CN209739346U - Composite modular multi-purpose investigation unmanned aerial vehicle - Google Patents
Composite modular multi-purpose investigation unmanned aerial vehicle Download PDFInfo
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- CN209739346U CN209739346U CN201821154776.9U CN201821154776U CN209739346U CN 209739346 U CN209739346 U CN 209739346U CN 201821154776 U CN201821154776 U CN 201821154776U CN 209739346 U CN209739346 U CN 209739346U
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- 150000001875 compounds Chemical class 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 5
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Abstract
the utility model discloses a composite modular multi-purpose investigation unmanned aerial vehicle, which comprises an egg-shaped body, and an mechanical arm, a mechanical leg, a rotor module and a camera module which are arranged on the body; the mechanical arms are uniformly distributed at the top of the side surface of the machine body along the circumference, and the top of the machine body is gripped and fixed through the mechanical arms; the mechanical legs are uniformly distributed at the bottom of the side surface of the machine body along the circumference, and the switching between a sliding mode and a walking mode is realized through the mechanical legs; the rotor module includes along the circumference equipartition in the rotor support of fuselage side middle part and installs in the rotor in rotor support outer end, camera module includes along the circumference equipartition in the side position camera in fuselage side middle part and arranges the bottom camera in the fuselage bottom. The utility model discloses can realize unmanned aerial vehicle's aerial flight, hang, the conversion between a plurality of states such as ground crawling, realize all-weather complex environment operation, extreme environment can also be resisted to the dress carapace that has simultaneously, improves self existence and adaptability.
Description
Technical Field
The invention relates to a composite modular multi-purpose investigation unmanned aerial vehicle, and belongs to the technical field of aviation aircrafts.
Background
The development of unmanned aerial vehicles has become the mainstream of the 21 st century. Most of the existing unmanned aerial vehicles meet the functions of aerial photography, surveying and mapping and the like. Most of the mobile devices developed at present are adapted to a single working environment. With the development of science and technology, the flight state under a single scene is not only satisfied. The existing aircraft has weak gliding function when crawling on the land, lands on the water surface, and needs to be enhanced in the capacity of floating for a long time.
Aiming at a light and small unmanned aerial vehicle, the composite modularized unmanned aerial vehicle developed and designed by technical personnel in the field has the action capability of flying, crawling, hovering, hanging and floating, can cope with severe environments such as mountain wars, water surface reconnaissance, toxic gas threats and strong electromagnetic field interference, and maximally ensures the realization of battles or working targets.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the composite modular multi-dwelling investigation unmanned aerial vehicle, which realizes the conversion among multiple states of the unmanned aerial vehicle such as air flight, suspension, ground crawling and the like, realizes all-weather multi-environment work, and has the advantages that the carapace can resist extreme environments, and the survival and adaptability of the unmanned aerial vehicle are improved.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
A composite modular multi-dwelling investigation unmanned aerial vehicle comprises an egg-shaped body, and a mechanical arm, a mechanical leg, a rotor module and a camera module which are arranged on the body;
the mechanical arms are uniformly distributed at the top of the side surface of the machine body along the circumference, each mechanical arm comprises a large arm support rod, a small arm support rod and a mechanical claw which are movably connected in sequence, and the top of the machine body is gripped and fixed by the aid of the large arm support rods, the small arm support rods and the mechanical claws in a stretching and matching mode; the mechanical legs are uniformly distributed at the bottom of the side face of the machine body along the circumference, and comprise thigh support rods, shank support rods and universal wheels which are movably connected in sequence, and the sliding support of the bottom of the machine body is realized through the matching of the thigh support rods, the shank support rods and the universal wheels; the lower leg support rod is also movably connected with a mechanical foot, walking support at the bottom of the machine body is realized through the matching of the upper leg support rod, the lower leg support rod and the mechanical foot, and the switching between a sliding mode and a walking mode is realized through the extension and contraction of the mechanical foot;
The rotor wing module comprises a plurality of rotor wing brackets which are uniformly distributed in the middle of the side surface of the aircraft body along the circumference and rotor wings which are arranged at the outer ends of the rotor wing brackets, an annular opening is formed in the middle of the side surface of the aircraft body, and the inner ends of the rotor wing brackets are movably connected in the annular opening; the camera module comprises a plurality of side cameras uniformly distributed in the middle of the side face of the machine body along the circumference and a bottom camera arranged at the bottom of the machine body, and is used for collecting environmental image information.
furthermore, the large arm supporting rod, the small arm supporting rod and the mechanical claw are movably connected through universal joints, relative movement of the large arm supporting rod, the small arm supporting rod and the mechanical claw can be controlled through a steering engine, and the large arm supporting rod, the small arm supporting rod and the mechanical claw can movably contract into cambered surface plates to be attached to the side face of the machine body. Under the planning judgment of the neural network-like system, the manipulator completes the gripping action by means of the precise matching with the rotor system, and has enough mechanical property to bear the whole weight of the aircraft.
furthermore, the thigh support rod, the calf support rod and the mechanical foot are movably connected through universal joints, and the thigh support rod, the calf support rod and the mechanical foot can movably contract into cambered-surface plate-shaped bodies to be attached to the side face of the machine body.
Furthermore, the inner end of the rotor wing bracket is hinged in the annular opening, and the rotor wing bracket is in an arc plate shape and can be rotationally contracted in the annular opening in the middle of the side surface of the fuselage. The folding modes of the rotor wing, the four-wheel four-leg and the manipulator are accurately calculated and designed, and the folding and unfolding modes which can more effectively utilize the space are selected.
Furthermore, the upper arm support rod and the thigh support rod are hinged with the machine body in a swinging mode, and the lower arm support rod and the lower leg support rod can perform telescopic movement.
Further, the fuselage includes two-layer casing inside and outside, and outer casing surface has arranged solar panel, and the anti-interference safety cover of inlayer casing formation. The outer shell is made of a material capable of resisting high temperature, and the inner shell is designed to be a material capable of resisting electromagnetic radiation and used as a protective layer.
has the advantages that: compared with the prior art, the composite modular multi-purpose investigation unmanned aerial vehicle provided by the invention has the following advantages: 1. the unmanned aerial vehicle can fly in the air, and can also realize various functions of crawling on the ground, hanging and the like, and the appearance of the eggshell shape also enables the unmanned aerial vehicle to have the ability of floating on the water surface, so that the unmanned aerial vehicle is suitable for all-weather complex environment operation; 2. by adopting the modularized design idea, each module can work independently and also can be combined to work, different working requirements are met, the efficiency is improved, and the disassembly and the maintenance are convenient.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a fully collapsed state according to an embodiment of the present invention;
FIG. 4 is a schematic view of a robotic arm according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a robot leg according to an embodiment of the present invention;
FIG. 6 is a schematic view of the mechanical leg in a contracted state according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a side camera in an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a bottom camera in an embodiment of the present invention;
The figure includes: 1. arm, 2, fuselage, 3, rotor module, 4, mechanical leg, 5, camera module, 6, universal wheel, 7, shank branch, 8, thigh branch, 9, forearm branch, 10, big arm branch, 11, gripper, 12, mechanical foot, 13, side position camera, 14, bottom camera.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1-2, the compound modular multi-dwelling unmanned aerial vehicle for investigation comprises an egg-shaped body 2, and a mechanical arm 1, a mechanical leg 4, a rotor module 3 and a camera module 5 which are arranged on the body 2;
the mechanical arm 1 is uniformly distributed at the top of the side surface of the machine body 2 along the circumference, the mechanical arm 1 comprises a large arm support rod 10, a small arm support rod 9 and a mechanical claw 11 which are movably connected in sequence, and the top of the machine body 2 is gripped and fixed by the aid of the large arm support rod 10, the small arm support rod 9 and the mechanical claw 11 in a stretching fit mode; the mechanical legs 4 are uniformly distributed at the bottom of the side face of the machine body 2 along the circumference, the mechanical legs 4 comprise thigh support rods 8, shank support rods 7 and universal wheels 6 which are movably connected in sequence, and sliding support of the bottom of the machine body 2 is realized through the cooperation of the thigh support rods 8, the shank support rods 7 and the universal wheels 6; the shank strut 7 is also movably connected with a mechanical foot 12, walking support at the bottom of the machine body 2 is realized through the matching of the thigh strut 8, the shank strut 7 and the mechanical foot 12, and the switching between a sliding mode and a walking mode is realized through the extension and contraction of the mechanical foot 12;
The rotor wing module 3 comprises four rotor wing brackets uniformly distributed in the middle of the side surface of the fuselage 2 along the circumference and rotor wings arranged at the outer ends of the rotor wing brackets, an annular opening is formed in the middle of the side surface of the fuselage 2, and the inner ends of the rotor wing brackets are movably connected in the annular opening; as shown in fig. 7-8, the camera module 5 includes four sets of side cameras 13 evenly distributed in the middle of the side of the body 2 along the circumference and a bottom camera 14 arranged at the bottom of the body 2, and is used for acquiring environmental image information and capturing images of objects, detecting, surveying and mapping, wherein each set of side cameras 13 includes two cameras arranged in parallel, so that images of objects can be captured from different angles, and the function of augmented reality is realized.
as shown in fig. 3-6, the large arm support rod 10, the small arm support rod 9 and the gripper 11 are movably connected through a universal joint, and the large arm support rod 10, the small arm support rod 9 and the gripper 11 can be movably contracted into a cambered plate shape to be attached to the side surface of the machine body 2; the thigh support rod 8, the calf support rod 7 and the mechanical foot 12 are movably connected through universal joints, and the thigh support rod 8, the calf support rod 7 and the mechanical foot 12 can movably contract into cambered-surface-plate-shaped bodies to be attached to the side face of the machine body 2; the rotor wing bracket is hinged in the annular opening, is in an arc plate shape and can be rotationally contracted in the annular opening in the middle of the side surface of the machine body 2.
In this embodiment, the upper arm strut 10 and the thigh strut 8 are hinged with the body 2 in a swinging manner, and the lower arm strut 9 and the lower leg strut 7 can perform telescopic movement; the machine body 2 comprises an inner shell and an outer shell, a solar power generation board is arranged on the surface of the outer shell, and an anti-interference protective cover is formed on the inner shell.
the specific embodiment of the invention is as follows:
The invention designs a composite modular multi-purpose investigation unmanned aerial vehicle, which mainly comprises three modules: arm 1, rotor system 3 and mechanical leg 4, each module can the autonomous working, and the split of being convenient for is looked the work demand concatenation.
The mechanical arm 1 is provided with a small arm support rod 9 and a large arm support rod 10 which move in multiple degrees of freedom, the mechanical claw 11 can realize a high-altitude grabbing function, and meanwhile, the small arm support rod 9, the large arm support rod 10 and the mechanical claw 11 can also be contracted on the side face of the machine body 2 through matching; the rotor wing module 3 is used for providing the lift force of the unmanned aerial vehicle, and when the unmanned aerial vehicle walks on the ground, the rotor wing is retracted in the body 2; the mechanical legs 4 are retracted to the side face of the unmanned aerial vehicle body 2 when the unmanned aerial vehicle flies normally, and are automatically unfolded when the unmanned aerial vehicle falls to the ground, so that the mechanical feet 12 contact the ground firstly to realize walking; the bottom camera 14 senses the ground condition, when the ground meets a flat road, the sliding mode is automatically switched from the walking mode, namely the mechanical foot 12 is contracted, and the universal wheel 6 is switched to contact the ground, so that the rapid movement is realized. When unmanned aerial vehicle realized flying, mechanical foot 12 can realize contracting in fuselage 2 side, reduces the air resistance.
four groups of side position cameras 13 are installed in the middle of the body 2, and help such as surrounding object detection is provided when the unmanned aerial vehicle works. Fuselage 2 is the eggshell shape for unmanned aerial vehicle possesses the ability of floating at the surface of water, and the surface arranges solar panel, realizes charging, and all-weather work, inside and outside double-deck design provides certain guard action.
the fuselage skin is made of a material selected to withstand high temperatures and is designed as a protective layer on the inner layer against electromagnetic radiation. The folding modes of the rotor, the four-wheel four-leg and the two manipulators are accurately calculated and designed, and the folding and unfolding modes which can more effectively utilize the space are selected. The armor is divided into two layers. The outer layer armor is designed to reduce direct environmental damage to rotor wings, manipulators and other functional components when necessary. The inner protective shell is equivalent to a protective cover for resisting electromagnetism and other strong interference, and has the protective capability of resisting damage of other limits.
The invention discloses a composite modular multi-purpose investigation unmanned aerial vehicle, which belongs to a light and small unmanned aerial vehicle. The shell adopts a smooth streamline shape and a good processing technology.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A composite modular multi-dwelling investigation unmanned aerial vehicle is characterized by comprising an egg-shaped body (2), and a mechanical arm (1), a mechanical leg (4), a rotor module (3) and a camera module (5) which are arranged on the body (2);
The mechanical arm (1) is uniformly distributed at the top of the side face of the machine body (2) along the circumference, and the mechanical arm (1) comprises a large arm support rod (10), a small arm support rod (9) and a mechanical claw (11) which are movably connected in sequence, and the gripping and fixing of the top of the machine body (2) are realized through the extending matching of the large arm support rod (10), the small arm support rod (9) and the mechanical claw (11); the mechanical legs (4) are uniformly distributed at the bottom of the side face of the machine body (2) along the circumference, the mechanical legs (4) comprise thigh support rods (8), shank support rods (7) and universal wheels (6) which are movably connected in sequence, and sliding support of the bottom of the machine body (2) is realized through the matching of the thigh support rods (8), the shank support rods (7) and the universal wheels (6); the lower leg support rod (7) is also movably connected with a mechanical foot (12), walking support at the bottom of the machine body (2) is realized through the matching of the upper leg support rod (8), the lower leg support rod (7) and the mechanical foot (12), and the switching between a sliding mode and a walking mode is realized through the extension and contraction of the mechanical foot (12);
The rotor wing module (3) comprises a plurality of rotor wing brackets which are uniformly distributed in the middle of the side surface of the aircraft body (2) along the circumference and rotor wings which are arranged at the outer ends of the rotor wing brackets, an annular opening is formed in the middle of the side surface of the aircraft body (2), and the inner ends of the rotor wing brackets are movably connected in the annular opening; camera module (5) are including following a plurality of side position cameras (13) of circumference equipartition in fuselage (2) side middle part and bottom camera (14) of fuselage (2) bottom for realize gathering environmental image information.
2. the compound modularized multi-dwelling unmanned aerial vehicle for investigation according to claim 1, wherein the large arm support rod (10), the small arm support rod (9) and the gripper (11) are movably connected through universal joints, and the large arm support rod (10), the small arm support rod (9) and the gripper (11) can be movably contracted into cambered plate shapes to be attached to the side of the fuselage (2).
3. the compound modular multi-dwelling unmanned aerial vehicle according to claim 1, wherein the thigh strut (8), the calf strut (7) and the mechanical foot (12) are movably connected through universal joints, and the thigh strut (8), the calf strut (7) and the mechanical foot (12) can movably contract into cambered plate shapes to fit the side of the fuselage (2).
4. the unmanned aerial vehicle of claim 1, wherein the inner end of the rotor bracket is hinged in the annular opening, and the rotor bracket is arc-shaped and can be rotatably retracted in the annular opening in the middle of the side surface of the fuselage (2).
5. The compound modularized multi-dwelling investigation unmanned aerial vehicle of claim 1, wherein the upper arm strut (10) and the thigh strut (8) are hinged to the fuselage (2) in a swinging manner, and the lower arm strut (9) and the shank strut (7) can perform telescopic movement.
6. The compound modularized multi-dwelling unmanned aerial vehicle for investigation according to claim 1, wherein the fuselage (2) comprises an inner shell and an outer shell, a solar panel is arranged on the surface of the outer shell, and the inner shell forms an anti-interference protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821154776.9U CN209739346U (en) | 2018-07-20 | 2018-07-20 | Composite modular multi-purpose investigation unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821154776.9U CN209739346U (en) | 2018-07-20 | 2018-07-20 | Composite modular multi-purpose investigation unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN209739346U true CN209739346U (en) | 2019-12-06 |
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| CN201821154776.9U Expired - Fee Related CN209739346U (en) | 2018-07-20 | 2018-07-20 | Composite modular multi-purpose investigation unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111158290A (en) * | 2019-12-31 | 2020-05-15 | 埃游科技（深圳）有限公司 | Multi-modal control method and device for unmanned equipment |
| CN112340042A (en) * | 2020-11-16 | 2021-02-09 | 中山大学 | Multifunctional unmanned aerial vehicle |
-
2018
- 2018-07-20 CN CN201821154776.9U patent/CN209739346U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111158290A (en) * | 2019-12-31 | 2020-05-15 | 埃游科技（深圳）有限公司 | Multi-modal control method and device for unmanned equipment |
| CN112340042A (en) * | 2020-11-16 | 2021-02-09 | 中山大学 | Multifunctional unmanned aerial vehicle |
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Granted publication date: 20191206 Termination date: 20210720 |