阅读说明：本技术 一种水空两栖跨介质多旋翼飞行器 (Many rotor crafts of medium are striden to empty amphibious of water ) 是由 霍建文 李洁 王屹洲 朱华 谭立国 郭明明 刘满禄 张华� 肖宇峰 汪双 梁爽 于 2020-05-27 设计创作，主要内容包括：本发明公开了一种水空两栖跨介质多旋翼飞行器,包括机身、涵道推进器及六个旋翼单元；机身包括机身底座和机身顶盖,机身底座和机身顶盖边缘均开有若干螺纹连接孔,二者通过螺钉紧固连接并构成一完整的碟形机身；涵道推进器设置于机身外围,对称安装于机身左右两端面,并通过舵机臂与机身内部的防水舵机相连；机身表面设有六个通孔,旋翼单元即设于此通孔中心,其包括径向机轴、电机槽及三叶螺旋桨,径向机轴中部设置有电机槽,电机槽内安装有无刷电机,三叶螺旋桨即安装于无刷电机上方。本发明结合了空中无人机和水下机器人的优势,可实现空中飞行、陆地降落和水中推进的运动功能,具有环境适应性强、活动范围广等诸多特点。(The invention discloses a water-air amphibious cross-medium multi-rotor aircraft, which comprises an aircraft body, a duct propeller and six rotor units, wherein the aircraft body is provided with a plurality of air inlet channels; the machine body comprises a machine body base and a machine body top cover, wherein a plurality of threaded connecting holes are formed in the edges of the machine body base and the machine body top cover and are fastened and connected through screws to form a complete dish-shaped machine body; the duct propellers are arranged on the periphery of the machine body, symmetrically arranged on the left end surface and the right end surface of the machine body and connected with a waterproof steering engine in the machine body through rudder arms; the fuselage surface is equipped with six through-holes, and this through-hole center is located promptly to the rotor unit, and it includes radial spindle, motor groove and three leaf screw, and radial spindle middle part is provided with the motor groove, installs brushless motor in the motor groove, and three leaf screw install in brushless motor top promptly. The invention combines the advantages of an aerial unmanned aerial vehicle and an underwater robot, can realize the motion functions of aerial flight, land landing and underwater propulsion, and has the characteristics of strong environmental adaptability, wide range of motion and the like.)

1. The utility model provides a many rotor crafts of medium are striden to empty amphibious of water, its characterized in that, include the fuselage, set up in the inside aerial power device of fuselage and set up in the power device under water at fuselage both ends, the fuselage middle part is provided with the control respectively aerial power device and the control box (21) of power device operation under water, a plurality of through-holes of evenly having arranged along radially around control box (21), aerial power device installs respectively in the through-hole.

2. A water-air amphibious cross-medium multi-rotor aircraft according to claim 1, wherein the aircraft body comprises an aircraft body base (2) and an aircraft body top cover (1), and the aircraft body base (2) and the aircraft body top cover (1) are fastened and connected through fastening parts arranged at edges and jointly form a closed butterfly structure; the through hole wall in the machine body top cover (1) is connected with the through hole wall (7) in the machine body base (2) in a hole-shaft matching mode.

3. A water-air amphibious multi-rotor aircraft with cross-medium as claimed in claim 1, wherein the control box (21) comprises a hollow cylinder arranged in the center of the fuselage base (2) and a watertight flange plug with a built-in sealing ring, the hollow cylinder and the watertight flange plug are matched and tightly connected through a hole shaft, and an aviation plug (212) for external waterproof equipment wiring is arranged on the outer wall of the control box (21).

4. A water-air amphibious cross-medium multi-rotor aircraft according to claim 3, wherein a water pumping and draining device (22) is arranged in a gap area between the outer wall of the control box (21) and the through hole wall (7), and the water pumping and draining device (22) is fixedly connected to the inner surface of the fuselage base (2) through a semicircular fastener (221).

5. A water-air amphibious cross-medium multi-rotor aircraft according to claim 1, wherein the air power device comprises a radial crankshaft (41) and a three-blade propeller (43) which are arranged in the center of a through hole, a motor groove (42) is arranged in the middle of the radial crankshaft (41), a brushless motor (45) is installed in the motor groove (42), and the three-blade propeller (43) is installed above the brushless motor (45).

6. A water-air amphibious cross-medium multi-rotor aircraft according to claim 5, wherein the radial machine shaft (41) is a hollow straight rod, an A group of electric regulators (411) are installed inside the radial machine shaft, and two ends of the A group of electric regulators (411) are connected with the brushless motor (45) and the aviation plug (212) on the outer wall of the control box (21) respectively.

7. A water-air amphibious cross-medium multi-rotor aircraft according to claim 5, wherein the upper shaft section of the brushless motor (45) is provided with threads, the three-blade propeller (43) is connected with the lower shaft section of the brushless motor (45) through a key, the upper shaft section of the brushless motor (45) is matched with a motor cap (44) with threads inside, and the three-blade propeller (43) is tightly connected above the brushless motor (45) by screwing the motor cap (44).

8. A water-air amphibious cross-medium multi-rotor aircraft according to claim 1, wherein the underwater power device comprises a waterproof steering engine (23) and a duct propeller (3); the waterproof steering engines (23) are arranged on the inner sides of the left end face and the right end face of the machine body and are connected with one end of the B-group electric controller (34), and the other end of the B-group electric controller (34) is connected with the aviation plug (212) on the outer wall of the control box (21); the ducted propeller (3) is arranged on the outer sides of the left end face and the right end face of the machine body and controls the rotating direction of the ducted propeller through a waterproof steering engine (23).

9. A water-air amphibious cross-medium multi-rotor aircraft according to claim 8, wherein the waterproof steering engine (23) is fixed to the mounting plane (6) of the aircraft body base (2) through an L-shaped steering engine mounting piece (231), one end of the L-shaped steering engine mounting piece (231) is fixedly connected with the aircraft body base (2), and the other end of the L-shaped steering engine mounting piece is fixedly connected with a self-mounting hole of the waterproof steering engine (23); the steering engine shaft of the waterproof steering engine (23) is fixedly connected with a steering engine arm (232) arranged on the mounting plane (6) through a connecting hole (331) formed in the center of the mounting plane (6) on the two end faces of the body base.

10. A water-air amphibious multi-rotor aircraft with media spanning according to claim 8, wherein the duct propeller (3) comprises fan blade propellers (31), a waterproof motor (32) and a duct (33), and the outer surface of the duct (33) is fixedly connected with the steering engine arm (232) through a duct mounting hole (331) so as to be controlled by the torque of the steering engine arm (232) to rotate around a horizontal shaft.

Technical Field

The invention relates to the technical field of multi-rotor aircrafts, in particular to a water-air amphibious cross-medium multi-rotor aircraft.

Background

With the rapid development of science and technology and the continuous progress of society, a single aircraft has been difficult to meet the working requirements under some specific conditions. For the situations that some airplanes crash and fall into the field environment (water, air and land), and pollution sources are lost in the environment during nuclear accidents, pollutants are diffused through atmospheric circulation or rivers, the searching and positioning operation of a single aircraft is limited, an aircraft which can adapt to various environments is urgently needed, and the problems that the flexibility of searching and positioning of the single aircraft in water, land and air is poor, the adaptability is weak, the multifunctional motion mode is limited and the like are solved.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the water-air amphibious cross-medium multi-rotor aircraft capable of realizing air flight, land landing and underwater propulsion.

In order to achieve the purpose of the invention, the invention adopts the technical scheme that:

the utility model provides a many rotor crafts of medium are striden to empty amphibious of water, includes the fuselage, set up in the inside aerial power device of fuselage and set up in the power device under water at fuselage both ends, the fuselage middle part is provided with the control box of controlling respectively aerial power device and power device operation under water, a plurality of through-holes of evenly having arranged along radial around the control box, aerial power device installs respectively in the through-hole.

Furthermore, the machine body comprises a machine body base and a machine body top cover, wherein the machine body base and the machine body top cover are fixedly connected through a fastening part arranged on the edge and form a closed butterfly structure together; the through hole wall in the top cover of the machine body is connected with the through hole wall in the base of the machine body in a hole-shaft matching mode.

Further, the control box is including setting up in the watertight flange stopper of the hollow cylinder at fuselage base center and a built-in sealing washer, hollow cylinder and watertight flange stopper are through hole axle cooperation and fastening connection, the control box outer wall is provided with the aviation of being used for external waterproof equipment wiring and inserts.

Furthermore, a water pumping and draining device is arranged in a gap area between the outer wall of the control box and the wall of the through hole, and the water pumping and draining device is fastened and connected to the inner surface of the machine body base through a semicircular fastener.

Further, aerial power device is including setting up in radial crankshaft and the three-bladed screw in through-hole center, radial crankshaft middle part is provided with the motor groove, install brushless motor in the motor groove, the three-bladed screw install in brushless motor top.

Furthermore, the radial machine shaft is a hollow straight rod, an A-group electric regulator is installed inside the radial machine shaft, and two ends of the A-group electric regulator are connected with the brushless motor and the aviation plug on the outer wall of the control box respectively.

Furthermore, the upper section of the brushless motor shaft is provided with threads, the three-blade propeller is in key connection with the lower section of the brushless motor shaft, meanwhile, the upper section of the motor shaft is matched with a motor cap with built-in threads, and the three-blade propeller is tightly connected above the brushless motor by screwing the motor cap.

Further, the underwater power device comprises a waterproof steering engine and a duct propeller; the waterproof steering engines are arranged on the inner sides of the left end face and the right end face of the machine body and are connected with one end of the B group electric controller, and the other end of the B group electric controller is connected with the aviation plug on the outer wall of the control box; the duct propeller is arranged on the outer sides of the left end face and the right end face of the machine body and controls the rotating direction of the duct propeller through a waterproof steering engine.

Furthermore, the waterproof steering engine is fixed on the installation plane of the body base through an L-shaped steering engine installation piece, one end of the L-shaped steering engine installation piece is fixedly connected with the body base, and the other end of the L-shaped steering engine installation piece is fixedly connected with an installation hole of the waterproof steering engine; the steering wheel shaft of the waterproof steering wheel is fixedly connected with a steering wheel arm arranged on the mounting plane through a connecting hole formed in the center of the mounting plane of the two end faces of the machine body base.

Furthermore, the duct propeller comprises a fan blade propeller, a waterproof motor and a duct wall, wherein the outer surface of the duct wall is fixedly connected with the steering engine arm through a connecting hole so as to be controlled to rotate around a horizontal shaft by the torque of the steering engine arm.

The invention has the following beneficial effects:

(1) the invention combines the characteristics of an aerial unmanned aerial vehicle and an underwater robot, has two motion modes of underwater and aerial, has strong environmental adaptability and good motion performance compared with most of the existing single aircrafts, can be applied to various fields, and has wider application range;

(2) the power system of the aircraft adopts six rotors and a group of ducted propellers, so that the underwater and aerial motion modes can be quickly switched, the controllability is good, and the posture and position change is more flexible;

(3) the machine body of the invention only consists of the machine body base and the machine body top cover, the structure is simple, and the surfaces of the machine body base and the machine body top cover are both smooth curved surfaces, thus the machine body has smaller motion resistance and higher motion efficiency.

Drawings

FIG. 1 is a schematic overall structure diagram of a water-air amphibious cross-medium multi-rotor aircraft according to the invention;

FIG. 2 is a schematic diagram of the internal structure of a water-air amphibious cross-medium multi-rotor aircraft according to the invention;

FIG. 3 is a partial cross-sectional view of a control box of the water-air amphibious cross-medium multi-rotor aircraft according to the invention;

FIG. 4 is a schematic view of duct connection of a water-air amphibious cross-medium multi-rotor aircraft according to the invention;

FIG. 5 is a duct connection cross-sectional view of a water-air amphibious cross-medium multi-rotor aircraft according to the invention;

FIG. 6 is a partial top view of a water-air amphibious cross-medium multi-rotor aircraft according to the present invention;

the reference signs are: 1. a fuselage top cover; 2. a body base; 21. a control box; 211. an upper end cover; 2111. a seal ring; 2112. a longitudinal threaded hole; 212. aviation plug-in; 22. a water pumping and draining device; 221. a semicircular fastener; 23. a waterproof steering engine; 231. a steering engine mounting member; 232 rudder horn; 3. a duct propeller; 31 fan blade propellers; 32. a waterproof motor; 33. a duct; 331. duct mounting holes; 34. b, electrically adjusting the group; 4. a rotor unit; 41. a radial crankshaft; 411. a group of electric regulation; 42. a motor slot; 43. a three-bladed propeller; 44. a motor cap; 45. a brushless motor; 5. a support frame; 6. a mounting plane; 7. a through hole wall.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.

Referring to fig. 1 and 2, the invention provides a water-air amphibious multi-rotor aircraft with a medium spanning function, which comprises an aircraft body, an air power device arranged in the aircraft body and underwater power devices arranged at two ends of the aircraft body, wherein a control box 21 for respectively controlling the air power device and the underwater power device to operate is arranged in the middle of the aircraft body, a plurality of through holes are uniformly distributed in the periphery of the control box 21 in a radial mode, and the air power devices are respectively arranged in the through holes.

Referring to fig. 1 and 2, in the invention, the body comprises a body base 2 and a body top cover 1, wherein a plurality of threaded connecting holes are formed in the edges of the body base 2 and the body top cover 1, and the body base 2 and the body top cover 1 are fastened and connected through edge screws to form a complete closed butterfly structure; meanwhile, the wall of the through hole in the top cover 1 of the machine body is connected with the wall of the through hole in the base 2 of the machine body in a matched mode through a hole shaft.

Referring to fig. 2 and 3, in the present invention, a control box 21 and a drainage device 22 are provided in the body base 2.

The control box 21 comprises a hollow cylinder arranged in the center of the machine body base 2 and a watertight flange plug with a built-in sealing ring 2111, and the hollow cylinder and the watertight flange plug are fastened and connected by a longitudinal screw after being matched by a hole shaft so as to ensure the water tightness of the control box; in addition, the outer wall of the control box 21 is provided with an aviation plug for external waterproof equipment wiring so as to facilitate waterproof connection of the inner and outer lines of the control box.

A water pumping and draining device 22 is arranged in a gap area between the outer wall of the control box 21 and the through hole wall 7, and the water pumping and draining device 22 is tightly connected to the inner surface of the machine body base 2 through a semicircular fastener 221. The water level in the gap area can be controlled by arranging the water pumping and draining device in the aircraft body, so that the diving or rising movement efficiency of the aircraft in the air or in water is improved.

The control box 21 is internally provided with a battery, a processor, an inertial navigation element, a GPS positioning module, a nuclear radiation detector, a sonar and other various searching and positioning related components so as to meet the functional requirements designed by the aircraft.

The lower surface of the aircraft body base 2 is also provided with a plurality of support frames 5, and three support frames 5 are arranged as an example, so that the whole aircraft body is supported, and the stability of the aircraft landing on land is improved.

Referring to fig. 2, in the present invention, the aerial power device specifically includes at least two or more rotor units 4 uniformly distributed, and each rotor unit 4 has the same composition structure; taking six rotor units 4 as an example, the six rotor units 4 are distributed on the surface of the fuselage in six through hole areas radially and annularly by taking the control box 21 as a center, so as to realize the dynamic support for the aerial operation of the aircraft.

Each rotor wing unit 4 comprises a radial crankshaft 41 and a three-blade propeller 43 which are arranged at the center of the through hole, a motor groove 42 is formed in the middle of the radial crankshaft 41, a brushless motor 45 is installed in the motor groove 42, and the three-blade propeller 43 is installed above the brushless motor 45. The whole rotor wing unit is used as main power for flying in the air, and meanwhile, the vertical lifting is assisted when the rotor wing unit moves in water.

A motor groove 42 with an opening at the upper end is arranged in the middle of the radial crankshaft 41, and a brushless motor 45 is arranged in the motor groove 42 and is fastened and connected with the bottom of the motor groove 42 by a screw; and the radial machine shaft 41 is a hollow straight rod, the inside of which is provided with the group A electric tuning 411, one end of the group A electric tuning 411 is connected with the control panel inside the control box 21 through the aviation plug on the outer wall of the control box 21, and the other end of the group A electric tuning 411 is connected with the brushless motor, so that the control of the control panel on the brushless motor is realized.

Brushless motor 45 epaxial section has the screw thread, and three leaf screw 43 passes through the key-type connection with brushless motor 45 hypomere, and brushless motor 45 epaxial section cooperates with the motor cap 44 of built-in screw thread simultaneously, through screwing motor cap 44 with three leaf screw 43 fastening connection in brushless motor 45 top, and brushless motor passes through the motor axial three leaf screw transmission moment of torsion, drives the rotation of three leaf screw to this provides for the many rotor crafts of medium are striden to water and air amphibious.

Referring to fig. 4, 5 and 6, the underwater power device specifically comprises two groups of waterproof steering engines 23 and ducted propellers 3 arranged at two ends of a fuselage, and similarly, the underwater power device can also be arranged into four groups of waterproof steering engines 23 and ducted propellers 3 which are uniformly distributed in other even groups, so as to provide power support for the operation of the aircraft under water.

In order to facilitate the installation and flexible rotation of the ducted propeller, a group of installation planes 6 perpendicular to the horizontal plane are arranged at two ends of the machine body base 2, and a center hole is formed in the center of each installation plane 6 and serves as a connecting hole between the machine body and the ducted propeller.

The waterproof steering engines 23 are arranged on the inner sides of connecting holes in the left end face and the right end face of the machine body and are fixed on the mounting plane 6 of the machine body base 2 through L-shaped steering engine mounting pieces 231, one ends of the L-shaped steering engine mounting pieces 231 are fixedly connected with the machine body base 2 through screws, and the other ends of the L-shaped steering engine mounting pieces are fixedly connected with mounting holes of the waterproof steering engines 23 through bolts; the waterproof steering engine 23 is installed on the basis of the coaxial center of the steering engine shaft and the connecting hole, the steering engine shaft is fixedly connected with the steering engine arm 232 through screws, and the steering engine arm 232 is located on the outer side of the connecting hole. In addition, waterproof steering wheel 23 still links to each other with 34 one end of B group electricity accent, and the aviation of the outer wall of control box 21 is inserted through the other end of B group electricity accent 34 and is linked to each other with the inside control panel of control box 21 to this control of control panel to waterproof steering wheel 23 is realized.

The duct propeller 3 is arranged outside the connecting holes at the left end face and the right end face of the machine body, and the rotating direction of the duct propeller is controlled by a waterproof steering engine 23. Duct propeller 3 includes flabellum screw 31, waterproof motor 32 and duct 33, and the outer surface of duct 33 is opened along the center pin has a set of screw duct mounting hole 331, and this set of screw duct mounting hole 331 passes through screw fastening connection with steering wheel arm 232 to this is with 3 horizontally connect of two duct propellers in fuselage both sides, and it is rotatory around the horizontal axis to realize receiving steering wheel arm 232 torque control.

The working principle of the motion mode of the water-air amphibious cross-medium multi-rotor aircraft is explained in detail by combining the embodiment as follows: