CN117885924A - Water-air amphibious unmanned aerial vehicle - Google Patents
Water-air amphibious unmanned aerial vehicle Download PDFInfo
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- CN117885924A CN117885924A CN202410301989.3A CN202410301989A CN117885924A CN 117885924 A CN117885924 A CN 117885924A CN 202410301989 A CN202410301989 A CN 202410301989A CN 117885924 A CN117885924 A CN 117885924A
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 27
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a water-air amphibious unmanned aerial vehicle, which comprises a frame, wherein a plurality of water-air propulsion assemblies are arranged on the frame, the propulsion assemblies are symmetrically distributed around the frame in a central mode, the propulsion assemblies are connected to the frame through a horn, a rotating assembly is arranged at the end part of the horn, a propeller is connected to the output end of the rotating assembly, the rotating assembly drives the propeller to rotate, and an electric control watertight cabin for placing circuit elements is arranged on one side of the frame; in conclusion, the water-air dual-purpose propulsion system is adopted, water-air two fluid media can be considered, air is sparse fluid during air operation, the propulsion assembly runs at a high rotating speed and a low torque, water is dense fluid during underwater operation, the propulsion assembly runs at a low rotating speed and a high torque, power devices and equipment are greatly reduced, the load of the unmanned aerial vehicle is lightened, the performance of the unmanned aerial vehicle is improved, the operation efficiency of the unmanned aerial vehicle is improved, and the flexibility of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a water-air amphibious unmanned aerial vehicle.
Background
Currently, unmanned aerial vehicle technology has been widely used in various fields including military, aerial photography, monitoring, rescue, and the like. However, different application fields put different demands on unmanned aerial vehicles, including performing tasks in different environments, but existing unmanned aerial vehicle systems generally only operate in one of the air or underwater environments, for example, some applications require that the unmanned aerial vehicle be able to move rapidly in the sky, while others require that the unmanned aerial vehicle be able to perform accurate detection and operation underwater, and existing amphibious unmanned aerial vehicles lack a solution capable of achieving both air flight performance and underwater navigation performance.
In prior patent 202210322455.X, a water-air dual-purpose unmanned aerial vehicle is disclosed, comprising a body, a plurality of rotors, a water-thrust propeller, an air-tail-thrust propeller and an air-bag assembly, wherein: the engine body comprises an engine body, a differential horizontal tail and two wings, wherein the differential horizontal tail is positioned at the tail part of the engine body, the two wings are symmetrically arranged on the engine body, and at least one through hole is vertically formed in the upper wall of each wing; the rotary wings are coaxially arranged in the through holes in a one-to-one correspondence manner; the water-pushing propeller is arranged below the tail of the machine body and is positioned behind the differential horizontal tail; the air tail pushing propeller is arranged on the machine body and is positioned between the differential horizontal tail and the wing; the air bag assembly is positioned in the machine body and comprises an air bag and an air charging and discharging mechanism which are connected with each other, and the air charging and discharging mechanism is used for realizing the charging or discharging of the air bag. The unmanned aerial vehicle can realize underwater, water surface and aerial operation, is quick and quick in operation, durable in cruising ability, high in flexibility, wide in application range and high in safety, and can be carried with different detection equipment.
In the structure, water-air operation can be realized, but because of the physical difference of water and air working mediums, the power devices working in the two mediums have huge difference, and simultaneously carry two power devices and two sets of power equipment, so that structural redundancy is caused, the other set of devices are in an idle state, the load of the unmanned aerial vehicle is increased intangibly, the performance of the unmanned aerial vehicle is influenced, and the operation efficiency of the unmanned aerial vehicle is reduced.
Disclosure of Invention
In view of the above, the invention aims to provide a water-air amphibious unmanned aerial vehicle so as to solve the problems that when the unmanned aerial vehicle works in two different mediums in water and air, two power devices are carried at the same time, so that structural redundancy is caused, the load of the unmanned aerial vehicle is increased, and the performance of the unmanned aerial vehicle is affected.
Based on the above object, the invention provides a water-air amphibious unmanned aerial vehicle, which comprises a frame, wherein a plurality of water-air propulsion assemblies are arranged on the frame, the propulsion assemblies are symmetrically distributed around the frame in a central mode, the propulsion assemblies are connected to the frame through a horn, a rotating assembly is arranged at the end part of the horn, a propeller is connected to the output end of the rotating assembly, the rotating assembly drives the propeller to rotate, an electric control watertight cabin for placing a circuit element is arranged on one side of the frame, the electric control watertight cabin is used for providing waterproof protection for the circuit electronic element, a battery watertight cabin for placing a battery is arranged on the other side of the frame, and the battery watertight cabin is used for providing waterproof protection for a battery pack, wherein when the unmanned aerial vehicle is in an air flight state, the propulsion assemblies adjust the angles of the rotating assembly and the propeller to be in a parallel state with the top surface of the frame, and when the rotating assembly drives the propeller to rotate, the propeller generates a lifting force effect; when unmanned aerial vehicle is in the state of sailing under water, propulsion unit adjustment rotating assembly with the angle of screw is certain contained angle to with the top surface of frame, through rotating assembly drive when the screw rotates, so that the screw produces vector thrust, realizes unmanned aerial vehicle has the ability of running in the air and under water.
Preferably, the rack comprises an upper layer plate arranged on the electric control watertight compartment and a lower layer plate arranged on the battery watertight compartment, wherein the upper layer plate is connected with the lower layer plate through a bearing fixing seat, a foot rest is arranged on the lower layer plate, and the foot rest is symmetrically arranged on the lower layer plate.
Preferably, the foot rest comprises a fixing piece arranged on the lower layer plate, a vertical rod is arranged on the fixing piece, an included angle is formed between the vertical rod and the lower layer plate, a three-way connecting piece is arranged on the vertical rod, and a cross rod is arranged on the three-way connecting piece.
Preferably, the electric control watertight compartment comprises an electric control compartment shell arranged on the upper layer plate, an electric control compartment cover is arranged on the electric control compartment shell, a power line positive waterproof connector, a power line negative waterproof connector and a wire waterproof connector are arranged on the electric control compartment shell to provide waterproof protection, a waterproof ventilation valve is arranged on the electric control compartment shell, the waterproof ventilation valve blocks water flow from entering the electric control watertight compartment, and air is allowed to enter the electric control watertight compartment.
Preferably, the battery watertight compartment comprises a battery compartment shell arranged on the lower layer plate, a battery compartment cover is arranged on the battery compartment shell, a lithium battery anode power line waterproof joint, a lithium battery cathode power line waterproof joint and a lithium battery charging waterproof joint are arranged on the battery compartment shell, and a lithium battery pack is arranged in the battery compartment shell.
Preferably, the propulsion assembly comprises a first fixing seat arranged on the lower layer plate, a steering engine is arranged on the first fixing seat, a steering wheel is connected to an output shaft of the steering engine, a connector is arranged on the steering wheel, a bearing stop sleeve is connected to the bearing fixing seat through a flange bearing, and the horn is connected to the steering engine output shaft through the bearing stop sleeve, the connector and the steering wheel.
Preferably, the rotating assembly comprises a second fixing seat connected to the horn, a brushless motor and a magnetic encoder are installed on the second fixing seat, a radial magnet is installed at the rear end of an output shaft of the brushless motor through a nut, and the propeller is connected to the front end of the brushless motor.
Preferably, the second fixing seat comprises an upper supporting piece and a lower supporting piece which are connected to the horn, the upper supporting piece and the lower supporting piece are mutually inserted and sleeved on the horn, an upper clamping plate is arranged on the upper supporting piece, a lower clamping plate is arranged on the lower supporting piece, and the brushless motor is arranged on the upper clamping plate.
Preferably, waterproof sealant is coated on the openings of the electric control cabin shell and the battery cabin shell and the surface layer of the magnetic encoder circuit board.
Preferably, the upper layer plate, the lower layer plate, the horn, the vertical rod, the cross rod, the upper clamping plate and the lower clamping plate are all made of carbon fiber materials.
The application has the beneficial effects that: the propelling components for water and air are symmetrically arranged on the frame through the horn, the propelling components are positioned around the frame to form an X-shaped structure, the electric control watertight cabin and the battery watertight cabin are respectively arranged on two sides of the frame to provide waterproof protection for the circuit elements and the battery, when the unmanned aerial vehicle is in a flying state, the propulsion assembly adjusts the angles of the rotating assembly and the propeller so that the propeller is parallel to the top surface of the frame, the rotating assembly is started to drive the propeller to rotate, and the propeller provides lift force for the unmanned aerial vehicle at the moment, so that the unmanned aerial vehicle is in a flying state; when the unmanned aerial vehicle is in an underwater navigation state, the propulsion assembly adjusts the angles of the rotating assembly and the propeller, forces the propeller to form a certain included angle with the top surface of the frame, starts the rotating assembly to drive the propeller to rotate, forces the propeller to provide vector thrust for the unmanned aerial vehicle, so that the unmanned aerial vehicle navigates in water, and the unmanned aerial vehicle has the capability of running in the air and under water; in conclusion, the water-air amphibious unmanned aerial vehicle has the capability of switching stable working conditions, can be easily switched between two operation modes of underwater operation and air operation, adopts a water-air dual-purpose propulsion system, can give consideration to two fluid media of water and air when water is excessive in and out, is sparse in air operation, is high in rotating speed and low in torque in a propulsion assembly operation, is dense in water operation and is low in rotating speed and high in torque in an underwater operation, so that a power device and equipment are greatly reduced, the load of the unmanned aerial vehicle is lightened, the performance of the unmanned aerial vehicle is improved, the operation efficiency of the unmanned aerial vehicle is improved, stable and reliable vector thrust is generated underwater by adjusting the rotating angle of a horn, the functions of submerged floating and moving of the unmanned aerial vehicle are assisted, and the flexibility of the unmanned aerial vehicle is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a structural entity diagram of the frame of the present invention;
FIG. 3 is a structural entity view of the propulsion assembly of the present invention;
FIG. 4 is an exploded view of FIG. 3 in accordance with the present invention;
FIG. 5 is a structural entity diagram of the electronically controlled watertight compartment of the present invention;
FIG. 6 is an exploded view of FIG. 5 in accordance with the present invention;
FIG. 7 is a structural entity view of the battery watertight compartment of the present invention;
fig. 8 is an exploded view of fig. 7 in accordance with the present invention.
Marked in the figure as: 10.a frame; 11. an upper plate; 12. a lower plate; 13. a bearing fixing seat; 14. a foot rest; 141. a fixing member; 142. a vertical rod; 143. a three-way connection; 144. a cross bar; 20. a propulsion assembly; 201. a horn; 202. a second fixing seat; 2021. an upper clamping plate; 2022. an upper support; 2023. a lower support; 2024. a lower clamping plate; 203. steering engine; 204. a brushless motor; 205. a magnetic encoder; 206. a connector; 207. a bearing stop sleeve; 208. steering wheel; 209. a flange bearing; 210. a first fixing seat; 211. a radial magnet; 212. a propeller; 213. a nut; 30. an electric control watertight cabin; 31. an electric control hatch cover; 32. a waterproof joint of the wire rod; 33. an electric control cabin shell; 34. a positive electrode waterproof joint of the power line; 35. a waterproof connector of the negative electrode of the power line; 36. waterproof ventilation valve; 40. a battery watertight compartment; 41. a battery compartment cover; 42. a battery compartment housing; 43. waterproof joint of positive power line of lithium battery; 44. waterproof joint of negative electrode power line of lithium battery; 45. a lithium battery charging waterproof joint; 46. a lithium battery pack.
Detailed Description
The present invention will be further described in detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, a water-air amphibious unmanned aerial vehicle comprises a frame 10, a plurality of water-air propulsion assemblies 20 are arranged on the frame 10, the propulsion assemblies 20 are distributed around the frame 10 in a central symmetry manner, the propulsion assemblies 20 are respectively connected in four directions of the frame 10 in an X shape, the propulsion assemblies 20 are connected to the frame 10 through a horn 201, a rotating assembly is arranged at the end part of the horn 201, the output end of the rotating assembly is connected with a propeller 212, the rotating assembly drives the propeller 212 to rotate, an electric control watertight cabin 30 for placing a circuit element is arranged at one side of the frame 10, the electric control watertight cabin 30 is used for providing waterproof protection for the circuit electronic element, a battery watertight cabin 40 for placing a battery is arranged at the other side of the frame 10, the battery watertight cabin 40 is used for providing waterproof protection for the battery pack, the electric control watertight cabin 30 and the battery watertight cabin 40 are respectively arranged at two sides of the frame 10, wherein when the unmanned aerial vehicle is in an air flight state, the propulsion assemblies 20 adjust angles of the rotating assembly and the propeller 212 to be in a state parallel to the top surface of the frame 10, and the propeller 212 is driven by the rotating assembly to rotate to the propeller 212 so that the propeller 212 can generate lift force when the propeller 212 is driven by the rotating assembly; when the unmanned aerial vehicle is in an underwater navigation state, the propulsion assembly 20 adjusts the angles of the rotating assembly and the propeller 212 to form a certain included angle with the top surface of the frame 10, and when the rotating assembly drives the propeller 212 to rotate, the propeller 212 generates vector thrust, so that the unmanned aerial vehicle has the capability of running in the air and underwater.
Working principle: the propelling component 20 for both water and air is symmetrically arranged on the frame 10 through the horn 201, the propelling component 20 is positioned around the frame 10 to form an X shape, the electric control watertight cabin 30 and the battery watertight cabin 40 are respectively arranged on two sides of the frame 10 to provide waterproof protection for circuit elements and batteries, when the unmanned aerial vehicle is in a flying state, the propelling component 20 adjusts the angles of the rotating component and the propeller 212 to enable the propeller 212 to be in a parallel state with the top surface of the frame 10, the rotating component is started to drive the propeller 212 to rotate, and at the moment, the propeller 212 provides lifting force for the unmanned aerial vehicle, so that the unmanned aerial vehicle is in a flying state; when the unmanned aerial vehicle is in an underwater navigation state, the propulsion assembly 20 adjusts the angles of the rotating assembly and the propeller 212, forces the propeller 212 to form a certain included angle with the top surface of the frame 10, starts the rotating assembly to drive the propeller 212 to rotate, forces the propeller 212 to provide vector thrust for the unmanned aerial vehicle, so that the unmanned aerial vehicle navigates in water, and the unmanned aerial vehicle has the capability of running in the air and under water; in summary, the water-air amphibious unmanned aerial vehicle provided by the application has the capability of switching stable working conditions, can be easily switched between two operation modes of underwater operation and air operation, adopts a water-air dual-purpose propulsion system, can give consideration to two fluid media of water and air when water is excessive in and out, is sparse in air operation, is high-rotation-speed and low-torque in propulsion assembly 20 operation, is dense in water operation in underwater operation, greatly reduces power devices and equipment, reduces the load of the unmanned aerial vehicle, improves the performance of the unmanned aerial vehicle, improves the operation efficiency of the unmanned aerial vehicle, and generates stable and reliable vector thrust under water by adjusting the rotation angle of the horn 201 to assist the unmanned aerial vehicle to realize the functions of submerged floating and moving and improve the flexibility of the unmanned aerial vehicle.
As shown in fig. 1 and 2, a stand 10 of a water-air amphibious unmanned aerial vehicle comprises an upper layer plate 11 arranged on an electric control watertight compartment 30 and a lower layer plate 12 arranged on a battery watertight compartment 40, wherein the upper layer plate 11 and the lower layer plate 12 are arranged in parallel, the upper layer plate 11 and the lower layer plate 12 are connected through a bearing fixing seat 13, the bearing fixing seat 13 corresponds to a horn 201, foot frames 14 are arranged on the lower layer plate 12, the two foot frames 14 are arranged, and the foot frames 14 are symmetrically arranged on the lower layer plate 12.
Working principle: install automatically controlled watertight cabin 30 on upper plate 11, battery watertight cabin 40 installs on lower plate 12, be located between upper plate 11 and lower plate 12 on lower plate 12 with propulsion unit 20 through bearing fixing base 13, foot rest 14 symmetry is installed on lower plate 12, the setting of frame 10 is convenient for provide the support mounting platform for automatically controlled watertight cabin 30 and battery watertight cabin 40 symmetric distribution are on frame 10, improve the stability of device, the setting of upper plate 11 and lower plate 12 is convenient for provide the space for propulsion unit 20, improve the rationality of device, be convenient for the installation operation to the device, improve installation effectiveness, the setting of foot rest 14 is convenient for provide the supporting role.
As shown in fig. 1 and 2, the stand 14 includes a fixing member 141 disposed on the lower plate 12, a vertical rod 142 is disposed on the fixing member 141, an included angle is formed between the vertical rod 142 and the lower plate 12, a three-way connecting member 143 is disposed on the vertical rod 142, a cross rod 144 is disposed on the three-way connecting member 143, the cross rod 144 penetrates through the three-way connecting member 143, and the cross rod 144 is perpendicular to the vertical rod 142.
Working principle: during the installation, fix mounting 141 on lower plate 12, pass through reasonable angle joint with montant 142 on mounting 141, install tee bend connecting piece 143 at the tip of montant 142, insert tee bend connecting piece 143 with horizontal pole 144, make the both ends of horizontal pole 144 equal with tee bend connecting piece 143's distance, improve stability, the setting of foot rest 14 is convenient for select spare part according to actual unmanned aerial vehicle, montant 142 is the contained angle setting with lower plate 12 and is convenient for provide the stability of device, do benefit to unmanned aerial vehicle navigation in water, do benefit to unmanned aerial vehicle stability when flying, horizontal pole 144 is convenient for improve stability with tee bend connecting piece 143's setting, be convenient for the installation to horizontal pole 144, be convenient for unmanned aerial vehicle's landing, provide supporting role for unmanned aerial vehicle, improve the stability of navigating in water simultaneously.
As shown in fig. 1, 5 and 6, an amphibious unmanned aerial vehicle comprises an electric control cabin shell 33 arranged on an upper plate 11, an electric control cabin cover 31 is arranged on the electric control cabin shell 33, a power line positive waterproof connector 34, a power line negative waterproof connector 35 and a wire waterproof connector 32 are arranged on the electric control cabin shell 33 to provide waterproof protection, the power line positive waterproof connector 34 is matched with the power line negative waterproof connector 35, a waterproof ventilation valve 36 is arranged on the electric control cabin shell 33, the waterproof ventilation valve 36 is of the prior art, the waterproof ventilation valve 36 blocks water from entering the electric control watertight cabin 30, and air is allowed to enter the electric control watertight cabin 30.
Working principle: the electric control watertight cabin 30 is internally provided with circuit elements such as an electric regulator, a pressure reducing plate, an ROV controller, a flight control and GPS, the electric control cabin shell 33 is provided with a plurality of holes for leading out cables such as signal wires and power wires from the inside of the electric control watertight cabin 30 to the outside of the electric control watertight cabin 30, waterproof protection is provided for a cable perforation position through a wire waterproof connector 32, a power wire positive waterproof connector 34 and a power wire negative waterproof connector 35, the waterproof ventilation valve 36 can prevent water flow from entering the inside of the electric control watertight cabin 30, but air is allowed to enter the inside of the electric control watertight cabin 30, the effect of balancing the air pressure inside and outside the electric control watertight cabin 30 is achieved, normal operation of an air pressure sensor inside the electric control watertight cabin 30 is guaranteed, the joint between the electric control cabin cover 31 and the electric control cabin shell 33 is coated with waterproof glue or is provided with a rubber pad, the electric control cabin cover 31 and the electric control cabin shell 33 are fastened through screws, the screws enable the waterproof glue or the rubber pad at the joint to generate extrusion force at the joint position, the water flow is prevented from entering the inside of the electric control watertight cabin 30 from the joint position, the electric control watertight cabin 30 is convenient to provide protection for the circuit elements, and damage to the circuit elements is avoided.
As shown in fig. 1, 7 and 8, a water-air amphibious unmanned aerial vehicle, a battery watertight compartment 40 comprises a battery compartment shell 42 arranged on a lower layer plate 12, a battery compartment cover 41 is arranged on the battery compartment shell 42, a lithium battery positive power line waterproof connector 43, a lithium battery negative power line waterproof connector 44 and a lithium battery charging waterproof connector 45 are arranged on the battery compartment shell 42, the lithium battery positive power line waterproof connector 43 is matched with the lithium battery negative power line waterproof connector 44, and a lithium battery pack 46 is arranged in the battery compartment shell 42.
Working principle: the lithium battery pack 46 is placed inside the battery watertight compartment 40, a plurality of holes are formed in the battery compartment shell 42, cables such as a power line and a charging line of the lithium battery pack 46 are led out from the inside of the battery watertight compartment 40 to the outside of the battery watertight compartment 40, waterproof protection is provided for the perforated positions of the cables through the waterproof connector 43 of the positive power line of the lithium battery, the waterproof connector 44 of the negative power line of the lithium battery and the waterproof connector 45 of the charging water of the lithium battery, waterproof glue or an installation rubber cushion is coated at the joint of the battery compartment cover 41 and the battery compartment shell 42, the battery compartment cover 41 and the battery compartment shell 42 are fastened through screws, the waterproof glue or the rubber cushion at the joint of the battery compartment cover 41 and the battery compartment shell 42 is enabled to generate extrusion force through the screws, water flow is prevented from entering the inside of the battery watertight compartment 40 from the joint, the arrangement of the battery watertight compartment 40 is convenient for providing protection for the lithium battery, damage to the lithium battery caused by the water flow is avoided, the service life of the lithium battery is prolonged, and meanwhile the electronic control compartment 30 and the battery watertight compartment 40 are installed on the upper layer 11 and the lower layer 12 of the frame 10, and balance and stability of the device are improved.
As shown in fig. 1,2, 3 and 4, a propulsion assembly 20 of the amphibious unmanned aerial vehicle comprises a first fixing seat 210 arranged on a lower layer plate 12, a steering engine 203 is installed on the first fixing seat 210, an output shaft of the steering engine 203 is connected with a steering wheel 208, a connector 206 is arranged on the steering wheel 208, a bearing stop sleeve 207 is connected to the bearing fixing seat 13 through a flange bearing 209, and a horn 201 is connected to an output shaft of the steering engine 203 through the bearing stop sleeve 207, the connector 206 and the steering wheel 208.
As shown in fig. 1, 2, 3 and 4, a water-air amphibious unmanned aerial vehicle, the rotating assembly comprises a second fixing seat 202 connected to a horn 201, a brushless motor 204 and a magnetic encoder 205 are mounted on the second fixing seat 202, a radial magnet 211 is mounted at the rear end of an output shaft of the brushless motor 204 through a nut 213, and a propeller 212 is connected to the front end of the brushless motor 204.
As shown in fig. 1,2, 3 and 4, a water-air amphibious unmanned aerial vehicle, a second fixing base 202 comprises an upper support 2022 and a lower support 2023 connected to a horn 201, the upper support 2022 and the lower support 2023 are mutually inserted and sleeved on the horn 201, an upper clamping plate 2021 is arranged on the upper support 2022, a lower clamping plate 2024 is arranged on the lower support 2023, and a brushless motor 204 is mounted on the upper clamping plate 2021.
Working principle: during installation, the steering engine 203 is installed on the first fixing seat 210, the horn 201 is connected to an output shaft of the steering engine 203 through the connector 206, the steering wheel 208 and the bearing stop sleeve 207, the upper support 2022 and the lower support 2023 are sleeved on the other end of the horn 201, the upper clamping plate 2021 and the lower clamping plate 2024 are installed, the brushless motor 204 is installed on the upper clamping plate 2021, the propeller 212 is installed at the front end of the brushless motor 204, the radial magnet 211 is installed at the rear end of the output shaft of the brushless motor 204 through the nut 213, and the magnetic encoder 205 is installed between the upper clamping plate 2021 and the lower clamping plate 2024 and corresponds to the radial magnet 211; when the unmanned aerial vehicle is in a flying state, the steering engine 203 is started, an output shaft of the steering engine 203 rotates to drive the bearing stop sleeve 207, the connector 206, the steering wheel 208 and the horn 201 to rotate, the horn 201 drives the fixing seat II 202, the brushless motor 204 and the propeller 212 to rotate for a certain angle, the propeller 212 is adjusted to be parallel to the top surface of the upper layer plate 11, the four propellers 212 are ensured to be in a horizontal state, the brushless motor 204 is started, the output shaft of the brushless motor 204 rotates to drive the propeller 212 and the radial magnet 211 to rotate, and the magnetic encoder 205 senses the rotation of the radial magnet 211, so that the unmanned aerial vehicle is in an air flying mode; when the unmanned aerial vehicle is in underwater navigation, the steering engine 203 is started, an output shaft of the steering engine 203 rotates to drive the bearing stop sleeve 207, the connector 206, the steering wheel 208 and the horn 201 to rotate, the horn 201 drives the fixing seat II 202, the brushless motor 204 and the propeller 212 to rotate for a certain angle, the propeller 212 is adjusted to form a certain included angle with the top surface of the upper layer plate 11, the four propellers 212 are guaranteed to deflect around the horn 201, the brushless motor 204 is started, the output shaft of the brushless motor 204 rotates to drive the propeller 212 and the radial magnet 211 to rotate, and the magnetic encoder 205 senses the rotation of the radial magnet 211, so that the unmanned aerial vehicle is in an underwater navigation state; the propulsion assembly 20 is arranged to facilitate the rotation of the horn 201, so that the angle of the propeller 212 is indirectly adjusted, and the underwater or air running state of the unmanned aerial vehicle is ensured; the arrangement of the rotating assembly provides the power of the propeller 212, ensures the rotation of the propeller 212, and thus provides the lifting force function in the air or the vector thrust function in the water; the radial magnet 211 and the magnetic encoder 205 are arranged to be convenient for regulating and controlling the rotating speed of the brushless motor 204, so that the control precision of the brushless motor 204 is improved, and the intellectualization is improved; the arrangement of the upper support 2022 and the lower support 2023 improves the stability of the second fixing base 202 and the upper parts thereof, avoids the free movement of the second fixing base 202, reduces the possibility of displacement or rotation, and improves the stability and rationality of the device.
As shown in fig. 3, 4, 5 and 7, in the water-air amphibious unmanned aerial vehicle, waterproof sealant is coated on the openings of the electric control cabin shell 33 and the battery cabin shell 42 and the surface layer of the circuit board of the magnetic encoder 205.
Working principle: waterproof sealant is coated at the opening of the electric control cabin shell 33 and the battery cabin shell 42, the waterproof function of the electric control cabin shell 33 and the battery cabin shell 42 is improved, the sealing effect of the electric control cabin shell 33 and the battery cabin shell 42 is improved, the situation that water enters the electric control cabin shell 33 and the battery cabin shell 42 when an unmanned aerial vehicle sails underwater is avoided, damage is caused to circuit elements and a lithium battery, waterproof sealant is coated on the surface layer of a circuit board of the magnetic encoder 205, the waterproof performance is improved, the situation that water enters the magnetic encoder 205 is avoided, the magnetic encoder 205 cannot be used is avoided, the service life of the device is prolonged, the waterproof sealing performance of the unmanned aerial vehicle is greatly improved, and the underwater sailing effect of the unmanned aerial vehicle is realized.
As shown in fig. 2, 3 and 4, the water-air amphibious unmanned aerial vehicle is made of carbon fiber materials, which are the prior art, including an upper plate 11, a lower plate 12, a horn 201, a vertical rod 142, a cross rod 144, an upper clamping plate 2021 and a lower clamping plate 2024.
Working principle: the carbon fiber material characteristics are showing, have higher intensity and lower weight, upper plate 11, lower plywood 12, horn 201, montant 142, horizontal pole 144, upper plate 2021 and lower plate 2024 all set up to carbon fiber material, do benefit to and improve fuselage intensity, reduce the weight of fuselage structure simultaneously, further improve unmanned aerial vehicle's performance, the unmanned aerial vehicle burden of alleviateing improves unmanned aerial vehicle's intensity, improves unmanned aerial vehicle's flexibility.
According to the scheme, when the water-air dual-purpose propulsion system flies in the air, the propulsion direction of the propeller 212 is kept vertical to the plane of the machine body, the thought of vector thrust is integrated when the unmanned aerial vehicle is submerged underwater, and the stable and reliable vector thrust is generated underwater by adjusting the rotation angle of the four-rotor-wing horn 201 to assist the unmanned aerial vehicle to realize the functions of submerged floating and moving, so that the unmanned aerial vehicle has higher flexibility; the unmanned aerial vehicle has the capability of switching stable working conditions, and can be easily switched between underwater and air operation modes without using devices such as a pressurized water cabin and the like a submarine. The design widens the application scene of the unmanned aerial vehicle, and greatly simplifies the structure of the amphibious unmanned aerial vehicle.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the invention (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the present invention should be included in the scope of the present invention.
Claims (10)
1. The amphibious unmanned aerial vehicle is characterized by comprising a frame (10), wherein a plurality of amphibious propulsion assemblies (20) are arranged on the frame (10), the propulsion assemblies (20) are distributed around the frame (10) in a central symmetry mode, the propulsion assemblies (20) are connected to the frame (10) through a horn (201), a rotating assembly is arranged at the end of the horn (201), a propeller (212) is connected to the output end of the rotating assembly, the rotating assembly drives the propeller (212) to rotate, an electric control watertight cabin (30) for placing circuit elements is arranged on one side of the frame (10), a battery watertight cabin (40) for placing batteries is arranged on the other side of the frame (10), the battery watertight cabin (40) is used for providing waterproof protection for a battery pack, and when the unmanned aerial vehicle is in an air flight state, the propulsion assemblies (20) adjust the angle of the rotating assembly and the propeller (212) to be parallel to the top surface of the frame (10), and the propeller (212) is driven to rotate by the rotating assembly, so that the propeller (212) can rotate; when the unmanned aerial vehicle is in an underwater navigation state, the propulsion component (20) adjusts the angles of the rotation component and the propeller (212) to a certain included angle with the top surface of the frame (10), and the rotation component drives the propeller (212) to rotate, so that the propeller (212) generates vector thrust, and the unmanned aerial vehicle has the capability of running in the air and under water.
2. The amphibious unmanned aerial vehicle according to claim 1, wherein the frame (10) comprises an upper plate (11) arranged on the electric control watertight compartment (30) and a lower plate (12) arranged on the battery watertight compartment (40), the upper plate (11) and the lower plate (12) are connected through a bearing fixing seat (13), a foot rest (14) is arranged on the lower plate (12), and the foot rest (14) is symmetrically arranged on the lower plate (12).
3. The amphibious unmanned aerial vehicle according to claim 2, wherein the foot stand (14) comprises a fixing piece (141) arranged on the lower layer plate (12), a vertical rod (142) is arranged on the fixing piece (141), an included angle is formed between the vertical rod (142) and the lower layer plate (12), a three-way connecting piece (143) is arranged on the vertical rod (142), and a cross rod (144) is arranged on the three-way connecting piece (143).
4. A water-air amphibious unmanned aerial vehicle according to claim 3, wherein the electric control watertight compartment (30) comprises an electric control compartment shell (33) arranged on the upper plate (11), an electric control compartment cover (31) is arranged on the electric control compartment shell (33), a power line positive waterproof connector (34), a power line negative waterproof connector (35) and a wire waterproof connector (32) are arranged on the electric control compartment shell (33) to provide waterproof protection, a waterproof ventilation valve (36) is arranged on the electric control compartment shell (33), and the waterproof ventilation valve (36) blocks water from entering the electric control watertight compartment (30) but allows air to enter the electric control watertight compartment (30).
5. The amphibious unmanned aerial vehicle as claimed in claim 4, wherein the battery watertight compartment (40) comprises a battery compartment housing (42) arranged on the lower plate (12), a battery compartment cover (41) is arranged on the battery compartment housing (42), a lithium battery anode power line waterproof connector (43), a lithium battery cathode power line waterproof connector (44) and a lithium battery charging waterproof connector (45) are arranged on the battery compartment housing (42), and a lithium battery pack (46) is arranged inside the battery compartment housing (42).
6. The amphibious unmanned aerial vehicle according to claim 5, wherein the propulsion assembly (20) comprises a first fixing seat (210) arranged on the lower layer plate (12), a steering engine (203) is arranged on the first fixing seat (210), a steering wheel (208) is connected to an output shaft of the steering engine (203), a connector (206) is arranged on the steering wheel (208), a bearing stop sleeve (207) is connected to the bearing fixing seat (13) through a flange bearing (209), and the horn (201) is connected to the output shaft of the steering engine (203) through the bearing stop sleeve (207), the connector (206) and the steering wheel (208).
7. The amphibious unmanned aerial vehicle according to claim 6, wherein the rotating assembly comprises a second fixing seat (202) connected to the horn (201), a brushless motor (204) and a magnetic encoder (205) are installed on the second fixing seat (202), a radial magnet (211) is installed at the rear end of an output shaft of the brushless motor (204) through a nut (213), and the propeller (212) is connected to the front end of the brushless motor (204).
8. The amphibious unmanned aerial vehicle according to claim 7, wherein the second fixing base (202) comprises an upper support (2022) and a lower support (2023) which are connected to the horn (201), the upper support (2022) and the lower support (2023) are mutually inserted and sleeved on the horn (201), an upper clamping plate (2021) is arranged on the upper support (2022), a lower clamping plate (2024) is arranged on the lower support (2023), and the brushless motor (204) is arranged on the upper clamping plate (2021).
9. The amphibious unmanned aerial vehicle as claimed in claim 8, wherein the electric control cabin shell (33) and the battery cabin shell (42) are coated with waterproof sealant at the openings and the surface layer of the circuit board of the magnetic encoder (205).
10. The amphibious unmanned aerial vehicle according to claim 9, wherein the upper deck (11), the lower deck (12), the horn (201), the vertical bars (142), the cross bars (144), the upper clamping plates (2021) and the lower clamping plates (2024) are all made of carbon fiber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410301989.3A CN117885924A (en) | 2024-03-18 | 2024-03-18 | Water-air amphibious unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410301989.3A CN117885924A (en) | 2024-03-18 | 2024-03-18 | Water-air amphibious unmanned aerial vehicle |
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| CN117885924A true CN117885924A (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410301989.3A Pending CN117885924A (en) | 2024-03-18 | 2024-03-18 | Water-air amphibious unmanned aerial vehicle |
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| CN116494697A (en) * | 2023-06-08 | 2023-07-28 | 西安电子科技大学 | Large-load multi-rotor-wing water-air double-power cross-medium unmanned aerial vehicle |
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| CN106114099A (en) * | 2016-09-07 | 2016-11-16 | 电子科技大学 | A kind of air-ground amphibious four rotor wing unmanned aerial vehicles |
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| WO2021129001A1 (en) * | 2019-12-27 | 2021-07-01 | 浙江大学 | Underwater and aerial robot |
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