancing system technical scheme of running at high speed on the water surface on land, sealing cargo hold is arranged on below center shaft by this technical scheme, the battery pack that its basis rest is heavier, and the weight that make use of the transport goods and materials that sealing cargo hold delivers comes together to carry out weight balancing, this weight balancing system technical scheme makes its overall weight exceed center shaft above all devices weight sum, and the ratio of its weight remains between 2-10 times, this weight balancing system ensures that the situation lower seal cargo hold at protective cover High Rotation Speed is positioned at the below of center shaft always, thus utilize the weight of institute's cargo self to carry out gravitational equilibrium, under the driving of land and water motor, ensure that three machines of dwelling are run at high speed on land with on the water surface, described sealing cargo hold is designed to air when not affecting content volume popular with the air resistance reduced when running at high speed and fly.
5. when a triphibian navigates by water in water, prevent the technical scheme of turning on one's side, described triphibian prevents the feature of the technical scheme of turning on one's side to be when navigating by water in water, this technical scheme has installed transparent sealing floater shot respectively at center shaft two ends, described transparent sealing floater shot adopts sealed transparent material to make, inside can Vehicle clamp mounting and camera, but the total weight that the interior equipment installed of ball comprises the mechanical arm installed outside ball is less than the buoyancy of ball, simultaneously, the buoyancy of each transparent sealing floater shot should be greater than 1/2nd of whole triphibian total weight, this ensures that there triphibian and can not cause rollover in water, floating and that left and right is stable effect is played when triphibian is roamed in water, both left and right upset can not have been produced, also water logging can not be allowed to cross more than axis, even if also can automatically revert to when high sea throws whole triphibian sealing cargo hold under, control cabinet and flight screw propeller in the upper normal condition spilling the water surface, under the land and water drive motor on both sides, protective cover rotates around center shaft, and cross rib drying produces powered triphibian and navigates by water in water, the speed that triphibian is roamed in water can reach more than 40km/h, and meanwhile, owing to ensure that flight screw propeller is always more than the water surface, triphibian can also start flight motor at any time and rolling takeoff from waterborne.
6. one kind promotes the technical scheme of the skyborne glide lift of triphibian and the floating force in water, the feature of the technical scheme of the skyborne glide lift of described lifting triphibian and the floating force in water is, this technical scheme uses the floating wing being arranged on sealing cargo hold both sides, this floating wing adopts airflow design to play the effect of wing aloft, there is provided lift in-flight can to triphibian, and in water, play floating effect, also play the effect preventing triphibian from turning on one's side in water simultaneously, described floating wing is being sealed the both sides of cargo hold by support installing and highly can adjusted, the first half of sealing cargo hold is made to remain on above water, the inside of described floating wing is provided with fuel tank, do not need fuel oil or load carrying ability lighter triphibian on the floating wing not with fuel tank can be installed or floating wing be installed.
7. a driving triphibian can be exercised flexibly with land in water, the technical scheme of flexible turning, described driving triphibian can be exercised flexibly with land in water, the feature of the technical scheme of flexible turning is, this is exercised flexibly, protective cover is divided into left and right two halves along the perpendicular rib of centre by flexible turning technical scheme, perpendicular rib rubber ring wheel is all installed from the every half of protective cover of the safty shield of middle dimidiation, and every half of protective cover adopts independently land and water drive motor, adopt and be fixed on pendulum-type sealing cargo hold below center shaft and weight balancing system technical scheme and rotate around center shaft to the perpendicular rib rubber ring wheel ensureing land and water CD-ROM drive motor protective cover and outside can be driven to install, thus triphibian can be advanced with land in water, retreat, and, when land and water, one side CD-ROM drive motor rotate and another side motionless time triphibian can on land with turn in water, and when while rotate forward another side reversion time triphibian can on land with flipper turn in water, this technical scheme makes triphibian in water and land can be exercised flexibly, turn flexibly, described land and water CD-ROM drive motor can be electro-motor, also can be fuel engines, can be arranged in the transparent floater shot at center shaft two ends, also can install on center shaft, described land and water CD-ROM drive motor can drive triphibian on land moving velocity more than 300km/h, and less demanding to road, can afield, run at high speed in ground on hills.
8. self-balancing flight motor system and from a symmetrical balance method, described from symmetrical balance flight motor system be from the feature of symmetrical balance method, the method adopts succinct symmetrical balance frame to realize ALB, saves space; If adopt all balance method on the center-point of equilibrium point centre axle, and 10-30CM balance space will be needed, above this center-point that just have impact on center shaft, need the problem of installing control cabinet; Equilibrium point is moved on to the both sides of center shaft from symmetrical balance method described in employing, thus do not affected the installation of control cabinet.
9. the special parachute system technical scheme of impact resistant protective cover, the feature of the special parachute system technical scheme of described impact resistant protective cover is, this umbrella system solution that falls adopts sheet parachute and mounting system thereof, this system is arranged on the top in impact resistant protective cover internal piloting cabin, after the special sheet parachute of protective cover is opened, mesh above protective cover covers by sheet parachute under wind action, the first half of whole protective cover becomes a parachute, makes three machines of dwelling under any circumstance can both safe landing; The special parachute system of described impact resistant protective cover will be opened to ensure flight safety more than during 80km/h at aircraft vertical descending speed automatically.
10. the intelligent mechanical arm system solution of triphibian machine, the feature of described triphibian Intelligentized mechanical arm system technical scheme is, this mechanical arm system is arranged on outside the impact resistant protective cover at the two ends of center shaft, fly at triphibian, waterbornely can be convenient to use this mechanical arm system when enjoying a trip to or run at high speed in road surface, such as win the article that veer away, put into or pulling items in sealing cargo hold, open the door, rescue, fire fighting, send express delivery, hold and rob aimed fire etc., aircraft and robot are organically combined, form three to dwell robot system.
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| CN201510085792.1A CN104709465A (en) | 2015-02-18 | 2015-02-18 | Technical scheme and implementation method of triphibian collision-resistant aircraft |
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| JP2017071379A (en) * | 2015-10-09 | 2017-04-13 | 国立大学法人 名古屋工業大学 | Air vehicle capable of traveling on land |
| CN107839419A (en) * | 2017-11-30 | 2018-03-27 | 中国科学院合肥物质科学研究院 | A kind of coaxial eight rotor three is dwelt robot |
| CN108297954A (en) * | 2018-03-20 | 2018-07-20 | 四川为天建设工程检测有限公司 | A kind of holotype robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2017071379A (en) * | 2015-10-09 | 2017-04-13 | 国立大学法人 名古屋工業大学 | Air vehicle capable of traveling on land |
| CN105730166A (en) * | 2016-04-05 | 2016-07-06 | 许祖勇 | Spherical sea-land-air intelligent scout robot |
| CN107839419A (en) * | 2017-11-30 | 2018-03-27 | 中国科学院合肥物质科学研究院 | A kind of coaxial eight rotor three is dwelt robot |
| CN108297954A (en) * | 2018-03-20 | 2018-07-20 | 四川为天建设工程检测有限公司 | A kind of holotype robot |
| CN108515821A (en) * | 2018-04-25 | 2018-09-11 | 丁云广 | A kind of internal rotating formula ball shape robot |
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
| CN110979666B (en) * | 2019-12-27 | 2021-09-21 | 浙江大学 | Water-air robot |
| TWI814260B (en) * | 2022-02-23 | 2023-09-01 | 國立陽明交通大學 | Triple-purposes unmanned vehicle |
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Application publication date: 20150617 |