CN113753220B - Water-air amphibious multi-rotor aircraft capable of being automatically folded and working method thereof - Google Patents
Water-air amphibious multi-rotor aircraft capable of being automatically folded and working method thereof Download PDFInfo
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- CN113753220B CN113753220B CN202110761495.XA CN202110761495A CN113753220B CN 113753220 B CN113753220 B CN 113753220B CN 202110761495 A CN202110761495 A CN 202110761495A CN 113753220 B CN113753220 B CN 113753220B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
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- 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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Abstract
The invention discloses an automatically foldable water-air amphibious multi-rotor aircraft and a working method thereof, wherein the aircraft comprises an aircraft main body, a rotor folding module, a rotor and an underwater power module, wherein the aircraft main body is a central platform, and a control box and an energy source for providing power for the underwater power module are arranged in the aircraft main body; the folding module of equipartition a plurality of rotor around this aircraft main part, the folding module of rotor provides lift for many rotor crafts, rotates under the aerial flight mode to and expand the rotor with this aircraft main part is perpendicular, rotates under the surface of water navigation mode to parallel with this aircraft main part and pack up the rotor, starts power module under water simultaneously. The multi-rotor aircraft disclosed by the invention has two states of low-altitude flight and water surface navigation, and the rotors are automatically folded and unfolded, so that the multi-rotor aircraft has higher practicability in the water conservancy field or under the scene of cluster use.
Description
Technical Field
The invention relates to the technical field of multi-rotor aircrafts, in particular to an automatically foldable water-air amphibious multi-rotor aircraft and a working method thereof.
Background
Many rotor unmanned aerial vehicle's range of application involves each aspect of daily life, especially because its outstanding small and exquisite, convenient easy characteristics of operation, its application scenario is also more and more extensive. However, the number of the rotors is large, and a large space is needed for storage, so that the rotors are easily damaged by external factors when carried, and the space utilization rate is higher under the condition that the rotors with high portability work in a rotor cluster mode, and the novel multi-rotor aircraft is more efficient compared with a common multi-rotor aircraft. And in fields such as hull detection, surface of water are patrolled and examined, channel sounding, the use of many rotor crafts because its rotor leakproofness is poor, waterproof performance is poor, needs the rotor to be in the higher flight state of consumption always, and security and work efficiency all receive certain influence, therefore many rotor crafts use very limited in these fields. The unmanned aerial vehicle has good waterproof performance, can even realize water surface navigation after being loaded with the underwater power module, and widens the difficult application scene of the traditional unmanned aerial vehicle to water-air amphibious. Meanwhile, the device has the capability of independently and independently finishing the structural change, and can finish the switching of the working states without additional manual intervention on the structure under two working environments of different water and air.
Disclosure of Invention
In order to solve the problems, the invention discloses an automatically foldable water-air amphibious multi-rotor aircraft and a working method thereof.
The technical scheme of the invention is as follows: the utility model provides an empty amphibious many rotor crafts of water that can fold automatically, includes the aircraft main part, the folding module of rotor, rotor and power module under water, and this aircraft main part is central platform, and inside is equipped with control box and the energy that provides power for power module under water. The folding module of equipartition a plurality of rotor around the aircraft main part, this folding module of rotor provide lift for many rotor crafts, rotate under the aerial flight mode to and expand the rotor with this aircraft main part is perpendicular, pack up the rotor during the decline, rotate under the surface of water navigation mode to parallel with this aircraft main part, start power module under water simultaneously.
Preferably, the rotor folding module comprises a rotor unit, a protective shell and a retraction mechanism; the rotor unit is arranged at the top of the retraction mechanism, and the retraction mechanism is arranged in the protective shell and drives the rotor to open and retract, so that the rotor unit can be retracted and stored in the protective shell through the retraction mechanism. The protective housing is hollow, and except for placing the screw rod mechanism and the rotor wing unit, when the water surface descends, buoyancy is provided for the whole machine, and the draft can ensure that the underwater power module drives the aircraft to finish water surface navigation. The process of folding up and unfolding the rotor is independently accomplished through jack and rotor lock completely, does not need artificial intervention, and then makes many rotor crafts have real-time take off and land function.
Preferably, the rotor wing unit comprises a rotor wing, a rotor wing motor and a rotor wing platform, the rotor wing platform is a flat columnar platform, and a plurality of rotor wings are uniformly distributed on the circumference of the rotor wing platform; rotor motor and the coaxial setting of rotor platform for the rotor provides power, and this rotor can swing 90 degrees downwards around the rotor platform, and the rotor is rotor fold condition when being located the biggest swing position promptly, and aircraft space density under this state is high, has both satisfied the demand of surface of water navigation buoyancy, also can increase the portability of aircraft. The rotor platform bottom is through the one end of light spring coupling rotor lock ware, and the rotor is connected to the other end of rotor lock ware, and this rotor lock ware relies on rotatory inertia to realize automatic receiving and releasing.
As the preferred, the protective housing is equipped with the rubber packing ring with the one end surface of rotor platform contact, and the rotor unit passes through rotor platform and the rubber packing ring in close connection of protective housing upper surface and reaches waterproof effect.
Preferably, the retraction mechanism comprises a lifting platform and a screw rod structure, the screw rod structure is integrally installed inside the protective shell, and the lifting of the rotor is driven by the driving of the rotor motor to provide space for the unfolding of the rotor.
As the preferred, the protective housing is hollow cylindrical casing, and the bottom is the hemisphere and is equipped with the rubber pad, adopts the protective housing as descending device when the ground descends, has guaranteed the stability of descending stress point, can protect internal mechanism not damaged when descending again.
Preferably, the underwater power module comprises a ship model motor with good underwater sealing performance, and a propeller, a rudder sheet and a steering engine matched with the ship model motor, and can provide power for the whole machine to move ahead and control the direction of water surface navigation.
Preferably, the rotor wing lock is a slidable weight, and is connected to the inside of the rotor wing platform through a light spring, and the slidable weight is positioned at the lower side of the rotor wing and can be completely hidden in the inside of the rotor wing platform; the rotor lock locks the rotor when the rotor unit starts to rotate and the rotating speed is within a set rotating speed, and unlocks when the rotating speed of the rotor unit is less than a set lower rotating speed limit.
Preferably, the underwater power module is composed of a ship model motor with good underwater sealing performance, a propeller, a rudder sheet and a steering engine, has a modular characteristic, shares a set of energy system with the whole machine, can provide power for the whole machine to move ahead, and controls the direction of water surface navigation.
The invention also discloses a working method of the automatically foldable water-air amphibious multi-rotor aircraft, which comprises the following steps: the multi-rotor aircraft has two working modes, namely an air flight mode and a water surface navigation mode, and the multi-rotor aircraft receives a takeoff signal in the flight mode, the retraction mechanism lifts the rotor unit, and the rotor lock is released by using the centrifugal force generated when the rotor rotates, so that the rotor is locked in a spreading state; before many rotor crafts descend to the surface of water, fold and income protective housing with the rotor, when many rotor crafts descend to the surface of water, it is folding to reduce the rotational speed and trigger the rotor, with the folding module of rotor through the steering wheel 90 degrees that deflect downwards, closely combine rotor platform and protective housing, get into the surface of water navigation mode.
Preferably, the retraction mechanism collects the rotation speed change of the rotor wing unit through a sensor, when the rotation speed reaches the lower limit of the rotation speed, a locking signal is fed back, the throttle position is locked through the control box and the energy module to keep the rotation speed of the rotor wing unchanged, the rotor wing locker is kept in the current working state, the rotor wing unit is lifted through the actuation of the retraction mechanism, the rotation speed locking is released after the stroke is finished, and the rotor wing is unfolded or folded.
Has the advantages that:
(1) The water-air amphibious multi-rotor aircraft disclosed by the invention has the capability of automatic folding and water surface navigation, can realize complete autonomous operation under the conditions of rotor retraction and water-air working state switching, and does not need human intervention;
(2) The water-air amphibious multi-rotor aircraft disclosed by the invention realizes waterproof sealing through the matching of the protective shell and the rotor platform, has good waterproof performance and is suitable for water and underwater operation;
(3) The protective shell of the water-air amphibious multi-rotor aircraft disclosed by the invention is hollow except for the arrangement of the screw rod mechanism and the rotor wing units, and provides buoyancy for the whole aircraft when the aircraft lands on the water surface, so that the underwater depth can ensure that the aircraft can finish water surface navigation;
(4) The water-air amphibious multi-rotor aircraft disclosed by the invention has the advantages that under the water surface sailing mode, the rotor folding module rotates around the shaft to be parallel to the aircraft main body, and at the moment, the space density of the aircraft is high, so that the requirement of water surface sailing buoyancy is met, and the portability of the aircraft can be increased;
(5) The water-air amphibious multi-rotor aircraft disclosed by the invention adopts a modular structure, and the aircraft can select multiple sets of rotor folding modules according to the requirements of load, time and the like.
Drawings
FIG. 1 is a schematic representation of a flight condition of an aircraft according to one embodiment of the present invention;
FIG. 2 is a schematic view of a surface navigation condition according to an embodiment of the present invention;
figure 3 is a partial schematic view of a rotor folding module according to one embodiment of the present invention;
FIG. 4 (a) is a schematic illustration of an aircraft fold module in an unfolded state in accordance with an embodiment of the present invention;
FIG. 4 (b) is a schematic view of an aircraft folding module in a folded state according to an embodiment of the invention;
fig. 5 is a schematic diagram of the application of the present invention to water quality monitoring.
Reference numerals are as follows: the aircraft comprises an aircraft body, 2 rotor wing folding modules, 21 rotor wing units, 22 rotor wing lockers, 23 retraction mechanisms, 24 protective shells, 3 underwater power modules, 4 control boxes and energy sources, 5 protective shell foot pads, 6 steering engines, 7 rotor wing motors, 8 lifting cylinders, 9 lead screws, 10 rotor wing platforms and 11 rotor wings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses an automatically foldable water-air amphibious multi-rotor aircraft and a working method thereof, which can realize the automation of rotor wing retraction and extension and have a water surface navigation function.
Referring to fig. 1 to 5, the water-air amphibious multi-rotor aircraft capable of being automatically folded comprises an aircraft body 1, a rotor folding module 2, an underwater power module 3, a control box and an energy source 4. Aircraft main part 1 is central platform, and inside is equipped with control box and energy 4, and aircraft main part 1 is equipped with four steering wheel 6 all around to through steering wheel 6 connection 4 rotor folding module 2. The rotor wing folding module 2 can rotate 90 degrees downwards around the connecting shaft, the space density of the aircraft in the state is high, the requirement of water surface navigation buoyancy is met, and the portability of the aircraft can be increased. Rotor folding module 2 includes rotor unit 21, rotor lock 22, retraction mechanism 23, and protective case 24. The rotor unit 21 is coaxially disposed at the upper end of the retraction mechanism 23, and the retraction mechanism 23 is disposed inside the hollow protection case 24. The protective shell 24 is a hollow cylindrical shell, provides buoyancy for the whole aircraft when the aircraft lands on the water surface, and ensures that the draft can ensure that the underwater power module drives the aircraft to finish water surface navigation. One end surface of protective housing 24 and rotor platform 10 contact is equipped with the rubber packing ring, and the inseparable combination through rotor platform and rubber packing ring reaches waterproof effect, and protective housing 24 bottom is the hemisphere and is equipped with the rubber pad, adopts protective housing 24 as descending device when descending on ground, has guaranteed the stability of descending stress point, can protect internal mechanism not receive the damage when descending again.
Specifically, the working principle of the rotor wing folding module 2 is as shown in fig. 3, a rotor wing platform 10, a rotor wing motor 7 and a lifting cylinder 8 are coaxially installed from top to bottom in sequence, the lifting cylinder 8 is in threaded connection with a screw rod 9, and the screw rod motor installed at the bottom of the screw rod 9 drives the screw rod 9 to rotate so that the lifting cylinder 8 moves linearly up and down. The retraction and release processes of the rotor 11 correspond to the lowering and raising processes of the lift cylinder 8, respectively.
Those skilled in the art will appreciate that the configuration of the aircraft body and the lead screw structure as the power source for driving the lift platform are merely exemplary and not limiting, and those skilled in the art may use other driving mechanisms, such as linkage mechanisms, hydraulics, etc., in accordance with the principles associated with the present invention.
The patent also discloses a working method of the automatically foldable water-air amphibious multi-rotor aircraft, which comprises the following steps: the multi-rotor aircraft has two working modes of an air flight mode and a water surface navigation mode, the multi-rotor aircraft receives a takeoff signal in the flight mode, when taking off, the lifting cylinder 8 is lifted, the rotor unit 21 is pushed out of the protective shell, the rotor motor 7 is started to drive the rotor installation platform 10 to rotate, the rotor lock 22 is popped up by overcoming the tensile force of a spring by virtue of centrifugal force when the rotor platform 8 rotates, the rotor 11 is jacked up from the inner side of the rotor 11 and is attached to the outer surface of a rotating shaft of the rotor 11 to ensure that the rotor 11 is horizontal and stable, as shown in figure 4, the screw rod 9 drives the lifting cylinder 8 to descend to lower the rotor 11 to the position shown in figure 1, and the flight stability is ensured; when the rotating speed is lower than the lowest rotating speed, the rotor lock 22 is pulled back, the lifting cylinder 8 is lifted, the rotor 11 deflects downwards by means of the self weight, and the lifting cylinder 8 is driven by the screw rod 9 to descend again to accommodate the rotor 11 in the protective shell 24. During this period control box 4 can gather rotor unit 21 rotational speed change through the electric current size of adjusting of flying electricity, when the rotational speed reaches the rotational speed lower limit, feedback locking signal, through control box 4 locking throttle position keep rotor 11 rotational speed unchangeable, make rotor lock 22 keep current operating condition, rethread silk pole 9 actuates and rises rotor unit 21, removes the rotational speed locking after reaching the stroke end, the rotor is accomplished and is expanded or folding.
The rotor should keep the rotational speed lower limit before beginning folding and will fall to the landing ground or the surface of water, after accomplishing to descend, further reduces the rotational speed and triggers the rotor folding process. When the aircraft descends to the water surface, the rotor wing folding module 2 is further deflected downwards by 90 degrees through the steering engine 6, as shown in fig. 2, and the aircraft is switched to the water surface sailing state.
In an example of an application scenario of water quality monitoring, the working process of the present invention can be as shown in fig. 5. After the sampler is carried on the aircraft, the aircraft is switched to a flying state B from a ground base station far away from the detection water area to fly in the air and reach the detection water area. After the rotor wing unit reaches a detection water area, the lower limit of the rotation speed of the rotor wing is kept to fall to reach the water surface, the retraction mechanism 23 lifts the rotor wing unit 21, the rotation speed is further reduced, the rotor wing locking device 22 is unlocked to enable the rotor wing 11 to be folded, the rotor wing unit 21 is lowered to be tightly combined with the rotor wing platform 10 through a rubber gasket on the upper portion of the protective shell 24, the retraction mechanism 23 is locked, and the sealing and waterproof effects are achieved. The rotor wing folding module 2 is folded downwards through the steering engine 6, the underwater power module 3 is started, and switching from the flight state B to the water surface navigation state C is completed. The aircraft carries out the water sampling through the surface of water navigation, accomplishes regional sampling work after, rotor folding module 2 is around 1 rotatory 90 degrees to vertical state of aircraft main part to raise rotor unit 21 through jack 21, start rotor motor 7, control the rotational speed and take off below the rotational speed more than the rotational speed lower limit, accomplish the rotor and lock. The retraction mechanism 23 lowers the rotor unit 21 and further increases the rotation speed to complete the takeoff. After the ground base station is reached, the rotating speed of the rotor wing is reduced, the rotor wing unit 21 is lifted by the retraction mechanism 23 after the rotor wing unit falls to the ground, the rotating speed is further reduced, the rotor wing locking device 22 is unlocked, the rotor wing 11 is folded, the rotor wing unit 21 is lowered, the flying state is converted into the ground falling state A, the ground falling is completed, and the processes of sample recovery, energy source supplement and the like are carried out.
The process can realize the full automation of water quality sampling by presetting factors such as takeoff position, water area detection position, working time and the like, thereby achieving the design purpose of high efficiency and intelligence.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides an empty amphibious many rotor crafts of water that can fold automatically which characterized in that: the underwater power aircraft comprises an aircraft body (1), a rotor wing folding module (2), a rotor wing (11) and an underwater power module (3), wherein the aircraft body (1) is a central platform, and a control box and an energy source (4) for providing power for the underwater power module (3) are arranged in the aircraft body; a plurality of rotor wing folding modules (2) are uniformly distributed around the aircraft main body (1), and each rotor wing folding module (2) comprises a rotor wing unit (21), a protective shell (24) and a retraction mechanism (23); the rotor wing unit (21) is arranged at the top of the retraction mechanism (23); the retraction mechanism (23) is arranged in the protective shell (24) and drives the rotor wings (11) to be unfolded and retracted, so that the rotor wing units (21) can be retracted and stored in the protective shell (24) through the retraction mechanism (23), wherein each rotor wing unit (21) comprises a rotor wing (11), a rotor wing motor (7) and a rotor wing platform (10), the rotor wing platforms (10) are flat columnar platforms, and a plurality of rotor wings (11) are uniformly distributed on the circumferences of the rotor wing platforms; the rotor motor (7) and the rotor platform (10) are coaxially arranged and provide power for the rotor (11), the rotor (11) can swing downwards for 90 degrees around the rotor platform (10), and the rotor is in a rotor folding state when located at the maximum swinging position; the bottom of the rotor wing platform (10) is connected with one end of a rotor wing locker (22) through a light spring, the other end of the rotor wing locker (22) is connected with a rotor wing (11), and the rotor wing locker (22) is automatically retracted and released by means of rotation inertia; this folding module of rotor (2) provides lift for many rotor crafts, rotates under the aerial flight mode to and this aircraft main part (1) is perpendicular and expand rotor (11), packs up rotor (11) during the landing, rotates under the surface of water navigation mode to be parallel with this aircraft main part (1), starts power module (3) under water simultaneously.
2. An automatically foldable water-air amphibious multi-rotor aircraft according to claim 1, characterized in that: protective housing (24) are equipped with the rubber packing ring with the one end surface of rotor platform (10) contact, rotor unit (21) closely combine through the rubber packing ring of rotor platform (10) and protective housing (24) upper surface and reach waterproof effect.
3. An automatically foldable water-air amphibious multi-rotor aircraft according to claim 2, characterized in that: the retraction mechanism (23) comprises a lifting platform and a screw rod structure, the screw rod structure is integrally installed inside the protective shell, and the lifting of the rotor (11) is driven by the driving of the rotor motor (7) to provide space for the unfolding of the rotor.
4. An automatically foldable water-air amphibious multi-rotor aircraft according to claim 3, characterized in that: the protective shell (24) is a hollow cylindrical shell, and the bottom of the protective shell is hemispherical and provided with a rubber pad.
5. An automatically foldable water-air-amphibious multi-rotor aircraft according to claim 4, characterized in that: the underwater power module comprises a ship model motor with good underwater sealing performance, and a propeller, a rudder sheet and a steering engine which are matched with the ship model motor, and can provide power for the whole machine to move ahead and control the direction of water surface navigation.
6. An automatically foldable water-air amphibious multi-rotor aircraft according to claim 5, characterized in that: the rotor wing lock (22) is a slidable weight which is connected to the inside of the rotor wing platform (10) through a light spring, is positioned at the lower side of the rotor wing (11) and can be completely hidden in the inside of the rotor wing platform (10); the rotor lock (22) locks the rotor (11) when the rotor unit (21) starts to rotate and the rotation speed is within a set rotation speed, and releases the locking when the rotation speed of the rotor unit is less than a set lower rotation speed limit.
7. An operating method of an automatically foldable water-air amphibious self-multi-rotor aircraft according to any one of claims 1-6, characterized in that: the multi-rotor aircraft has two working modes, namely an air flight mode and a water surface navigation mode, and the multi-rotor aircraft receives a takeoff signal in the flight mode, a retraction mechanism (23) lifts a rotor unit (21), and a rotor lock (22) is released by using centrifugal force generated when the rotor (11) rotates, so that the rotor (11) is locked in a spreading state; before many rotor crafts descend to the surface of water, fold rotor (11) and income protective housing (24) in, when many rotor crafts descend to the surface of water, it is folding to reduce the rotational speed and trigger the rotor, deflects 90 degrees downwards with rotor folding module (2) through steering wheel (6), with rotor platform (10) and protective housing (24) close coupling, get into the surface of water navigation mode.
8. An operating method of an automatically foldable water-air amphibious self-multi-rotor aircraft according to claim 7, characterized in that: the rotary wing locking device is characterized in that the retraction mechanism (23) collects the change of the rotating speed of the rotary wing unit (21) through a sensor, when the rotating speed reaches the lower limit of the rotating speed, a locking signal is fed back, the throttle position is locked through the control box and the energy (4) module to keep the rotating speed of the rotary wing (11) unchanged, the rotary wing locker (22) keeps the current working state, the rotary wing unit (21) is lifted through the actuation of the retraction mechanism (23), the rotating speed locking is released after the stroke is finished, and the rotary wing (11) is unfolded or folded.
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| CN202110761495.XA CN113753220B (en) | 2021-07-06 | 2021-07-06 | Water-air amphibious multi-rotor aircraft capable of being automatically folded and working method thereof |
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| CN202110761495.XA CN113753220B (en) | 2021-07-06 | 2021-07-06 | Water-air amphibious multi-rotor aircraft capable of being automatically folded and working method thereof |
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| CN109592025B (en) * | 2018-11-15 | 2020-12-04 | 航天恒星科技有限公司 | Multi-rotor unmanned aerial vehicle, kit and foldable rotor assembly thereof |
| KR102200201B1 (en) * | 2019-04-16 | 2021-01-11 | 백남용 | Drone with morphological transformation in the air and underwater |
| CN110775264B (en) * | 2019-10-28 | 2022-10-18 | 上海交通大学 | Water-air amphibious unmanned aircraft and control method thereof |
| CN111301079B (en) * | 2019-12-31 | 2023-03-24 | 中国海洋大学 | Cross-medium air-sea amphibious unmanned aerial vehicle |
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