CN106976367A - One kind three is dwelt unmanned plane - Google Patents
One kind three is dwelt unmanned plane Download PDFInfo
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- CN106976367A CN106976367A CN201710120796.8A CN201710120796A CN106976367A CN 106976367 A CN106976367 A CN 106976367A CN 201710120796 A CN201710120796 A CN 201710120796A CN 106976367 A CN106976367 A CN 106976367A
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- 238000001514 detection method Methods 0.000 claims abstract description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 238000000338 in vitro Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 230000008278 dynamic mechanism Effects 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 12
- 241000196324 Embryophyta Species 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Buildings Adapted To Withstand Abnormal External Influences (AREA)
Abstract
The present invention disclose a kind of three and dwelt unmanned plane, MWC flight controls firmware, four rotors of control are realized using remote control including sealed fuselage, based on the Arduino platforms increased income, four described rotors include being symmetrically distributed in each two the first waterproof brushless electric machines in fuselage both sides, the fixed three-bladed propeller of motor shaft of each first waterproof brushless electric machine, the affixed circular rim in end of described three-bladed propeller, the axial direction of the first described waterproof brushless electric machine can be changed perpendicular to horizontal plane and parallel between horizontal plane；Also include the screw propeller for being symmetrically installed in fuselage both sides.Compared with prior art, application field of the present invention extensively, covers aerial, land and ocean, three can be completed in high precision to dwell operation, be easy to carry, it is easy to operate, various sensor assemblies are equipped with, the multi-functional detection to disaster assistance scene can be realized, and perform certain rescue task.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, more particularly to one kind three is dwelt unmanned plane.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and providing for oneself
The not manned aircraft that presetting apparatus is manipulated.It can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, unmanned VTOL
Machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+sector application is that unmanned plane has really just been needed；At present taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation,
Disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture wave
The application in unrestrained etc. field, has greatly expanded the purposes of unmanned plane in itself, developed country also actively extension sector application with
Develop unmanned air vehicle technique.The unmanned plane of existing ordinary meaning none be not in spatial domain remote control distributor.
Current rob calamity, disaster relief facility is mainly still made up of bulky big machinery, in south of Chinese winter in 2008
During the rescue of natural calamity such as snow disaster and " 5.12 " Wenchuan earthquake, although many large-scale rescue plant equipment are played
Very big effect, is that the more life of rescue and property have won valuable time.But, there is also permitted in rescue practice
The blind area of many large scale equipment rescue works, first, rescue site situation is complicated, and large scale equipment is close to rescue point or rescues face
Ability is poor；Second, large-scale plant function is single, and generally requires a variety of rescue works alternately in rescue site；3rd,
Big machinery can only fulfil assignment and rescue on land, can not be rapidly arranged in many complex task environment and be delayed and rescue
Help.Therefore need to be designed to cover large scale equipment blind area, the effectively not enough new search and rescue equipment of supplement large scale equipment.Current state
The inside and outside research on rescue device of dwelling more is mainly biased into Military Application, and it is mixed that such as 2008 advance planning research offices of the U.S. propose
Close flying platform to contemplate, it integrates airflight, surface navigation, moved under water under water, but is limited to dynamical system and layout is set
The problems such as meter, fails to embark on journey；And what meter Li design bureaus of the former Soviet Union (being now renamed as joint-stock company of Moscow helicopter factory in rice) developed
Multipurpose heavy-lift helicopter --- rice -26 is in the rescue operations of Wenchuan earthquake because weight is too heavy and dare not be light for double hairs
Easily fall, delay rescue time；And based on China takes photo by plane with model plane in aircraft, not what rescue value；For
The aircraft of different purposes is innumerable, but integrates three and dwell function and with necessarily realizing that meaning is few in number；Examine
The features such as considering complicated rescue site situation, single large-scale plant function and big machinery work three big blind area.
Publication number CN204965186U discloses a kind of air-ground integrated amphibious crusing robot, many gyroplanes of robot body
One-chip computer module is set on frame, one-chip computer module respectively with airflight module, ground moving module, remote control module, boat
Appearance reference information module is connected, and is connected by remote control module with ground remote control machine sending module telecommunication；It is aerial to fly
Row module includes the gyroplane oar of multiple uniform intervals arrangements circumferential in frame, and each gyroplane oar connects with respective rotor motor
Connect；The bottom of frame sets ground mobile module, including is connected to the vacant lot connection frame of bottom of the frame and connects machine in vacant lot
The ground handling wheel that frame bottom is set；Described navigation attitude reference information module by gyroscope accelerometer, barometer, magnetometer with
And GPS is constituted.It can be used simultaneously as aerial unmanned plane and ground moving platform, realize air-ground integrated amphibious technology,
To complete the dual patrol task in aerial/ground of three dimensions complex environment.But it can not be advanced in waters.It sets independent in addition
Ground moving mechanism, increase the weight of body, reduce payload.
Publication number CN204726655U discloses a kind of amphibious unmanned plane, and its wing is designed using high mounted wing, selection
The water surface is may float on during float landing gears, but can not be walked on land, its application is limited.
A kind of water, land and air three there is no to dwell unmanned plane at present.
The content of the invention
The present invention provides a kind of performed under different disaster environments and searches and rescues multi-functional the three of detection mission and dwell operation unmanned plane,
The function such as navigation, can rapidly adapt to the switching of three kinds of working environments in its integrated airflight, land enforcement and water,
Search and rescue detection mission can be competent at.The unmanned plane combination quadrotor system and marine propuision system, using unique blade
Wheel, scalable undercarriage and inclining rotary mechanism, are dwelt function switching and ten passages using MWC flight control systems, three
Remote control realizes that three dwell search-and-rescue work, is dwelt operation, portability, functional diversities, low noise, easy to operate and homework precision with three
High the features such as, cope with the detecting rescue work under three kinds of different disaster environments of aeroamphibious.The particular technique side taken
Case is：
One kind three is dwelt unmanned plane, including sealed fuselage, based on the Arduino platforms increased income using remote control realizes control
MWC flight controls firmware, four rotors, four described rotors include being symmetrically distributed in the brushless electricity of each two the first waterproofs in fuselage both sides
Machine, the fixed three-bladed propeller of motor shaft of each first waterproof brushless electric machine, it is characterised in that：Described three-bladed propeller
The affixed circular rim in end, the axial direction of the first described waterproof brushless electric machine can be perpendicular to horizontal plane and parallel to horizontal plane
Between change；Also include the screw propeller for being symmetrically installed in fuselage both sides.
Further, the housing of described fuselage is formed using the light composite material that density is small, toughness is big, intensity is high
Sealed compartment and lower gas-tight silo；Gradually narrow contracting is in sharp billet to the gabarit of lower gas-tight silo downwards；Upper each fixed three companies in sealed compartment both sides
Extension bar, the affixed longeron in free end per lateral connector bar, two hollow crossbeams are respectively and fixedly connected to the front and back ends of two longerons
Portion, two longerons and two crossbeam formation chow schemes；Described screw propeller is located at the lower section of described longeron；Described is upper
The second brushless electric machine of a fixed axial direction along the longitudinal direction in sealed compartment, fixed first tooth of motor shaft of the second brushless electric machine
Wheel, the second gear being hubbed in sealed compartment is engaged with first gear, and the number of teeth of second gear is more than or equal to the first gear number of teeth
Three times, extend axially back and forth with the affixed transmission of second gear and each fixed 3rd gear after incoming crossbeam；Each institute
Be slidably matched setting semiaxis in the tube chamber for the crossbeam stated, and the inner of semiaxis opens up the two-stage ladder that can be mutually horizontally staggered,
Fixed upper rack and lower rack are distinguished on step, the 3rd gear is located between upper rack and lower rack and is engaged with；Half
Open up the groove of insertion above-below direction, the fixed end block in outer end of semiaxis close to its outer end on axle, end block have upper plane and with it is upper
The vertical outerplanar of plane, upper plane and outerplanar junction set hinge, the motor of described the first waterproof brushless electric machine
The free bearing being hinged with hinge is set on body rear end face, and the motor body of described the first waterproof brushless electric machine is on the side of fuselage
Fixed swing rod, swing rod articulated linkage, connecting rod is hinged through groove with crossbeam；Described screw propeller is included with consolidating in fuselage
The connecting plate connect, the dividing plate being connected as a single entity with connecting plate, the threeth waterproof brushless electric machine affixed with dividing plate, the 3rd brushless electricity of waterproof
The motor shaft of machine through fixed propeller after closing housing, the motor of the 3rd waterproof brushless electric machine set in vitro with dividing plate it is affixed,
Gabarit is set and dividing plate is affixed, protective cover that is being seamlessly transitted with housing into fairshaped housing, outside propeller；, the first waterproof without
The brushless electric machine of brush motor second and the 3rd waterproof brushless electric machine share lithium battery group.
Further, the rubber with decorative pattern is laid in circular rim outer surface.
Further, also fixed search and rescue detection system in upper sealed compartment, searching and rescuing detection system includes camera module, distance
Sensor assembly, temperature humidity sensor module, infrared sensor module, indicator lamp, loudspeaker and harmful gas detecting device；On
Sealed compartment surface opens up fixed 4th waterproof brushless electric machine and the 5th in night flight indicator lamp opening and speaker openings, lower gas-tight silo
Waterproof brushless electric machine, the driving rudder that the 4th waterproof brushless electric machine is arranged on afterbody by transmission mechanism control is swung, and the 5th
Waterproof brushless electric machine, which is stretched out or retracted by three undercarriages of transmission mechanism control, is arranged on the opening of lower gas-tight silo lower surface；Under
The lower surface of gas-tight silo also opens up goods and materials and delivers hatch door；4th waterproof brushless electric machine and the 5th waterproof brushless electric machine are also through lithium electricity
Pond group is powered.
Further, solar panel is laid on upper sealed compartment surface, and solar panel is connected with lithium battery group.
Compared with prior art, application field of the present invention extensively, covers aerial, land and ocean, can completed in high precision
Three dwell operation, are easy to carry, it is easy to operate, are equipped with various sensor assemblies, can realize to the multi-functional of disaster assistance scene
Detection, and perform certain rescue task.
Brief description of the drawings
Fig. 1 is present invention flight or the structural representation of water row state.
Fig. 2 is Fig. 1 right view.
Fig. 3 is Fig. 1 top view.
Fig. 4 is Fig. 1 upward view.
Fig. 5 is Fig. 1 stereogram.
Fig. 6 be state of flight of the present invention to land row status transition when remove the structural representations of section components.
Fig. 7 is the partial enlarged drawing of Fig. 6 left dashed box.
Fig. 8 is the partial enlarged drawing of Fig. 6 middle dashed box.
Fig. 9 is the partial enlarged drawing of Fig. 6 right dashed box.
Figure 10 is the structural representation of row state in land of the present invention.
Figure 11 is the structural representation of screw propeller of the present invention.
Figure 12 is Figure 11 sectional view.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, according to term " first ", "
Two ", " the 3rd ", is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected;Can
To be mechanical connection or electrical connection;Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment 1, one kind three is dwelt unmanned plane, including sealed fuselage, based on the Arduino platforms increased income utilizes remote control
Device realizes the MWC flight controls firmware 2 of control, four rotor flying systems, and four described rotor flying systems include symmetrical
In each two the first waterproof brushless electric machines 21 in fuselage both sides, fixed three leaves of motor shaft of each first waterproof brushless electric machine 21
Propeller 22, the affixed circular rim 23 in end of described three-bladed propeller 22, the axle of described the first waterproof brushless electric machine 21
To can perpendicular to horizontal plane and parallel between horizontal plane change；The propeller for also including symmetrically being installed in fuselage both sides is promoted
Device 4.
The housing of described fuselage forms sealed compartment 31 using the light composite material that density is small, toughness is big, intensity is high
With lower gas-tight silo 32；Gradually narrow contracting is in sharp billet to the gabarit of lower gas-tight silo 32 downwards；Upper each fixed three companies in the both sides of sealed compartment 31
Extension bar 33, the affixed longeron 34 in free end per lateral connector bar 33, two hollow crossbeams 35 are respectively and fixedly connected to two longerons
34 forward and backward end, two longerons 34 and two formation chow schemes of crossbeam 35；Described screw propeller 4 is located at described indulge
The lower section of beam 34；The second brushless electric machine 61 of a fixed axial direction along the longitudinal direction in described upper sealed compartment 31, second is brushless
The fixed first gear 62 of motor shaft of motor 61, the second gear 63 being hubbed in sealed compartment 31 is engaged with first gear 62, the
The number of teeth of two gears 63 is more than or equal to three times of the number of teeth of first gear 62, and the power transmission shaft 64 affixed with second gear 63 prolongs forwards, backwards
Stretch and each fixed 3rd gear 65 after incoming crossbeam 35；Be slidably matched setting semiaxis in the tube chamber of each described crossbeam 35
66, the inner of semiaxis 66 opens up the two-stage ladder that can be mutually horizontally staggered, and fixed upper rack is distinguished on first order ladder with
Rack 67, the 3rd gear 65 is located between upper rack and lower rack 67 and is engaged with；Open up and pass through close to its outer end on semiaxis 66
The groove 68 of logical above-below direction, the fixed end block 7 in outer end of semiaxis 66, end block 7 there is upper plane 71 and it is vertical with upper plane outside
The junction of plane 72, upper plane 71 and outerplanar 72 sets hinge 73, the motor body of described the first waterproof brushless electric machine 21
The free bearing being hinged with hinge 73 is set on rear end face, and the motor body of described the first waterproof brushless electric machine 21 is close to the side of fuselage
Upper fixed swing rod 24, the articulated linkage 74 of swing rod 24, connecting rod 74 is hinged through groove 68 with crossbeam 35；Described screw propeller
4 are included with fuselage 1 affixed connecting plate 46, the dividing plate 45 being connected as a single entity with connecting plate 46, the affixed three proofings with dividing plate 45
Water brushless electric machine 42, the motor shaft of the 3rd waterproof brushless electric machine 42 passes through fixed propeller 43, the 3rd waterproof after closing housing 41
The motor of brushless electric machine 42 set in vitro with dividing plate 45 is affixed, gabarit into fairshaped housing 41, propeller 43 is outer set with every
Plate 45 is affixed, protective cover 44 that is being seamlessly transitted with housing 41；, the brushless electric machine 61 of the first waterproof brushless electric machine 21 second and three proofings
Water brushless electric machine 42 shares lithium battery group 3.The rubber with decorative pattern is laid in the outer surface of circular rim 23.
MWC is MultiWii Copter abbreviation, and it does not imply that hardware product, but firmware of increasing income.The original of this firmware
Creator is the Alex from France, and he develops initial MWC firmwares to make the Y3 aircraft of oneself.In the past few years pass through
The participation and joint efforts of many master-hands is crossed, development progress is more and more faster.Present MWC has been mature on the whole, and can support wider
General hardware platform, ancillary equipment and more offline mode, allows operation MWC winged control hardware to be increased income as foreign countries and flies control in the market
The product of one of occupation rate highest.MWC, which flies control, generally has two kinds of version：Atmega328P versions and Atmega2560 versions,
The Arduino platforms increased income are all based on, so MWC is also open source projects, its source code can be downloaded on the net.
Gradually narrow contracting is in sharp billet downwards for the gabarit of lower gas-tight silo 32, similar to the structure of hull bottom, beneficial to rescue device in water
In move ahead, two bottom sides are designed with layer band, are easy to change course and while can also reduce the adhesive force of water, are easy to water takeoff.
Three-bladed propeller is different from normal propeller, and the wheel of itself and land driving system is fixed together.Four electricity
Machine and propeller are symmetrically mounted on the four direction all around of rescue device main body, and four propellers are in sustained height plane,
And structure and radius are all identical, flight control panel, four-in-one electricity mediation signal receiver are placed on the inside of rescue device main body.
By controlling the rotating speed of the screw propeller 4 of left and right two to realize walking and steering in the water surface respectively.
Embodiment 2
Other are same as Example 1, the difference is that also fixed search and rescue detection system 8 in upper sealed compartment 31, searches and rescues detection system bag
Include camera module, distance sensor module, temperature humidity sensor module, infrared sensor module, indicator lamp, loudspeaker and have
Evil gas-detecting device；The upper surface of sealed compartment 31 is opened up in night flight indicator lamp opening 81 and speaker openings 82, lower gas-tight silo 32
Fixed 4th waterproof brushless electric machine and the 5th waterproof brushless electric machine, the 4th waterproof brushless electric machine are arranged on by transmission mechanism control
The driving rudder 5 of afterbody is swung, and the 5th waterproof brushless electric machine, which is stretched out or retracted by three undercarriages of transmission mechanism control, to be set
Put the opening 6 in the lower lower surface of gas-tight silo 32；The lower surface of lower gas-tight silo 32 also opens up goods and materials and delivers hatch door 9；4th waterproof without
Brush motor and the 5th waterproof brushless electric machine are powered also through lithium battery group 3.Solar panel is laid on the upper surface of sealed compartment 31, too
Positive energy cell panel is connected with lithium battery group 3.
The control of unmanned plane relates generally to flight system control as existing unmanned plane is the same, therefore refuses herein
Repeat.
It is a feature of the present invention that offline mode and land driving mode common part part, during offline mode, pass through control
Rotating counterclockwise for the second brushless electric machine 61 is made, control semiaxis 66 is protruding, under the pulling function of connecting rod 74, the first waterproof
The transverse plane of brushless electric machine 21 is abutted with the upper plane 71 of end block 7, and four rotors are in horizontality, can be provided and be risen for unmanned plane
Power.
During offline mode, rotating clockwise for the second brushless electric machine 61 controls semiaxis 66 inwardly to retract, in pushing away for connecting rod 74
Under action is used, the transverse plane of the first waterproof brushless electric machine 21 is abutted with the outerplanar 72 of end block 7, and four rotors are in plumbness,
The circular rim 23 of four rotors can be used as wheel and carry out ground motion.Land travel when, it is only necessary to change four the first waterproofs without
The rotating speed of brush motor 21, can be achieved with the basic exercises such as various straight trips, turning, the retrogressing of unmanned plane on the ground.
Claims (5)
- The unmanned plane 1. one kind three is dwelt, including sealed fuselage, based on the Arduino platforms increased income, utilize remote control realize control MWC flight control firmwares and four rotors, four rotor include being symmetrically distributed in each two the first waterproofs in fuselage both sides without Brush motor, the fixed three-bladed propeller of motor shaft of each first waterproof brushless electric machine, it is characterised in that：The three leaves spiral The affixed circular rim in end of oar, the axial direction of the first waterproof brushless electric machine can be perpendicular to horizontal plane and parallel to horizontal plane Between change；Also include the screw propeller for being symmetrically installed in fuselage both sides.
- 2. according to claim 1 three dwell unmanned plane, it is characterised in that：The housing of the fuselage is using density is small, toughness Greatly, the high light composite material of intensity forms sealed compartment and lower gas-tight silo；Gradually narrow contracting is in point to the gabarit of lower gas-tight silo downwards Billet；Upper each fixed three connecting rods in sealed compartment both sides, the affixed longeron in free end per lateral connector bar, two hollow horizontal strokes Beam is respectively and fixedly connected to the forward and backward end of two longerons, two longerons and two crossbeam formation chow schemes；Described screw propeller Positioned at the lower section of the longeron；The second brushless electric machine of a fixed axial direction along the longitudinal direction in the upper sealed compartment, described The fixed first gear of motor shaft of two brushless electric machines, the second gear being hubbed in sealed compartment is engaged with first gear, the second tooth The number of teeth of wheel is more than or equal to three times of the first gear number of teeth, extends axially back and forth with the affixed transmission of second gear and incoming crossbeam Each fixed 3rd gear afterwards；Be slidably matched setting semiaxis in the tube chamber of each described crossbeam, and the inner of semiaxis is opened up can The two-stage ladder being mutually horizontally staggered, distinguishes fixed upper rack and lower rack on first order ladder, and the 3rd gear is located at upper tooth Between bar and lower rack and it is engaged with；The groove of insertion above-below direction is opened up on semiaxis close to its outer end, the outer end of semiaxis is consolidated If end block, end block has upper plane and the outerplanar vertical with upper plane, and upper plane and outerplanar junction set hinge, institute The free bearing being hinged with hinge, the first waterproof brushless electric machine are set on the motor body rear end face for the first waterproof brushless electric machine stated Motor body on the side of fuselage fixed swing rod, swing rod articulated linkage, connecting rod is hinged through groove with crossbeam；The spiral Oar propeller includes dividing plate and the 3rd affixed waterproof of dividing plate being connected as a single entity with connecting plate affixed in fuselage, with connecting plate Brushless electric machine, the motor shaft of the 3rd waterproof brushless electric machine passes through fixed propeller, the 3rd brushless electricity of waterproof after closing housing The motor of machine set in vitro with dividing plate is affixed, gabarit into fairshaped housing, set outside propeller with dividing plate it is affixed, put down with housing Slip over the protective cover crossed；First waterproof brushless electric machine, the second brushless electric machine and the 3rd waterproof brushless electric machine share lithium battery group.
- 3. according to claim 2 three dwell unmanned plane, it is characterised in that：The circular rim outer surface is laid with decorative pattern Rubber.
- 4. according to claim 2 three dwell unmanned plane, it is characterised in that：Also fixed search and rescue detection system in upper sealed compartment, The search and rescue detection system includes camera module, distance sensor module, temperature humidity sensor module, infrared sensor mould Block, indicator lamp, loudspeaker and harmful gas detecting device；The upper sealed compartment surface opens up night flight indicator lamp opening and loudspeaker Fixed 4th waterproof brushless electric machine and the 5th waterproof brushless electric machine in opening, lower gas-tight silo, the 4th waterproof brushless electric machine is by passing The driving rudder that dynamic mechanism controls are arranged on afterbody is swung, and the 5th waterproof brushless electric machine is risen and fallen for three by transmission mechanism control Frame, which stretches out or retracted, is arranged on the opening of lower gas-tight silo lower surface；The lower surface of lower gas-tight silo also opens up goods and materials and delivers hatch door；The Four waterproof brushless electric machines and the 5th waterproof brushless electric machine are powered also through lithium battery group.
- 5. according to claim 2 three dwell unmanned plane, it is characterised in that：Solar cell is laid on the upper sealed compartment surface Plate, solar panel is connected with lithium battery group.
Applications Claiming Priority (2)
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| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
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