阅读说明：本技术 陆海空三栖飞机 (Triphibian aircraft ) 是由 张军 于 2021-08-04 设计创作，主要内容包括：本发明提供一种陆海空三栖飞机,包括：机舱,所述机舱内设有控制装置和电源；设于所述机舱顶部前后两侧的两个横梁,各所述横梁两端分别设有竖直设置的升力螺旋桨；设于所述机舱顶部两个所述横梁之间的支架,且所述支架顶部设有朝向水平设置的推进螺旋桨,用以驱动所述机舱沿水平方向前进；设于所述机舱底部的浮筒,所述浮筒通过浮筒连接架连接所述机舱底部；设于所述浮筒内且通过万向轮支架可转动地连接所述浮筒内的电动万向轮,所述电动万向轮用以驱动所述机舱移动。相对现有方案,无需复杂的飞行控制算法,同时也通过电动万向轮的作用实现了路上航行,也避免了需要另外设置水下的舵机进行水上航行,从而降低了整体的复杂度,提高了可靠性水平。(The invention provides a triphibian aircraft, comprising: the control device comprises a cabin, wherein a control device and a power supply are arranged in the cabin; the two cross beams are arranged on the front side and the rear side of the top of the cabin, and two ends of each cross beam are respectively provided with a vertically arranged lifting propeller; the support is arranged between the two cross beams at the top of the cabin, and the top of the support is provided with a propulsion propeller which is horizontally arranged and used for driving the cabin to advance along the horizontal direction; the buoy is arranged at the bottom of the engine room and is connected with the bottom of the engine room through a buoy connecting frame; locate in the flotation pontoon and rotationally connect through the universal wheel support electronic universal wheel in the flotation pontoon, electronic universal wheel is used for the drive the cabin removes. Compared with the prior art, the device does not need a complex flight control algorithm, realizes navigation on the road under the action of the electric universal wheels, and avoids the need of additionally arranging underwater steering engines to navigate on water, thereby reducing the overall complexity and improving the reliability level.)

1. A triphibian aircraft, comprising:

the control device comprises a cabin, wherein a control device and a power supply are arranged in the cabin;

the two cross beams are arranged on the front side and the rear side of the top of the engine room, and two ends of each cross beam are respectively provided with a vertically arranged lifting propeller for driving the engine room to ascend or descend;

the bottom of the bracket is rotatably connected with the top of the cabin, and the top of the bracket is provided with a propulsion propeller which is horizontally arranged and used for driving the cabin to advance along the horizontal direction;

the buoy is arranged at the bottom of the engine room and is connected with the bottom of the engine room through a buoy connecting frame;

the electric universal wheel is arranged in the floating barrel and is rotatably connected with the floating barrel through a universal wheel bracket, and the electric universal wheel is used for driving the cabin to move;

the control device is used for controlling the starting and stopping of the lifting propeller, the propelling propeller and the electric universal wheel and controlling the steering of the propelling propeller and the electric universal wheel;

the control device further comprises a steering wheel and a rotating wheel pivoted to the steering wheel, the rotating wheel is in driving connection with a steering device, the steering device comprises a steering rod pivoted to the support and a steering wheel in driving connection with the universal wheel support, and the rotating wheel is in driving connection with the steering rod and one of the steering wheels through a clutch.

2. The land, sea and air triphibian aircraft of claim 1, wherein: the steering device further comprises a driving wheel, the driving wheel is in driving connection with the rotating wheel, and the clutch is used for driving the driving wheel to be switched between the driving connection with the steering rod and the steering wheel.

3. The land, sea and air triphibian aircraft of claim 1, wherein: the steering rod, the driving wheel and the steering wheel are arranged in sequence from top to bottom in the vertical direction, and the clutch comprises a connecting rod for driving the driving wheel to move upwards to be meshed with the steering rod or driving the driving wheel to move downwards to be meshed with the steering wheel.

4. The land, sea and air triphibian aircraft of claim 1, wherein: the two ends of the cross beam are respectively provided with a force arm, the force arms are rotatably connected with the cross beam, and the tail ends of the force arms are provided with the lift propellers.

5. The land, sea and air triphibian aircraft of claim 4, wherein: the arm of force is articulated the crossbeam, and is equipped with two at least mounting holes along arm of force horizontal direction and vertical direction respectively, the crossbeam passes through the bolt the mounting hole realize with the fixed connection of the arm of force.

6. The land, sea and air triphibian aircraft of claim 1, wherein: the flotation pontoon link includes four head rods, four head rods are around two rows arrange and are the slope respectively and outwards extend, head rod fixed connection the flotation pontoon is with one row still connect through the second connecting rod that the level set up between the head rod.

7. The land, sea and air triphibian aircraft of claim 1, wherein: the electric universal wheel is a waterproof electric universal wheel.

8. The land, sea and air triphibian aircraft of claim 1, wherein: the nacelle is arranged to be at least partially transparent.

[ technical field ]

The invention relates to the field of vehicles, in particular to a triphibian aircraft capable of flying in the air and on land.

[ background art ]

In recent years, with the continuous development and progress of science and technology, helicopters gradually enter more common traffic scenes, and bring great convenience to actual life. The ICONA5, available from ICONAircraft, is a new "light sports aircraft". After the federal aviation administration of the united states has added more readily available license for sports aircraft, a number of novices have emerged to have a flight license for which ICONA5 is prepared. The novel leisure aircraft can become a new generation of travel vehicle like a car.

However, in the field where low-speed and low-altitude navigation is required such as patrol, aerial photography, scientific remote sensing, and the like, the above-described scheme becomes inapplicable. Based on the above, a new generation of triphibian aircraft scheme in land, sea and air is obtained by combining a multi-rotor unmanned aerial vehicle with a traditional water plane, and as disclosed in the chinese utility model patent publication with publication number CN207808952U, a triphibian motion quad-rotor unmanned aerial vehicle based on the bionics principle is disclosed, which comprises a body, a base mechanism and a cabin body are hermetically arranged at the bottom of the body, a control device is arranged in the cabin body, the base mechanism comprises a plurality of supporting legs with floating platforms fixed at the ends, the floating platforms are sealed inflation air cushions provided with water inlet and outlet control valves and air inlet control valves, and the air inlet control valves are connected with a compressed air storage in the cabin body through inflation pipes; the lower end of the cabin body is hermetically provided with a pod propeller with adjustable height; the control device controls the on-off of the water inlet and outlet control valves and the height of the pod propeller. Therefore, the parking device can be parked at any positions of rugged ground, sand, mud and marsh, water surface and the like, can work on or below the water surface, can slowly float to the water surface under remote control and take off again, and greatly increases the free degree of work.

However, the above solutions are complex, require complex flight control algorithms to implement the steering function in the air, and cannot move on land. The invention discloses a triphibian robot with water, land and air, which is disclosed in the Chinese patent publication No. CN112498681A, and comprises: the device comprises a land driving module, a water surface driving module, an aerial flight module, an electric control and sensing module, a landing gear module and a water surface floating module. The omnidirectional movement of the robot on the land is realized by adopting a front wheel steering mode and a rear wheel driving mode; the lifting and steering of the ROV underwater propeller are realized by adopting a double-rudder control mode, and the ROV underwater propeller is used for pushing the propeller to rotate at a high speed, so that the robot can move in all directions on water; the telescopic four-rotor aerial flight module is adopted to realize the flight function of the robot; and a nuc microcomputer is used for issuing control instructions to the land and water module control plate, the flight control plate and the landing gear module, so that the full-automatic motion of the robot is realized. The method realizes real triphibian navigation, but the triphibian navigation respectively uses three sets of power systems, has higher energy requirement on the robot, and also can realize navigation only by depending on a complex flight control algorithm, thereby having no need of manned execution of low-altitude slow-speed tasks.

[ summary of the invention ]

In order to overcome the problems in the prior art, the invention provides the land, sea and air triphibian which has reasonable structural design and can effectively execute low-altitude slow-speed flight tasks.

The invention provides a triphibian aircraft for solving the technical problem, which comprises:

the control device comprises a cabin, wherein a control device and a power supply are arranged in the cabin;

the two cross beams are arranged on the front side and the rear side of the top of the engine room, and two ends of each cross beam are respectively provided with a vertically arranged lifting propeller for driving the engine room to ascend or descend;

the bottom of the bracket is rotatably connected with the top of the cabin, and the top of the bracket is provided with a propulsion propeller which is horizontally arranged and used for driving the cabin to advance along the horizontal direction;

the buoy is arranged at the bottom of the engine room and is connected with the bottom of the engine room through a buoy connecting frame;

the electric universal wheel is arranged in the floating barrel and is rotatably connected with the floating barrel through a universal wheel bracket, and the electric universal wheel is used for driving the cabin to move;

the control device is used for controlling the starting and stopping of the lifting propeller, the propelling propeller and the electric universal wheel and controlling the steering of the propelling propeller and the electric universal wheel;

the control device further comprises a steering wheel and a rotating wheel pivoted to the steering wheel, the rotating wheel is in driving connection with a steering device, the steering device comprises a steering rod pivoted to the support and a steering wheel in driving connection with the universal wheel support, and the rotating wheel is in driving connection with the steering rod and one of the steering wheels through a clutch.

Furthermore, the steering device also comprises a transmission wheel, the transmission wheel is in driving connection with the rotating wheel, and the clutch is used for driving the transmission wheel to be switched between the driving connection with the steering rod and the steering wheel.

Furthermore, the steering rod, the driving wheel and the steering wheel are arranged in sequence from top to bottom in the vertical direction, and the clutch comprises a connecting rod for driving the driving wheel to move upwards to be meshed with the steering rod or driving the driving wheel to move downwards to be meshed with the steering wheel.

Furthermore, the two ends of the cross beam are respectively provided with a force arm, the force arms are rotatably connected with the cross beam, and the tail ends of the force arms are provided with the lift propellers.

Furthermore, the arm of force is articulated the crossbeam, and is equipped with two at least mounting holes along arm of force horizontal direction and vertical direction respectively, the crossbeam passes through the bolt the mounting hole realize with the fixed connection of the arm of force.

Further, the flotation pontoon link includes four head rods, four head rods are two rows around being arranged and are the slope respectively and outwards extend, head rod fixed connection the flotation pontoon is with one row still connect through the second connecting rod that the level set up between the head rod.

Further, the electric universal wheel is a waterproof electric universal wheel.

Further, the nacelle is arranged to be at least partially transparent.

Compared with the prior art, the land, sea and air triphibian aircraft can realize hovering, descending and ascending by using the lift propellers in a mode of arranging the multiple rotors at the top and arranging the propulsion propellers at the top, and can fly and even advance in the water sailing process by using the propulsion propellers. The invention can be widely applied to a plurality of aspects such as searching, patrolling, mine sweeping, reconnaissance, striking, anti-terrorism, communication, guarantee, supervision, aerial photography, emergency, rescue, fire fighting, scientific investigation, remote sensing, detection, traffic, traveling, sightseeing, hoisting, fishing, medicine spraying, grazing, performing, advertising and the like.

[ description of the drawings ]

Fig. 1 is a schematic perspective structural view of a triphibian aircraft.

FIG. 2 is a schematic diagram illustrating the control principle of the land, sea and air triphibian aircraft of the present invention;

FIG. 3 is a schematic diagram illustrating the road driving state control principle of the land, sea and air triphibian aircraft;

FIG. 4 is a schematic view of the arm-beam joint of the triphibian aircraft;

fig. 5 is a schematic view showing a storage state of the coupling portion shown in fig. 4.

[ detailed description of the invention ]

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 5, an embodiment of a triphibian aircraft according to the present invention comprises: the aircraft comprises an engine room 1, a cross beam 2, a lift propeller 3, a support 4, a propulsion propeller 5, a buoy 6 and an electric universal wheel 7, wherein a control device and a power supply are arranged in the engine room 1.

The two cross beams 2 are respectively arranged on the front side and the rear side of the top of the engine room 1, and two ends of each cross beam 2 are respectively provided with a vertically arranged lifting propeller 3 for driving the engine room 1 to ascend or descend. The support 4 is arranged between the two cross beams 2 at the top of the cabin 1, the bottom of the support 4 is rotatably connected with the top of the cabin 1, and the top of the support 4 is provided with a propulsion propeller 5 which is horizontally arranged and used for driving the cabin 1 to advance along the horizontal direction.

The buoy 6 is arranged at the bottom of the cabin 1 and used for providing buoyancy for the cabin 1 when sailing on water, and the buoy 6 is connected with the bottom of the cabin 1 through a buoy connecting frame. Electric universal wheel 7 is located in flotation pontoon 6 and rotationally connect through universal wheel support 4 in the flotation pontoon 6, electric universal wheel 7 is used for the drive cabin 1 removes.

The control device is used for controlling the starting and stopping of the lifting propeller 3, the propelling propeller 5 and the electric universal wheel 7 and controlling the steering of the propelling propeller 5 and the electric universal wheel 7. The control device further comprises a steering wheel 8 and a rotating wheel 81 pivoted to the steering wheel 8, the rotating wheel 81 is in driving connection with a steering device 9, the steering device 9 comprises a steering rod 91 pivoted to the support 4 and a steering wheel 93 in driving connection with the universal wheel support 4, and the rotating wheel 81 is in driving connection with one of the steering rod 91 and the steering wheel 93 through a clutch 94.

Compared with the prior art, the land, sea and air triphibian aircraft can realize hovering, descending and ascending by using the lift propellers 3 in a mode of arranging the multiple rotors at the top and arranging the propulsion propellers 5 at the top, and can fly and even advance in the water sailing process by using the propulsion propellers 5, compared with the prior art, the land, sea and air triphibian aircraft does not need a complex flight control algorithm to control the four lift propellers 3, simultaneously realizes navigation on the road by the action of the electric universal wheels 7, and avoids the need of additionally arranging underwater steering engines to sail on the water, thereby reducing the overall complexity and improving the reliability level. The invention can be widely applied to a plurality of aspects such as searching, patrolling, mine sweeping, reconnaissance, striking, anti-terrorism, communication, guarantee, supervision, aerial photography, emergency, rescue, fire fighting, scientific investigation, remote sensing, detection, traffic, traveling, sightseeing, hoisting, fishing, medicine spraying, grazing, performing, advertising and the like.

In this embodiment, the steering device 9 further comprises a driving wheel 93, the driving wheel 93 is in driving connection with the turning wheel 81, and the clutch 94 is used for driving the driving wheel 93 to switch between the driving connection with the steering rod 91 and the steering wheel 93, so as to facilitate the independent control of the steering of the propeller 5 during flight or water navigation, and the independent control of the steering of the electric universal wheel 7 during road driving.

Specifically, the steering rod 91, the driving wheel 93 and the steering wheel 93 are sequentially arranged in the vertical direction from top to bottom, and the clutch 94 comprises a connecting rod for driving the driving wheel 93 to move upwards to be meshed with the steering rod 91 or driving the driving wheel 93 to move downwards to be meshed with the steering wheel 93, so that the driving wheel 93 is meshed with the steering rod 91 and the steering wheel 93 respectively, and the steering of the electric universal wheel 7 and the steering of the propeller 5 are controlled respectively.

As a further optimization of the present embodiment, the two ends of the cross beam 2 are respectively provided with a force arm 21, the force arms 21 are rotatably connected to the cross beam 2, and the tail end of the force arm 21 is provided with the lift propellers 3, so that the lift propellers 3 can be conveniently stored when not being used, such as when driving on a road or navigating on water, and the floor area is reduced.

Specifically, the moment arm 21 is hinged to the cross beam 2 through a connecting piece 210, at least two mounting holes are arranged in the horizontal direction and the vertical direction of the moment arm 21 respectively, the mounting holes are a first mounting hole 211 and a second mounting hole 212 respectively, and the cross beam 2 penetrates through the mounting holes through bolts to be fixedly connected with the moment arm 21. When the lifting propeller 3 needs to be stored, the force arm 21 is rotated around the connecting piece 210, and the bolt penetrates through the second mounting hole 212 to store the lifting propeller 3. When it is desired to deploy the lift propeller 3, the arm 21 is rotated in the opposite direction about the connection 210 and the deployment of the lift propeller 3 is effected by means of a bolt through the first mounting hole 211.

As further optimizing this embodiment, the flotation pontoon link includes four head rods 61, four head rods 61 are two rows around being arranged and are the outside extension of slope respectively, head rod 61 fixed connection flotation pontoon 6 is with one row still connect through the second connecting rod 62 that the level set up between head rod 61, and the setting of second connecting rod 62 has consolidated flotation pontoon 6's stability, prevents that head rod 61 from breaking failure.

Preferably, the electric universal wheel 7 is a waterproof electric universal wheel 7, so as to avoid damage to the electric universal wheel 7 during water navigation. The nacelle 1 is arranged to be at least partially transparent, preferably, the nacelle 1 is arranged to be transparent in both the forward and left-right directions to improve the wide view angle of the driver.

The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.