CN206012247U - A kind of air-ground amphibious four rotor wing unmanned aerial vehicle - Google Patents
A kind of air-ground amphibious four rotor wing unmanned aerial vehicle Download PDFInfo
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- CN206012247U CN206012247U CN201621040196.8U CN201621040196U CN206012247U CN 206012247 U CN206012247 U CN 206012247U CN 201621040196 U CN201621040196 U CN 201621040196U CN 206012247 U CN206012247 U CN 206012247U
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Abstract
The utility model discloses a kind of air-ground amphibious four rotor wing unmanned aerial vehicle, it includes unmanned plane body（1）Be arranged at body（1）Interior control unit and battery, body（1）Four corners be respectively connected with horn（2）, four horns（2）End be respectively connected with pattern switching mechanism, pattern switching mechanism is by steering wheel A（3）, steering engine seat（4）, brushless electric machine（5）, multidiameter（6）, oar seat（7）, propeller（8）, unilateral bearing（9）And wheel（10）Composition, multidiameter（6）Little axle on unilateral bearing is installed（9）, wheel（10）Rotation is installed on unilateral bearing（9）On.The beneficial effects of the utility model are：Cruising time length, can complete opposite fine operate while have flexible mobility and higher obstacle climbing ability and translational speed, long service life.
Description
Technical field
This utility model is related to the technical field of four rotor wing unmanned aerial vehicles and intelligent carriage, particularly a kind of air-ground amphibious four rotation
Wing unmanned plane.
Background technology
Due to unmanned plane during flying device compact, easy to carry, action is flexible, rapid, the features such as being widely used, unmanned plane
Aircraft field continues intimately in recent years, and its potentiality is also just constantly excavated.But for now, unmanned plane during flying device is generally gathered around
There is the problem that cruising time is too short, it is impossible to which long-time executes task；And which is difficult to the flight road for flying out very steady, fine
Footpath so that under some specific environments, flight such as in the duct is extremely difficult.On the other hand, remote-controlled intelligent dolly is each
Big colleges and universities and the research emphasis of relevant technical enterprise, which has energy consumption low, simple to operate, the features such as action is stable, however its
Unmanned plane during flying device is can not show a candle in terms of motility and obstacle climbing ability, especially with a varied topography, or there is the environment such as gully, body of wall
Under, the travelling of remote-controlled intelligent dolly can be subject to very big hinder, therefore intelligent carriage is often only in relatively flat plane
Operation, its have lacked a mobile dimension compared to unmanned plane during flying device.
Therefore urgently need existing unmanned plane during flying device function have again remote-controlled intelligent dolly function unmanned plane, which can be with
Fly flexibly rapidly mobile to obtain, or moved with obtaining longer cruising time and accurately pinpointing in ground running.
Utility model content
The purpose of this utility model is the shortcoming for overcoming prior art, there is provided a kind of cruising time length, can complete phase
Have while to accurate operation flexible mobility and higher obstacle climbing ability and translational speed, long service life air-ground
Amphibious four rotor wing unmanned aerial vehicle.
The purpose of this utility model is achieved through the following technical solutions：A kind of air-ground amphibious four rotor wing unmanned aerial vehicle, it wraps
Include unmanned plane body and the control unit that is arranged in body and battery, four corners of described body are all connected with organic
Arm, the end of four horns are respectively connected with pattern switching mechanism, and pattern switching mechanism is by steering wheel A, steering engine seat, brushless electric machine, rank
Terraced axle, oar seat, propeller, unilateral bearing and wheel composition, steering wheel A are fixed on the end of horn, and steering engine seat is U-bracket, rudder
Machine A is located in steering engine seat, and the outfan of steering wheel A is connected with the side wall of steering engine seat, is installed with brushless at the top of steering engine seat
Motor, brushless electric machine are arranged perpendicular to the top surface of steering engine seat, have been sequentially connected with oar seat and ladder on the output shaft of brushless electric machine
Axle, is provided with multiple propellers on oar seat, be provided with unilateral bearing on the little axle of multidiameter, and wheel rotation is installed on unilateral bearing
On, the radius of wheel is more than the length of propeller, and the bottom of described body is fixed with two steering wheel B, the output of two steering wheel B
End is respectively connected with undercarriage, and described control unit is connected with brushless electric machine, steering wheel A and steering wheel B, battery and control unit and nothing
Brush motor connects.
Angle between described two neighboring horn is 90 °.
Spoke is provided with described wheel excircle.
Four card articles are provided with the top of described body.
Three propellers are installed on described oar seat.
The end of described horn is connected with installing plate, and described steering wheel A is fixed on installing plate.
Two described undercarriages are arranged in angle.
This utility model has advantages below：
（1）Action is rapid, flexible.Under four rotor flying patterns, unmanned plane can be flown quickly.And which is skyborne
Flight allows which across most of earth bulging and complicated landform so as to be able to very fastly mobile.
（2）Sphere of action is extensive.Various places, and big portion can neatly be flown to the unmanned plane that four rotor modes are flown
Divide the height of required by task, and its landing is hardly constrained by orographic condition.
（3）Under ground run pattern, the unmanned plane endurance is stronger.Unmanned plane under ground run pattern compared to
Four rotor flying patterns can save substantial amounts of energy expenditure.
（4）Movement is more accurate.Unmanned plane under ground run pattern can be accurately controlled displacement and mobile road
Footpath, and can accurately be parked in ad-hoc location.
（5）Safety is higher.As, in ground run pattern, to rotate compared with low velocity, unmanned aerial vehicle is to obstacle for wheel
After thing, collision will not cause larger infringement to unmanned plane and barrier.
Description of the drawings
Fig. 1 is structural representation of this utility model under four rotor flying mode states；
Fig. 2 is structural representation of this utility model under ground run mode state；
Fig. 3 is the scheme of installation of horn of the present utility model and pattern switching mechanism；
Fig. 4 is the structural representation of multidiameter of the present utility model；
Top views of the Fig. 5 for Fig. 1；
Top views of the Fig. 6 for Fig. 2；
In figure, 1- bodies, 2- horns, 3- steering wheel A, 4- steering engine seats, 5- brushless electric machines, 6- multidiameters, 7- oar seats, 8- spirals
Oar, 9- unilateral bearings, 10- wheels, 11- steering wheel B, 12- undercarriages, 13- card articles, 14- installing plates, 15- output shafts.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described, protection domain of the present utility model be not limited to
Lower described：
As shown in Figure 1 or 2, a kind of air-ground amphibious four rotor wing unmanned aerial vehicle, it includes unmanned plane body 1 and is arranged at body
Control unit and battery in 1, four corners of described body 1 are respectively connected with horn 2, and four horns 2 divide in X-shaped
Cloth, the angle between two neighboring horn 2 are 90 °, and the end of four horns 2 is respectively connected with pattern switching mechanism.
As shown in Fig. 1 ~ 6 and Fig. 5, pattern switching mechanism is by steering wheel A3, steering engine seat 4, brushless electric machine 5, multidiameter 6, oar seat
7th, propeller 8, unilateral bearing 9 and wheel 10 are constituted, and steering wheel A3 is fixed on the end of horn 2, and steering engine seat 4 is U-bracket, steering wheel
A3 is located in steering engine seat 4, and the outfan of steering wheel A3 is connected with the side wall of steering engine seat 4, and the top fixed installation of steering engine seat 4 whether there is
Brush motor 5, brushless electric machine 5 are arranged perpendicular to the top surface of steering engine seat 4, have been sequentially connected with oar seat on the output shaft 15 of brushless electric machine
7 and multidiameter 6, multiple propellers 8 are installed on oar seat 7, three propellers 8 in the present embodiment, are adopted, three propellers 8 are in three
Angular distribution, is provided with unilateral bearing 9 on the little axle of multidiameter 6, the rotation of wheel 10 is installed on unilateral bearing 9, wheel 10
Length of the radius more than propeller 8.When brushless electric machine 5 is rotated forward, 9 activity of unilateral bearing, brushless electric machine 5 can only drive spiral
Oar 8 is rotated；When brushless electric machine 5 is inverted, unilateral bearing 9 is locked, and brushless electric machine 5 drives propeller 8 and wheel 10 to turn simultaneously
Dynamic, when the direction of rotation for therefore making brushless electric machine 5 rotate with driving moment 10 and unmanned plane during flying the rotation side of brushless electric machine 5
To conversely, so as to brushless electric machine 5 will not be rotated with motor car wheel 10 in unmanned plane during flying, only propeller 8 can be driven to rotate.
As shown in figure 1, the bottom of body 1 is fixed with two steering wheel B11, the outfan of two steering wheel B11 has been respectively connected with
Fall frame 12, and two undercarriages 12 are arranged in angle, and described control unit is connected with brushless electric machine 5, steering wheel A3 and steering wheel B11,
Steering wheel A and steering wheel B output torques can be controlled by control unit, i.e. steering wheel A changes the tilt angle of brushless electric machine 5 and horizontal plane
Degree, steering wheel B change the lifting of undercarriage 12.Battery is connected with control unit and brushless electric machine 5, and battery is used for brushless electric machine 5
Power with control unit.
Spoke is provided with described wheel 10 is cylindrical, and the top of body 1 is provided with four card articles 13, when wheel and ground
When parallel, the end of card article 13 is just stuck in the gap of spoke, prevents wheel 10 in unmanned plane during flying with brushless electric machine 5
Rotation, because individual event bearing 9 is difficult to prevent which to drive when brushless electric machine 5 is rotated with a direction completely in practice
Motor car wheel 10 rotates, and therefore card article 13 plays a part of further to pin wheel 10.The end of described horn 2 is connected with installation
Plate 14, described steering wheel A3 are fixed on installing plate 14.
The unmanned plane has both of which：A kind of is four rotor flying patterns, when propeller 8 is with plane-parallel, leads to
Crossing brushless electric machine 5 drives propeller 8 make the unmanned plane during flying；Another kind of is ground run pattern, when wheel 10 and level
When face is vertical, due to wheel 10 contact with ground and and horizontal plane, the nothing can be made by 5 driving moment 10 of brushless electric machine
Man-machine in the way of dolly in ground run, and the conversion of both patterns can pass through four steering wheel A3 and realize.Work as unmanned plane
When being in four rotor flying patterns, gear down；When unmanned plane is in ground run pattern, gear up.
Work process of the present utility model is：When unmanned plane is from four rotor flying patten transformations to ground run pattern,
Unmanned plane first contacts ground from aerial landing, undercarriage, and then control steering wheel A3 output torques make wheel 10 and propeller 8 and ground
Face is vertical, and now wheel 10 is in liftoff state and undercarriage is not packed up, and subsequently control steering wheel B11 output torques receive undercarriage
Rise, wheel 10 contacts ground, unmanned plane enters ground run pattern, last need to control brushless electric machine 5 and invert, 10 turns of wheel
Dynamic.When unmanned plane is from ground run patten transformation to four rotor flying patterns, control steering wheel B11 outputs opposing torque makes to rise and fall
Frame puts down, and now wheel 10 departs from ground, and subsequently control steering wheel A3 outputs opposing torque makes wheel 10 and propeller 8 put down with ground
OK, unmanned plane enters four rotor flying patterns, and last need to control brushless electric machine 5 and rotate forward, and only propeller 8 is rotated.This
Way make unmanned plane in landing will not the stall because propeller 8 leaves horizontality in advance, mitigate and be subject to when body lands
Impact, also makes unmanned plane that wheel 10 will not be allowed when taking off to scrape with ground, so as to improve the service life of the unmanned plane.
The control of the unmanned plane undercarriage shares same control chip with MODAL TRANSFORMATION OF A steering wheel.Due to undercarriage and steering wheel
Angle be all to be determined by pwm pulse bandwidth modulation ripple, therefore control chip is arranged at least 5 PWM output, a use by us
In control undercarriage, four additional controls four MODAL TRANSFORMATION OF A steering wheels respectively.It is four rotor flyings in ground run patten transformation
During pattern, the change occurred in structure is turned to gear down, and MODAL TRANSFORMATION OF A steering wheel is by 0oIt is changed into 90o；Fly in four rotors
During row mode is converted to ground run pattern, become and MODAL TRANSFORMATION OF A steering wheel is turned to by 90oSwitch to 0o, gear up.Cause
This, control chip will export different PWM ripples in the two different transformation processs, now need one to set control chip
A numeral input or simulation input detection mouth is put, this detection mouth is connected to any passage 1 to 4 in addition to 1 to 4 of receiver
Passage is used for controlling four brushless electric machines, and this passage is set to two sections of switching regulators on a remote control, i.e., in remote control, switch is located at 0
Or the receiver passage will export unlike signal when 1, it is right to complete that the variable signal makes control unit export different pwm signals
Undercarriage and the control of conversion steering wheel.
Claims (7)
1. a kind of air-ground amphibious four rotor wing unmanned aerial vehicle, it is characterised in that：It includes unmanned plane body（1）Be arranged at body（1）
Interior control unit and battery, described body（1）Four corners be respectively connected with horn（2）, four horns（2）End
Pattern switching mechanism is respectively connected with, pattern switching mechanism is by steering wheel A（3）, steering engine seat（4）, brushless electric machine（5）, multidiameter（6）、
Oar seat（7）, propeller（8）, unilateral bearing（9）And wheel（10）Composition, steering wheel A（3）It is fixed on horn（2）End, steering wheel
Seat（4）For U-bracket, steering wheel A（3）It is located at steering engine seat（4）Interior, steering wheel A（3）Outfan and steering engine seat（4）Side wall connect
Connect, steering engine seat（4）Top be installed with brushless electric machine（5）, brushless electric machine（5）Perpendicular to steering engine seat（4）Top surface set
Put, the output shaft of brushless electric machine（15）On be sequentially connected with oar seat（7）And multidiameter（6）, oar seat（7）On multiple spirals are installed
Oar（8）, multidiameter（6）Little axle on unilateral bearing is installed（9）, wheel（10）Rotation is installed on unilateral bearing（9）On, wheel
（10）Radius be more than propeller（8）Length, described body（1）Bottom be fixed with two steering wheel B（11）, two steering wheels
B（11）Outfan be respectively connected with undercarriage（12）, described control unit and brushless electric machine（5）, steering wheel A（3）With steering wheel B
（11）Connection, battery and control unit and brushless electric machine（5）Connection.
2. air-ground amphibious four rotor wing unmanned aerial vehicle of one kind according to claim 1, it is characterised in that：Described two neighboring machine
Arm（2）Between angle be 90 °.
3. air-ground amphibious four rotor wing unmanned aerial vehicle of one kind according to claim 1, it is characterised in that：Described wheel（10）Outward
Spoke is provided with circle.
4. air-ground amphibious four rotor wing unmanned aerial vehicle of one kind according to claim 1, it is characterised in that：Described body（1）'s
Top is provided with four card articles（13）.
5. air-ground amphibious four rotor wing unmanned aerial vehicle of one kind according to claim 1, it is characterised in that：Described oar seat（7）On
Three propellers are installed（8）.
6. air-ground amphibious four rotor wing unmanned aerial vehicle of one kind according to claim 1, it is characterised in that：Described horn（2）'s
End is connected with installing plate（14）, described steering wheel A（3）It is fixed on installing plate（14）On.
7. air-ground amphibious four rotor wing unmanned aerial vehicle of one kind according to claim 1, it is characterised in that：Two described undercarriages
（12）Arrange in angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621040196.8U CN206012247U (en) | 2016-09-07 | 2016-09-07 | A kind of air-ground amphibious four rotor wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621040196.8U CN206012247U (en) | 2016-09-07 | 2016-09-07 | A kind of air-ground amphibious four rotor wing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206012247U true CN206012247U (en) | 2017-03-15 |
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ID=58259075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621040196.8U Active CN206012247U (en) | 2016-09-07 | 2016-09-07 | A kind of air-ground amphibious four rotor wing unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206012247U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106986019A (en) * | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
-
2016
- 2016-09-07 CN CN201621040196.8U patent/CN206012247U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106114099B (en) * | 2016-09-07 | 2017-10-31 | 电子科技大学 | A kind of air-ground amphibious four rotor wing unmanned aerial vehicle |
| CN106986019A (en) * | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
| CN106986019B (en) * | 2017-04-17 | 2023-05-30 | 四川建筑职业技术学院 | Motor cabinet capable of changing inclination angle of rotary wing surface of multi-rotor unmanned aerial vehicle |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |