CN-121757421-B - Coaxial four-rotor land-air amphibious unmanned aerial vehicle platform

CN121757421BCN 121757421 BCN121757421 BCN 121757421BCN-121757421-B

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a coaxial four-rotor aeroamphibious unmanned aerial vehicle platform, which comprises an unmanned aerial vehicle main body, wherein a bottom bridge is installed at the bottom of the unmanned aerial vehicle main body, a turning rod is rotatably installed on the outer wall of one side of the bottom bridge, a driving wheel is installed at one end of the turning rod, a barrier crossing wheel is installed at the other end of the turning rod, and an adjusting component for driving the turning rod to rotatably switch the advancing mode of the unmanned aerial vehicle main body is installed at the middle positions of the two groups of driving wheels. The equipment is matched with accessories such as an adjusting motor, a piston cylinder, a compression ring, an inner cylinder, a piston block, a hinge rod, a turning rod, a driving wheel and an obstacle crossing wheel, the adjusting motor drives the compression ring to rotate and move along the piston cylinder, and extrusion damping liquid pushes the piston block to drive the hinge rod to slide, so that the turning rod rotates to switch the gesture of the driving wheel and the obstacle crossing wheel, the switching of the equipment travelling mode is realized, the travelling stability of the equipment on complex rugged and pothole pavement is improved, and the tipping risk is reduced.

Inventors

CHANG JIAN
WANG YAHUI
LIU XIAOCONG
WANG ZHENGQI
LIU GONGZHENG
CHANG SHANQIANG

Assignees

北京凌天智能装备集团股份有限公司
江苏凌天智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260303

Claims (10)

1. The coaxial four-rotor land-air amphibious unmanned aerial vehicle platform comprises an unmanned aerial vehicle main body, a bottom bridge is installed at the bottom of the unmanned aerial vehicle main body, and is characterized in that a turning rod is rotatably installed on the outer wall of one side of the bottom bridge, a driving wheel is installed at one end of the turning rod, obstacle crossing wheels are installed at the other end of the turning rod, adjusting components for driving the turning rod to rotate and switch the advancing mode of the unmanned aerial vehicle main body are installed at the middle positions of the two groups of driving wheels, the adjusting components comprise hinge rods coaxially hinged to one side of the two groups of driving wheels, the two groups of hinge rods are in symmetrical relation, one ends of the two groups of hinge rods are hinged, a middle wheel is rotatably installed at the hinged position of the two groups of hinge rods, piston cylinders are slidably installed on the outer walls of the two groups of the hinge rods, damping liquid is filled in the inner cavity of the piston cylinders, a compression ring is in threaded connection with the inner wall of the compression ring, an inner cylinder is slidably inserted in the inner cavity of the inner cylinder, hollow structures capable of driving the damping liquid to flow are arranged at the two ends of the inner cylinder, an electric control flow valve is fixedly installed on the outer wall of the piston cylinder, the electric control flow valve is fixedly connected with the outer wall of the two groups of the piston cylinder through a connecting rod, and the electric control valve is fixedly connected with the output shaft of the piston tube at the two ends of the piston tube respectively.
2. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 1, wherein a power battery for providing additional energy for equipment pavement travel is fixed on the upper surface of the bottom bridge, the bottom of the unmanned aerial vehicle main body is fixedly connected with the bottom bridge through a quick-dismantling piece, and the driving wheels and the obstacle surmounting wheels are communicated with a control system through wires.
3. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 1, wherein a sliding sleeve is rotatably arranged on the outer wall of one side of the piston cylinder, the sliding sleeve is slidably sleeved on the smooth outer wall of the hinge rod, and a first limiting piece is fixed on the lower surface of one group of the piston cylinders.
4. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 3, wherein a second limiting piece is fixed on the lower surface of the other group of the piston cylinders, and the first limiting piece and the second limiting piece are in sliding penetrating relation.
5. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 4, wherein a limiting block matched with a second limiting piece is fixed on the lower surface of the adjusting motor, the second limiting piece penetrates through the limiting block, the second limiting piece and the limiting block form a sliding penetration relation, and the adjusting motor is communicated with the control system through a wire.
6. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 1, wherein the cross section of the piston block is rectangular with smooth chamfer angles, and the cross section of the inner cavity of the inner cylinder is consistent with the cross section of the piston block.
7. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 1, wherein the two groups of piston cylinders are in symmetrical relation, the inner cylinder is in a double-opening tubular shape, a plurality of groups of limit strips are fixed on the outer wall of the inner cylinder at equal angles around the axis, and through holes with matched sizes and shapes are formed in contact positions of the compression ring, the inner cylinder and the limit strips.
8. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 1, wherein sealing elements are arranged at the contact positions of the inner cylinder and the compression ring, the inner wall of the piston block and the inner cylinder and the contact positions of the piston cylinder and the connecting rod, and the connecting rod penetrates through the axis position of one end of the piston cylinder.
9. The land-air amphibious unmanned aerial vehicle platform with the coaxial four rotors of claim 1, wherein the inner cylinder is rotatably arranged on the inner wall of the piston cylinder, the axis of the inner cylinder is coincident with that of the piston cylinder, and the middle wheel and the electric control flow valve are both communicated with the control system through wires.
10. The land-air amphibious unmanned aerial vehicle platform of claim 1, wherein the driving wheel coincides with the path of travel of the obstacle detouring wheel and the driving wheel is parallel with the path of travel of the center wheel.

Description

Coaxial four-rotor land-air amphibious unmanned aerial vehicle platform Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a coaxial four-rotor wing land-air amphibious unmanned aerial vehicle platform. Background Multi-rotor unmanned aerial vehicles have gained wide applications such as military surveillance, logistics distribution, environmental monitoring, pesticide spraying, search and rescue operations, etc. by virtue of their fast vertical takeoff capability and flexible air flight capability. However, it is worth mentioning that the multi-rotor unmanned aerial vehicle has some disadvantages such as high energy consumption, short flight time, high noise, etc., which make it difficult to complete tasks requiring long endurance and high secrecy, and meanwhile, when the unmanned aerial vehicle is required to move widely into a narrow space to perform a specific task, the multi-rotor unmanned aerial vehicle cannot perform flight movement due to space limitation, so that the designated task cannot be completed. In recent years, therefore, research on amphibious unmanned aerial vehicles has been gradually started by combining the advantages of multi-rotor unmanned aerial vehicles and mobile robots. However, the existing unmanned aerial vehicle still has the following defects that firstly, the unmanned aerial vehicle is often used in complex scenes such as field investigation, post-disaster rescue, material conveying and the like, when the unmanned aerial vehicle travels on a road surface, sudden road surface changes (such as deep pits and protrusions suddenly appear), the unmanned aerial vehicle needs to travel on the complex road surface for a long time, the vibration environment is continuously present, equipment jolt and tipping are easy to be caused, and then a machine body part is damaged, and an operation task is interrupted. Disclosure of Invention The invention aims to solve the technical problem that the prior art has the defect that the land stable and safe running of an unmanned aerial vehicle is limited by a complex road surface, and provides a coaxial four-rotor land-air amphibious unmanned aerial vehicle platform. The coaxial four-rotor land-air amphibious unmanned aerial vehicle platform comprises an unmanned aerial vehicle main body, wherein a bottom bridge is installed at the bottom of the unmanned aerial vehicle main body, a turning rod is rotatably installed on the outer wall of one side of the bottom bridge, a driving wheel is installed at one end of the turning rod, an obstacle crossing wheel is installed at the other end of the turning rod, an adjusting component for driving the turning rod to rotatably switch the advancing mode of the unmanned aerial vehicle main body is installed at the middle position of the driving wheel, the adjusting component comprises hinge rods coaxially hinged with one side of the driving wheels of the two groups, the hinge rods of the two groups are in symmetrical relation, one ends of the hinge rods of the two groups are hinged, a middle wheel is rotatably installed at the hinged position of the hinge rods of the two groups, piston cylinders are slidably installed on the outer walls of the hinge rods, damping liquid is filled in the inner cavity of the piston cylinders, a compression ring is slidably connected with the inner wall of the piston cylinders, hollow structures for enabling the damping liquid to flow are arranged at the two ends of the inner cylinders in a sliding mode, a motor is fixedly installed on the outer wall of the piston cylinders, a connecting rod is fixedly connected with the outer wall of the piston cylinders, and the two ends of the piston cylinders are fixedly connected with the output shafts of the piston cylinders respectively through connecting shafts of the two electric control valves. Preferably, the upper surface of bottom crane span structure is fixed with the power battery that is used for providing extra energy for equipment road surface marcing, unmanned aerial vehicle main part bottom is fixed with bottom crane span structure connection through quick release spare, drive wheel and obstacle crossing wheel all communicate with control system through the wire. Preferably, a sliding sleeve is rotatably arranged on the outer wall of one side of the piston cylinder, the sliding sleeve is sleeved on the smooth outer wall of the hinge rod in a sliding manner, and a group of first limiting parts are fixed on the lower surface of the piston cylinder. Preferably, a second limiting piece is fixed on the lower surface of the other group of piston cylinders, and the first limiting piece and the second limiting piece are in sliding penetrating relation. Preferably, the lower surface of the adjusting motor is fixed with a limiting block matched with a second limiting piece, the second limiting piece penetrates through the limiting block, the second limiting piece and the limiting bl