CN109367776A

CN109367776A - A portable drone that can take off and land on water

Info

Publication number: CN109367776A
Application number: CN201811316199.3A
Authority: CN
Inventors: 韦号; 崔海华; 张逢骏; 张小迪; 方舟; 石�诚
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2018-11-07
Filing date: 2018-11-07
Publication date: 2019-02-22

Abstract

The invention discloses it is a kind of can landing waterborne Portable unmanned machine, include upper casing, lower casing, rotating mechanism and first to fourth rotor mechanism；First to fourth rotor mechanism includes horn, motor and propeller；The shaft that the outside end of horn, output shaft and propeller is arranged in motor is connected；Lower casing includes side wall, baffle ring and bottom plate；Rotating mechanism includes steering engine, shaft and first to fourth spiral arm.The present invention pulls the horn of first to fourth rotor mechanism by rotating mechanism, realizes the function that horn is stretched out and taken in.

Description

It is a kind of can landing waterborne Portable unmanned machine

Technical field

The present invention relates to vehicle technology field, in particular to it is a kind of can landing waterborne Portable unmanned machine.

Background technique

Quadrotor can realize that the pitching of aircraft is rolled and inclined by controlling the revolving speed of four propellers Boat.It is compared to other kinds of aircraft, quadrotor can easily realize some highly difficult flare maneuvers, can With VTOL, hovering, inverted flight etc..Its navigability it is stronger and fly it is more stable, therefore its in life compared with other fly Row device is more common, also has broader practice prospect.

" ten " word and " X " font are that the most common quadrotor is laid out and horn is structure as a whole with fuselage, spiral at present Paddle is exposed, and occupied space is big.Exposed rotor is easily damaged during transportation, and occupies biggish transport space.Furthermore Common quadrotor can only can not achieve landing waterborne in land landing, be unable to satisfy the neck such as fishery and water quality detection The demand in domain needs a kind of aircraft that can be realized land and water landing.

Summary of the invention

The technical problem to be solved by the present invention is to for defect involved in background technique, providing one kind can be waterborne The Portable unmanned machine of landing.

The present invention uses following technical scheme to solve above-mentioned technical problem:

It is a kind of can landing waterborne Portable unmanned machine, include upper casing, lower casing, rotating mechanism and first to fourth gyroplane Structure；

First to fourth rotor mechanism includes horn, motor and propeller；The outer of the horn is arranged in the motor The shaft of side end, output shaft and the propeller is connected；

The lower casing includes side wall, baffle ring and bottom plate；The side wall and baffle ring are annular in shape, are arranged concentrically, lower end surface and The bottom plate is connected；Be uniformly provided on the side wall horn in four and first to fourth rotor mechanism it is one-to-one, The horn slot of stretching is protruded into for it, and is set on the upper surface of side wall there are two location hole；Be uniformly provided on the baffle ring four and Horn is one-to-one in first to fourth rotor mechanism, the horn hole of stretching is protruded into for it；

The upper casing is in spherical shell shape, which is provided with the one-to-one rotor slot of horn slot on four and the side wall, for described the One into quadrotor mechanism propeller protrude into stretching；And set that there are two positioning columns and described two fixed on the lower end surface of upper casing Position hole corresponds interference fit, so that upper casing is fixed on the lower casing；

The horn hole includes four sides up and down, wherein and left and right side is parallel to each other, and upper and lower side is symmetrical, It is formed by baffle ring inner wall to the gradually smaller through-hole of baffle ring outer wall；

The horn includes arm head interconnected and arm body, and the arm body is from horn corresponding with horn hole, horn slot It stretches out；The arm head is arranged in the baffle ring, itself and arm body junction are equipped with and match respectively with horn hole upper and lower side Upper lower inclined plane, and the rotating hole that arm head is equipped with and the rotating mechanism matches；

The rotating hole includes four side walls up and down, wherein top and bottom sidewall is parallel to each other, and left and right sidewall is the arc of protrusion Face；

The rotating mechanism includes steering engine, shaft and first to fourth spiral arm；The steering engine is fixed on the upper casing inner wall On, one end of output shaft and the shaft is connected；The other end of the shaft passes through the center of bearing and the lower casing bottom plate It is connected；The side wall of first to fourth spiral arm one end and the shaft be connected, the other end correspond across described first to Rotating hole in quadrotor mechanism on horn arm head；

The steering engine is for driving the shaft to rotate forward perhaps reversion so that first to fourth rotor mechanism retraction or stretching institute It states in side wall.

As one kind of the present invention can landing waterborne the further prioritization scheme of Portable unmanned machine, described two positioning columns Line pass through the side wall the center of circle.

As one kind of the present invention can landing waterborne the further prioritization scheme of Portable unmanned machine, the bottom surface of the bottom plate In the arc-shaped protruded outward.

The invention adopts the above technical scheme compared with prior art, has following technical effect that

It is compared to traditional unmanned plane, present invention occupancy is small in size, easy to carry.The present invention drives rotating mechanism rotation by steering engine Turning, its spiral arm drives horn inwardly to move when rotating mechanism rotates, and it is retracted to horn to reduce its occupied space in upper casing, When horn is fully deployed, two inclined-planes cooperate up and down in two inclined-planes and hole on horn, while the rotating arm of rotating mechanism Just the side circular arc side for resisting horn square hole is provided in inclined-plane and the lower casing interior annular that certain pressure makes on horn Hole outer inclined-plane is fitted close, and horn is effectively fixed.

Landing waterborne and land landing may be implemented in the present invention, and the bottom surface of lower casing is cambered surface, can provide for aircraft floating Power makes it float on the surface, and can reduce water when water takeoff to the viscous force of aircraft, aircraft is made smoothly to take off.? The lower casing of arc-shaped passes through shaking in aircraft when being contacted with ground and reduces rigid shock when terrain landing.

Detailed description of the invention

Schematic diagram when Fig. 1 is present invention stretching, extension；

Fig. 2 is that the present invention removes the structural schematic diagram after upper casing and steering engine；

Fig. 3 is the structural schematic diagram that first to fourth spiral arm and shaft match in the present invention；

Fig. 4 is the structural schematic diagram of horn in the present invention；

Fig. 5 is the schematic diagram when present invention is shunk；

Fig. 6 is the structural schematic diagram of upper casing in the present invention；

Fig. 7 is lower casing half-section diagram in the present invention.

In figure, 1- upper casing, 2- motor, 3- propeller, 4- horn, 5- lower casing, 6- side wall, 7- lower casing cylindrical hole, 8- baffle ring, 9- shaft, the first spiral arm of 10-, 11- arm head, 12- arm body, the ramp of 13- arm head, 14- rotating hole, 15- positioning column, 16- machine Arm aperture.

Specific embodiment

Technical solution of the present invention is described in further detail with reference to the accompanying drawing:

The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art. In the accompanying drawings, for the sake of clarity it is exaggerated component.

As shown in Figure 1 and Figure 2, the invention discloses it is a kind of can landing waterborne Portable unmanned machine, comprising upper casing, lower casing, Rotating mechanism and first to fourth rotor mechanism.

First to fourth rotor mechanism includes horn, motor and propeller；The outside end, defeated of horn is arranged in motor The shaft of shaft and propeller is connected.

Lower casing includes side wall, baffle ring and bottom plate；Side wall and baffle ring are annular in shape, are arranged concentrically, lower end surface and bottom plate It is connected；The machine that horn in four and first to fourth rotor mechanism protrudes into stretching correspondingly, for it is uniformly provided on side wall Arm slot, and set on the upper surface of side wall there are two location hole；It is uniformly provided on baffle ring in four and first to fourth rotor mechanism Horn is one-to-one, the horn hole of stretching is protruded into for it.

As shown in fig. 6, upper casing is in spherical shell shape, the one-to-one rotor slot of horn slot on four and side wall which is provided with, supply Propeller protrudes into stretching in first to fourth rotor mechanism；And positioning column and two positioning there are two being set on the lower end surface of upper casing Hole corresponds interference fit, so that upper casing is fixed on lower casing.

Horn hole includes four sides up and down, wherein and left and right side is parallel to each other, and upper and lower side is symmetrical, It is formed by baffle ring inner wall to the gradually smaller through-hole of baffle ring outer wall.

As shown in figure 4, horn includes arm head interconnected and arm body, arm body is from horn corresponding with horn hole, machine It is stretched out in arm slot；Arm head is arranged in baffle ring, itself and arm body junction be equipped with matched respectively with horn hole upper and lower side it is upper Lower inclined plane, and the rotating hole that arm head is equipped with and rotating mechanism matches.

Rotating hole includes four side walls up and down, wherein top and bottom sidewall is parallel to each other, and left and right sidewall is the arc of protrusion Face.

As shown in figure 3, rotating mechanism includes steering engine, shaft and first to fourth spiral arm；Steering engine is fixed on upper casing inner wall On, one end of output shaft and shaft is connected；The other end of shaft is connected by bearing with the center of lower casing bottom plate；First to The side wall of four spiral arm one end and shaft is connected, the other end corresponds on horn arm head in first to fourth rotor mechanism Rotating hole.

Steering engine is for driving shaft to rotate forward perhaps reversion so that first to fourth rotor mechanism retraction or stretching side wall It is interior.State, the position Fig. 5 retraction state are stretched out in the position Fig. 1.

The line of two positioning columns passes through the center of circle of side wall.

As shown in fig. 7, the bottom surface of lower casing bottom plate is in the arc-shaped protruded outward.

It is compared to traditional unmanned plane, present invention occupancy is small in size, easy to carry.The present invention drives whirler by steering engine Structure rotation, its spiral arm drives horn inwardly to move when rotating mechanism rotates, and is retracted to horn in upper casing to reduce its occupancy Space, when horn is fully deployed, two inclined-planes cooperate up and down in two inclined-planes and hole on horn, while the rotation of rotating mechanism Pivoted arm resists the side circular arc side of horn square hole just, and providing certain pressure makes inclined-plane on horn and lower casing interior annular On hole outer inclined-plane be fitted close, horn effectively fixed.

The signal control flaps that the present invention can also further include signal receiver and be received according to signal receiver The control chip of machine work.

Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.

Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention Protection scope within.

Claims

1. a portable unmanned aerial vehicle that can take off and land on water, is characterized in that, comprises upper shell, lower shell, rotating mechanism and first to fourth rotor mechanism;

The first to fourth rotor mechanisms all include an arm, a motor and a propeller; the motor is arranged on the outer end of the arm, and the output shaft is fixedly connected with the rotating shaft of the propeller;

The lower shell includes a side wall, a blocking ring and a bottom plate; the side wall and the blocking ring are arranged in an annular shape and are concentrically arranged, and the lower end face is fixedly connected with the bottom plate; The arms in the first to fourth rotor mechanisms correspond one-to-one, and the arm grooves for them to extend into and out, and two positioning holes are provided on the upper end surface of the side wall; the baffle ring is evenly provided with Four machine arm holes corresponding to the machine arms in the first to fourth rotor mechanisms for extending in and out;

The upper shell is in the shape of a spherical shell, and is provided with four rotor slots corresponding to the arm slots on the side walls one-to-one, for the propellers in the first to fourth rotor mechanisms to extend in and out; The lower end surface of the shell is provided with two positioning posts, and the two positioning holes correspond to one-to-one interference fit, so that the upper shell is fixed on the lower shell;

The arm holes all include four sides, up and down, left and right, wherein the left and right sides are parallel to each other, and the upper and lower sides are symmetrical to each other, forming a through hole that gradually becomes smaller from the inner wall of the baffle ring to the outer wall of the baffle ring;

The arm includes an arm head and an arm body that are connected to each other, and the arm body protrudes from the arm hole and the arm slot corresponding to the arm; the arm head is arranged in the retaining ring, which and The arm body connection is provided with upper and lower inclined planes respectively matched with the upper and lower sides of the machine arm hole, and the arm head is provided with a rotation hole matched with the rotating mechanism;

The rotating hole includes four side walls, up and down, left and right, wherein the upper and lower side walls are parallel to each other, and the left and right side walls are convex arc surfaces;

The rotating mechanism includes a steering gear, a rotating shaft, and first to fourth rotating arms; the steering gear is fixed on the inner wall of the upper shell, and its output shaft is fixedly connected to one end of the rotating shaft; the other end of the rotating shaft It is connected with the center of the bottom plate of the lower shell through a bearing; one end of the first to fourth rotating arms is fixedly connected with the side wall of the rotating shaft, and the other ends pass through the first to fourth rotor mechanism in a one-to-one correspondence. Swivel hole on arm head;

The steering gear is used to drive the rotating shaft to rotate forwardly or reversely, so that the first to fourth rotor mechanisms retract or extend into the side wall.

2 . The portable unmanned aerial vehicle capable of taking off and landing on water according to claim 1 , wherein the line connecting the two positioning posts passes through the center of the side wall. 3 .

3 . The portable unmanned aerial vehicle capable of taking off and landing on water according to claim 1 , wherein the bottom surface of the bottom plate is in the shape of an arc that protrudes outward. 4 .