CN111976980A - Multipurpose unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a multipurpose unmanned aerial vehicle which comprises a supporting body, a connecting mechanism and two walking and flying components, wherein the two walking and flying components are symmetrically arranged on two sides of the supporting body and are connected with the supporting body through the connecting mechanism, and each walking and flying component comprises a horn, a flying mechanism for driving the unmanned aerial vehicle to fly in the air and a walking mechanism for driving the unmanned aerial vehicle to walk on the ground. The multipurpose unmanned aerial vehicle has the advantages of high flexibility, strong maneuverability, complex terrain passing capability, adaptability to variable environmental factors and the like.

Description

a multipurpose drone

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-purpose unmanned aerial vehicle.

Background technique

UAV remote sensing (Unmanned Aerial Vehicle Remote Sensing) is a kind of technology that utilizes advanced unmanned aerial vehicle technology, remote sensing sensor technology, telemetry and remote control technology, communication technology, GPS differential positioning technology and remote sensing application technology. The application technology of remote sensing data processing, modeling and application analysis can be achieved by quickly obtaining spatial remote sensing information such as land, resources, and environment. Due to its advantages of maneuverability, speed and economy, the UAV remote sensing system has become a hot topic of research in countries around the world.

UAVs have many advantages such as low cost, low loss, reusability, and low risk. Their applications have expanded from military fields such as reconnaissance and early warning to non-military fields such as resource surveys, meteorological observations, and handling emergencies. The high time-efficiency and high resolution performance of UAV remote sensing is unmatched by traditional satellite remote sensing. The development of UAV provides a new platform for the application of remote sensing technology. It plays an important role in many fields such as growth and development, disaster monitoring and emergency rescue, national defense security, and anti-terrorism and stability maintenance, and has real-time monitoring and "big data" information functions.

However, based on the diversification of sensor types and operational requirements, there are certain limitations in achieving target monitoring from the air. For example, the monitoring of water quality and oxygen content in aquaculture requires full contact with the water body; when monitoring farmland information, the range below the crop canopy is limited. , In the monitoring of pests and diseases, obtaining data at close range can improve the monitoring level and reduce the difficulty of farmers' management. Therefore, there is a need for a UAV that is flexible, maneuverable and can adapt to complex and changing environmental factors, as a multi-purpose tool for efficiently obtaining high-resolution and high-precision information.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a multi-purpose unmanned aerial vehicle with high flexibility, strong maneuverability, ability to pass through complex terrain, and adaptability to changing environmental factors.

In order to solve the above-mentioned technical problems, the technical scheme proposed by the present invention is:

A multi-purpose unmanned aerial vehicle, the multi-purpose unmanned aerial vehicle comprises a carrier, a connecting mechanism and two walking and flying assemblies, and the two walking and flying assemblies are symmetrically arranged on both sides of the carrier and are connected through the The mechanism is connected with the carrier, and the walking and flying assembly includes an arm, a flying mechanism for driving the drone to fly in the air, and a walking mechanism for driving the drone to walk on the ground. The carrier body is used to place the core components such as the control system and power supply system of the UAV. The walking flight components are symmetrically arranged on both sides of the carrier body through the connecting mechanism, which is conducive to maintaining the balance when the UAV is flying or walking. The flight mechanism can drive The drone flies in the air, and the walking mechanism can drive the drone to walk on the ground. The flying mechanism and the walking mechanism are integrated on the arm, which improves the compactness of the structure of the drone, and enables the drone to fly in the air. There are two working modes for ground walking.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the walking mechanism is detachably fixed to one side of the arm, and the flying mechanism is provided at both ends of the arm through a fastening device. The traveling mechanism is arranged on the side of the arm, which is convenient to keep the balance on both sides when the drone is walking, and the flying mechanism is arranged at both ends of the arm, which will not interfere with the traveling mechanism, and is also conducive to maintaining the balance during flight. , The arrangement of the flight mechanism and the walking mechanism takes into account the balance and does not affect the work, and makes full use of the space on the arm as the carrying body, which improves the compactness of the structure and is conducive to reducing the volume of the UAV.

The above-mentioned multi-purpose unmanned aerial vehicle, preferably, the multi-purpose unmanned aerial vehicle further comprises a foldable floating assembly that can be opened to make the unmanned aerial vehicle float on the water surface, the foldable floating assembly is fixed on the carrier body, and the folding The floating assembly includes a steering gear, a push rod, two connecting rods and two floating plates. One end of the push rod is connected to the steering gear, and one end of the two connecting rods is hinged to the other end of the push rod. The other ends of the connecting rods are respectively hinged with the two floating boards, and the two floating boards are hingedly connected. The foldable floating component is usually in a folded and folded state. When the drone needs to float on the water surface, it can be controlled to open. The buoyancy provided by the floating board can make the drone float on the water surface. The floating board can not only support the force, but also It can also play the role of protecting the carrier.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, there is a steering device between the fastening device and the arm that can make the entire flight mechanism rotate downward, the steering device includes a rotating shaft, and the rotating shaft is along the The radial direction of the machine arm is arranged horizontally, and the fastening device and the machine arm are connected in a rotatable manner around the rotation axis. When the foldable floating assembly is opened and the drone floats on the water surface, the steering device can make the flight mechanism rotate downward as a whole, and the steering flight mechanism can provide driving force for the water surface operation and realize the steering function. When the force is applied, the rotated flight mechanism can also be rotated upward as a whole to return to its original position.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the fastening device includes an upper fastening plate and a lower fastening plate, and there is a space between the upper fastening plate and the lower fastening plate for the end of the machine arm to be inserted. The upper fastening plate and the lower fastening plate are detachably and fixedly connected, and the upper fastening plate or the lower fastening plate is provided with a mounting plate for installing the flight mechanism. When connecting, the end of the arm is inserted into the space of the upper fastening plate and the lower fastening plate, and fixed with bolts or other detachable fixed connection components, and the flight mechanism is installed on the mounting plate, so that the flight mechanism can be firmly fixed on the machine. both ends of the arm.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the mounting plate is provided on the lower fastening plate, and a positioning groove is provided at the junction of the mounting plate and the lower fastening plate, and the width of the positioning groove is the same as that of the lower fastening plate. The ends of the arms are matched. The positioning groove is matched with the end of the arm, which facilitates the positioning of the fastening device and the arm, and ensures the positioning and installation accuracy of the flight mechanism, thereby ensuring the balance of all directions when the drone is working.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the connecting mechanism includes two connecting rods and a folding device that can be bent, folded or fixedly connected, and two ends of the folding device are respectively fixedly connected to one end of the two connecting rods. , the other ends of the two connecting rods are respectively fixedly connected with the machine arm and the carrier body. The folding device can realize the relative folding between the walking flight component and the carrier, reduce the size of the whole machine when transporting and carrying, it is easy to carry during transportation, and improves the operation efficiency and speed. The length of the two connecting rods can also be based on actual needs. Choose to adapt to different terrains. For example, you can increase the load capacity of the drone by increasing the width of the connecting rod and set a larger rotor, so that the selection range of the equipment carried by the drone can be increased.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the folding device includes a first folding part and a second folding part, one end of the first folding part and the second folding part is hinged, and the first folding part is provided with A hook, the second folding part is provided with a transverse arm that can be engaged with the clamping hook, the transverse arm is connected with a locking rod for driving the transverse arm to move up and down, and the locking rod is provided with There are springs to provide the spring force to keep the cross arms firmly in the hooks. When the cross arm is stuck in the slot of the hook, the folding part is fixed and cannot be folded, so as to ensure the fixed connection when the drone is in normal use. After removing the hook and the cross arm from the card slot, the flying flying assembly can be quickly folded through the hinge point of the first folding part and the second folding part, which is convenient to carry during transportation, and the spring provides elastic force to make the horizontal The arm and the hook are firmly clamped to ensure a normal fixed connection. When folding, the locking lever can be pressed to overcome the elastic force to adjust. By cooperating with components such as the carrier body and the flying flying component, the structure ensures that the folding is minimal and the components do not interfere with each other.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the traveling mechanism includes a track mounting bracket, a track drive wheel, a track driven wheel, a track track and a drive motor, the track track mounting bracket is fixedly arranged on the machine arm, and the track track The driving wheel is connected with the driving motor, the crawler driving wheel and the crawler driven wheel are arranged on the crawler mounting bracket, and the crawler is matched and connected with the crawler driving wheel and the crawler driven wheel. The walking mechanism adopts the structure of the crawler chassis, so that the drone has a strong ability to pass terrain when walking on the ground, and can smoothly pass through the ditch, ridge and mud environment in the farmland.

For the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the inside of the carrier is provided with a chamber for placing the control system and the power supply system, and two extension arms are symmetrically arranged in the middle positions on both sides of the carrier, and the extension arms are arranged with the control system and the power supply system. The connecting mechanism is fixedly connected. The control system and power supply system can be placed in the chamber, and at the same time, according to actual needs, a certain gap can be left on the outer wall of the carrier to form a semi-closed area, which can ensure the ventilation and heat dissipation of the inner cavity of the carrier, and also prevent the external environment during operation. The environment interferes with internal components. Setting the extension arm is convenient for connecting with the connecting rod of the connecting mechanism, so that the appropriate connecting mechanism can be quickly selected according to the actual situation.

In the above-mentioned multi-purpose unmanned aerial vehicle, preferably, the carrier body is further provided with a battery mounting plate and a plurality of battery board pillars, one end of the battery board pillar is fixedly connected with the carrier body, and the other end is connected with the battery mounting plate Fixed connection. The battery is fixedly arranged on the battery mounting plate, and the battery mounting plate is provided with heat dissipation holes to facilitate heat dissipation.

Compared with the prior art, the advantages of the present invention are:

1. The multi-purpose UAV of the present invention is simple in structure, high in flexibility, strong in maneuverability, has the ability to pass through complex terrain, and can adapt to changing environmental factors, thereby realizing multi-environmental information collection and release, emergency rescue material delivery and aerial monitoring. and other functions;

2. The multipurpose unmanned aerial vehicle of the present invention can fly in the air through the flight mechanism, walk on the ground through the walking mechanism, float on the water surface through the folding floating assembly, and at the same time cooperate with the steering device to steer the flight mechanism and also realize gliding on the water surface. , so it has three working modes: air flight, ground walking and surface operation;

3. The walking mechanism of the present invention adopts the crawler structure, which can smoothly pass through the ditch, ridge and mud environment in the farmland, has good terrain passing ability and flexibility, the air flight speed can reach 10m/s, the operation is simple, and the take-off and landing conditions low requirements;

4. In the multi-purpose UAV of the present invention, the two traveling flight components and the connecting mechanism form an H-shaped frame, and at the same time, the UAV equipment can be folded with the folding device, which is easy to carry during transportation.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of the multi-purpose unmanned aerial vehicle of the embodiment (the steering device is not turned).

FIG. 2 is a schematic three-dimensional structure diagram of the multi-purpose unmanned aerial vehicle of the embodiment (the steering device is turned downward)

FIG. 3 is a schematic three-dimensional structure diagram of the walking flying assembly in the embodiment.

FIG. 4 is a schematic three-dimensional structure diagram of the fastening device in the embodiment.

FIG. 5 is a schematic three-dimensional structure diagram of the folding device in the embodiment.

FIG. 6 is a schematic three-dimensional structure diagram of the support body in the embodiment.

FIG. 7 is a schematic three-dimensional structure diagram of the steering device in the embodiment.

FIG. 8 is a schematic three-dimensional structure diagram of the multi-purpose unmanned aerial vehicle of the embodiment in a folded state.

FIG. 9 is a control flow chart of the multipurpose drone of the embodiment.

illustration:

1. Bearing body; 11. Side plate; 12. Support stud; 13. Cover plate; 14. Extension arm; 15. Battery plate support; 16. Battery mounting plate; 17. Extension arm fastening clip; 2. Walking flight Components; 21, Arm; 22, Flight mechanism; 23, Running mechanism; 231, Track mounting bracket; 232, Track drive wheel; 233, Track driven wheel; 234, Track track; 24, Fastening device; 241, Upper fastening plate; 242, lower fastening plate; 244, fixing rod; 245, mounting plate; 3, connecting mechanism; 31, connecting rod; 32, folding device; 321, first folding piece; 322, second folding piece; 333, Hook; 334, cross arm; 335, locking rod; 4, folding floating assembly; 42, push rod; 43, connecting rod; 44, floating board; 5, steering device; 51, rotating shaft.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and in detail below with reference to the accompanying drawings and preferred embodiments of the specification, but the protection scope of the present invention is not limited to the following specific embodiments.

As shown in FIG. 1 , the multi-purpose unmanned aerial vehicle of this embodiment includes a carrier 1, a connecting mechanism 3 and two walking flying assemblies 2, and the two walking flying assemblies 2 are symmetrically arranged on the side of the carrier 1. The two sides are connected to the carrier body 1 through the connecting mechanism 3. The walking flying assembly 2 includes an arm 21, a flying mechanism 22 for driving the drone to fly in the air, and a walking mechanism 23 for driving the drone to walk on the ground. The frame structure of the UAV in this embodiment is H-shaped, and the two flying flying assemblies 2 on both sides are equivalent to the two longitudinal beams of the H-shaped frame. The connecting mechanism 3 and the bearing body 1 form the beams of the H-shaped frame. It has the advantages of simple structure, stability, low resistance, and easy to maintain balance on both sides.

In this embodiment, the traveling mechanism 23 is detachably fixed to one side of the machine arm 21 , and the flying mechanism 22 is arranged on both ends of the machine arm 21 through a fastening device 24 . Specifically, both ends of the two arms 21 are provided with rotor-type flying mechanisms 22 to form a quadrotor-type multi-purpose unmanned aerial vehicle structure. The flying mechanism 22 and the traveling mechanism 23 are both integrated on the machine arm 21 and do not interfere with each other while realizing their respective functions.

As shown in FIG. 2 , in this embodiment, the multi-purpose UAV further includes a folding floating assembly 4 that can be opened to make the UAV float on the water surface. The folding floating assembly 4 is fixed on the carrier 1 , and the folding floating assembly 4 It includes a steering gear, a push rod 42, two connecting rods 43 and two floating plates 44. One end of the push rod 42 is connected to the steering gear, and one end of the two connecting rods 43 is hinged to the other end of the push rod 42. The other ends of the rods 43 are hinged with the two floating boards 44 respectively, and the two floating boards 44 are hingedly connected. Specifically, the folding floating components 4 are symmetrically arranged on both sides of the carrier body 1 to ensure the force balance of the entire drone body. The floating board is made of EVA material, which is light in weight and can generate enough force to support the drone. Buoyancy, the two floating plates 44 are hinged by spring hinges. In order to avoid the interference of the folding floating assembly 4 when the UAV performs the ground walking mode, the setting position and height of the folding floating assembly 4 need to be adjusted according to the walking mechanism 23. Adjustment. When the drone needs to float on the water, the steering gear (not shown in the figure) pushes the push rod 42 to move downward, the push rod 42 drives the two connecting rods 43 to expand to both sides, and the connecting rod 43 expands to both sides at the same time The two floating boards 44 folded along the spring hinges are also horizontally unfolded. At the same time, a limiting device for controlling the opening angle of the floating boards 44 can also be set on the folding floating assembly. The man-machine floats on the water. The folding process is opposite to the opening process. The steering gear pulls the push rod 42 to move upward. When the connecting rod 43 is tightened, it drives the two floating plates 44 to fold along the spring hinge, and then completes the folding. The folded floating plate 44 is located directly under the extension arm 14 of the carrier body 1, which is conducive to reducing the overall impact on the drone. The influence of the aerodynamics of the machine.

As shown in FIG. 7 , in this embodiment, a steering device 5 is arranged between the fastening device 24 and the machine arm 21 to make the flight mechanism 22 rotate downward as a whole. The steering device 5 includes a rotating shaft 51 , which is along the machine. The radial direction of the arm 21 is arranged horizontally, and the fastening device 24 and the machine arm 21 are connected in a rotatable manner around the rotating shaft 51 . Specifically, the steering device 5 also includes a fastening device connector and an arm connector, one end of the fastening device connector is connected to the fastening device 24, the arm connector is a connecting seat, the fastening device connector, the arm The connecting piece and the arm 21 are hinged through the rotating shaft 51, and two rolling bearings are arranged in the connecting piece of the fastening device, so that the flying mechanism 22 on the tightening device 24 can rotate around the rotating shaft 51. In order to use the flying mechanism 22 to complete the water surface For the power drive and steering functions during operation, the rotating shaft 51 needs to be arranged horizontally along the radial direction of the machine arm 21. More specifically, the vertical direction is the z-axis, the length extension direction of the machine arm 21 is the x-axis, and it is vertical on the horizontal plane. The direction of the x-axis is the y-axis. At this time, the radial direction of the arm 21 on the horizontal plane is the direction of the y-axis. The rotation axis 51 is arranged in the direction of the y-axis, so that the flight mechanism 22 and the fastening device 24 can be integrated around the y-axis. The direction rotates up and down. When the water surface floats, the steering gear can be controlled to drive the fastening device connector to rotate, and the flight mechanism 22 can be rotated by 90° as a whole, and the direction of the driving force is converted from the vertical direction to the horizontal direction, so as to realize the operation on the water surface. movement and steering.

As shown in FIG. 4 , in this embodiment, the fastening device 24 includes an upper fastening plate 241 and a lower fastening plate 242 , and there is a space between the upper fastening plate 241 and the lower fastening plate 242 for the end of the machine arm 21 to be inserted. The upper fastening plate 241 and the lower fastening plate 242 are detachably and fixedly connected, and the upper fastening plate 241 or the lower fastening plate 242 is provided with a mounting plate 245 for installing the flight mechanism 22 . Specifically, the sides of the upper fastening plate 241 and the lower fastening plate 242 are provided with fixing holes that cooperate with each other, and the fixing holes are provided with fixing rods 244, so as to realize the connection between the upper fastening plate 241 and the lower fastening plate 242. For fixing, the lower fastening plate 242 is provided with a mounting plate 245 extending outward, and the mounting plate 245 is provided with a mounting hole for mounting the flying mechanism 22 . Specifically, the flight mechanism 22 includes a rotor and a motor that drives the rotor to rotate. The upper fastening plate 241 and the lower fastening plate 242 are arc-shaped plates, and the two cooperate to form a space for the arm 21 to be inserted. When installing the flight mechanism 22, Insert the end of the machine arm 21 into the space between the upper fastening plate 241 and the lower fastening plate 242, then insert a bolt into the fixing hole as the fixing rod 244, and lock it with a nut, at this time, the fastening device 24 will The arm 21 is clamped and fixed. Since the lower fastening plate 242 is provided with a mounting plate 245 as a motor mounting base, the flight power parts such as the motor and the rotor of the flight mechanism 22 can be fastened and installed here to meet the flight requirements of the UAV. condition.

In this embodiment, the mounting plate 245 is disposed on the lower fastening plate 242 , and a positioning groove is formed at the joint between the mounting plate 245 and the lower fastening plate 242 , and the width of the positioning groove matches the end of the machine arm 21 . Specifically, the lower fastening plate 242 is in the shape of a concave arc plate, the concave degree of the lower fastening plate 242 is the same as the shape of the end of the arm 21 , and the mounting plate 245 is connected to both sides of the lower fastening plate 242 , the middle position of the connecting part is provided with a positioning groove, and the shape of the positioning groove matches the shape of the end of the arm 21, so that the arm 21 is in all directions with the upper fastening plate 241 and the lower fastening plate during installation. 242 is in close contact and fixed to ensure installation accuracy.

As shown in FIGS. 5 and 8 , in this embodiment, the connecting mechanism 3 includes two connecting rods 31 and a folding device 32 that can be bent, folded or fixedly connected. Two ends of the folding device 32 are respectively connected to one end of the two connecting rods 31 . For fixed connection, the other ends of the two connecting rods 31 are respectively fixedly connected to the machine arm 21 and the carrier body 1 . Specifically, the two connecting rods 31 are both carbon tubes, and a fastening clip is provided in the middle of the arm 21. The fastening clip includes upper and lower cover plates, bolts and nuts, and a carbon tube is sandwiched between the upper and lower cover plates. and nuts to fix the carbon tube, the carbon tube is connected with a connecting rod 31 , and the other connecting rod 31 is connected with the extension arm 14 .

In this embodiment, the folding device 32 includes a first folding member 321 and a second folding member 322. One end of the first folding member 321 and the second folding member 322 is hinged. The first folding member 321 is provided with a hook 333. The second folding member 321 is provided with a hook 333. The folding member 322 is provided with a transverse arm 334 that can be engaged with the hook 333. The transverse arm 334 is connected with a locking rod 335 for driving the transverse arm 334 to move up and down. The cross arm 334 is firmly clamped in the spring of the hook 333 . Specifically, the first folding part 321 and the second folding part 322 are both cylindrical structures so as to be connected with the connecting rods 31 at both ends by bolts, and the ends of the first folding part 321 and the second folding part 322 are provided for connecting with In order to reduce the weight of the fastening clip connected by the rod 31, the ends of the first folding part 321 and the second folding part 322 adopt a semi-closed structure. The maximum unfolding angle between the first folding part 321 and the second folding part 322 is 90°. The hooks 333 and the transverse arms 334 are both arranged at the butt joints of the square plate shape. tight state. The second folding part 322 is provided with a U-shaped groove, the transverse arm 334 is arranged in the groove, and the middle part of the transverse arm 334 is connected with the locking rod 335, so as to drive the transverse arm 334 to adjust up and down through the locking rod 335, and the locking rod A spring is also sleeved on the 335 to provide elastic force to make the transverse arm 334 and the hook 333 cooperate and lock with each other.

As shown in FIG. 3 , in this embodiment, the traveling mechanism 23 includes a track mounting bracket 231 , a track driving wheel 232 , a track driven wheel 233 , a track 234 and a drive motor. The track mounting bracket 231 is fixedly arranged on the arm 21 , and the track drives The wheel 232 is connected with the drive motor, the crawler driving wheel 232 and the crawler driven wheel 233 are arranged on the crawler mounting bracket 231 , and the crawler 234 is matched and connected with the crawler driving wheel 232 and the crawler driven wheel 233 . Specifically, each traveling mechanism 23 is provided with two track mounting brackets 231 , the track mounting brackets 231 are fixed on the machine arm 21 by a tightening clip, one end of the tightening clip is fixedly connected with the crawler track mounting bracket 231 , and the The other end is worn on the machine arm 21 and can slide along the machine arm 21 in the loosened state. After selecting the position, the fastening clip is locked and fixed with the machine arm 21 with bolts. This structure is convenient for adjusting the two track mounting brackets. The distance between 231 and the track 234 is adjusted, and the terrain adaptability of the track 234 is improved. The driving motors are two DC motors, which are electrically connected to the power supply system of the drone. The two DC motors are driven, and then drive the crawler driven wheel 233 to move, so that the crawler 234 can walk on the ground. By changing the steering speed of the two DC motors, it can realize functions such as turning, so as to adapt to the working environment such as fields and grasslands.

As shown in FIG. 6 , in this embodiment, a chamber for placing the control system and the power supply system is arranged inside the carrier 1 , and two extending arms 14 are symmetrically arranged in the middle positions on both sides of the carrier 1 . The connection mechanism 3 is fixedly connected. Specifically, the carrier body 1 includes a side plate 11 , a support stud 12 and two cover plates 13 . The two cover plates 13 are arranged in parallel with each other. The supporting studs 12 are arranged between the two cover plates 13, the two ends of the supporting studs 12 cooperate with nuts to lock and fix the side plate 11 and the two cover plates 13, and the plurality of side plates 11 are arranged at intervals to leave gaps , to form a semi-enclosed area, which is conducive to ventilation and heat dissipation. The extension arms 14 are fixed on both sides of the carrier body 1 by fastening clips, and the fastening clips are fixed by bolts. The carrier body 1 is used as the main body of the UAV frame, and the UAV control part and the power supply part are placed inside. The shape of the cover plate 13 is a narrow-sided rectangular double-layer structure, which is enough to support the pressure on the extension arm 14 when the UAV is flying, up and down. The combination of cover plates 13 can reduce the area occupied by the center of the rack and form a compact UAV rack structure. The support studs 12 are made of light aluminum alloy materials, and the upper and lower cover plates are connected to form a support surface to ensure the strength of the bearing body 1. , the side of the carrier body 1 is closed by the side plate 11 to form a semi-closed area to ensure ventilation and heat dissipation of the internal components, and prevent the external environment from interfering with the internal electronic devices during operation. The cover plate 13 is made of carbon fiber board, which ensures the strength of the fuselage and reduces the weight of the fuselage. The extension arm 14 is fixed by the extension arm fastening clip 17. The extension arm fastening clip 17 has an inner circle and an outer square structure, and its square outer frame supports On the upper cover and the lower cover of the carrier 1, the inside of the extension arm fastening clip 17 is a circular fastening clip structure, so as to limit the axial movement of the extension arm 14, and at the same time, it can disperse the pressure on the extension arm 14 and improve the extension The service life of the arm 14 .

In this embodiment, the carrier body 1 is further provided with a battery mounting plate 16 and several battery plate pillars 15 . Specifically, the four battery plate supports 15 are evenly distributed on the lower cover plate 13, and the center of the battery mounting plate 16 is provided with two U-shaped holes to reduce the weight under the premise of ensuring the installation of the lithium battery.

The multi-purpose UAV of this embodiment is a quad-rotor multi-purpose UAV, which has three working modes, namely flight mode, ground walking mode and water surface sliding mode. The control method of the multi-purpose UAV is shown in Figure 9 shown.

Before executing the flight mode, the folding device 32 needs to be tightly closed, so that the carrier body 1, the walking flight assembly 2 and the connecting mechanism 3 are opened in a horizontal position, the drone is in an unfolded attitude, the flight mechanism is installed, the battery connection is checked, and the power is turned on. Then adjust the flight parameters to realize the flight function.

Before executing the ground walking mode, the UAV is also made to be in an unfolded attitude. At this time, the walking flying assembly 2 is in a horizontal position, and the two motors act to drive the crawler 234 to walk on the ground.

Before executing the water surface gliding mode, the foldable floating assembly 4 fixed under the battery mounting plate 16 needs to be unfolded, and the floating plate 44 is used to provide sufficient buoyancy for the drone. The direction is provided to form the driving force in the water surface gliding mode, and the speed can also be controlled by adjusting the speed of the motor of the flight mechanism 22 .

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above, or modify it into an equivalent implementation of equivalent changes. example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention should fall within the protection scope of the technical solutions of the present invention without departing from the content of the technical solutions of the present invention.

Claims (10)

1. a multipurpose unmanned aerial vehicle, it is characterized in that: described multipurpose unmanned aerial vehicle comprises bearing body (1), connecting mechanism (3) and two walking flying assemblies (2), two described walking flying assemblies (2) Symmetrically arranged on both sides of the carrier body (1) and connected to the carrier body (1) through the connecting mechanism (3), the walking flying assembly (2) includes an arm (21) for A flying mechanism (22) for driving the drone to fly in the air and a walking mechanism (23) for driving the drone to walk on the ground. 2. The multipurpose unmanned aerial vehicle according to claim 1, characterized in that: the traveling mechanism (23) is detachably fixed to one side of the machine arm (21), and the flying mechanism (22) passes through a Fastening devices (24) are arranged at both ends of the machine arm (21). 3. The multi-purpose drone according to claim 1, characterized in that: the multi-purpose drone further comprises a folding floating assembly (4) that can be unfolded to make the drone float on the water surface, the folding The floating assembly (4) is fixed on the carrier body (1), and the folding floating assembly (4) includes a steering gear, a push rod (42), two connecting rods (43) and two floating plates (44). One end of the push rod (42) is connected to the steering gear, one end of the two connecting rods (43) is hinged to the other end of the push rod (42), and the other ends of the two connecting rods (43) are respectively connected to the two connecting rods (43). The floating boards (44) are hingedly connected, and the two floating boards (44) are hingedly connected. 4. The multipurpose unmanned aerial vehicle according to claim 2, characterized in that: between the fastening device (24) and the machine arm (21), a device is provided to enable the flight mechanism (22) to rotate downward as a whole The steering device (5), the steering device (5) includes a rotating shaft (51), the rotating shaft (51) is arranged horizontally along the radial direction of the machine arm (21), and the fastening device (24) is connected to the machine arm ( 21) are connected in a rotatable manner around the rotating shaft (51). 5. The multipurpose drone according to claim 2, wherein the fastening device (24) comprises an upper fastening plate (241) and a lower fastening plate (242), the upper fastening plate There is a space for the end of the arm (21) to be inserted between (241) and the lower fastening plate (242), and the upper fastening plate (241) and the lower fastening plate (242) are detachably and fixedly connected, A mounting plate (245) for mounting the flying mechanism (22) is provided on the upper fastening plate (241) or the lower fastening plate (242). 6. The multipurpose unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that: the connecting mechanism (3) comprises two connecting rods (31) and a folding device ( 32), the two ends of the folding device (32) are respectively fixedly connected with one end of the two connecting rods (31), and the other ends of the two connecting rods (31) are respectively connected with the arm (21) and the The carrier body (1) is fixedly connected. 7. The multipurpose unmanned aerial vehicle according to claim 6, wherein the folding device (32) comprises a first folding part (321) and a second folding part (322), the first folding part (322). 321) and one end of the second folding member (322) are hinged, the first folding member (321) is provided with a hook (333), and the second folding member (322) is provided with a hook that can be connected with the hook (333) A cross-arm (334) that fits tightly, the cross-arm (334) is connected with a locking rod (335) for driving the cross-arm (334) to move up and down, and the locking rod (335) is provided with There is a spring for providing elastic force to make the cross arm (334) snap firmly in the hook (333). 8. The multi-purpose unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that: the walking mechanism (23) comprises a track mounting bracket (231), a track drive wheel (232), a track driven wheel ( 233), a crawler track (234) and a drive motor, the crawler track mounting bracket (231) is fixedly arranged on the machine arm (21), the crawler track drive wheel (232) is connected to the drive motor, and the crawler track drive wheel ( 232) and a track driven wheel (233) are provided on the track mounting bracket (231), and the track (234) is matched and connected with the track drive wheel (232) and the track driven wheel (233). 9. The multipurpose unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that: the inside of the carrier (1) is provided with a chamber for placing a control system and a power supply system, and the carrier (1) ) two extending arms (14) are symmetrically arranged in the middle positions on both sides, and the extending arms (14) are fixedly connected with the connecting mechanism (3). 10. The multipurpose unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that: the carrier body (1) is further provided with a battery mounting plate (16) and a plurality of battery plate pillars (15) One end of the battery plate support (15) is fixedly connected to the carrier (1), and the other end is fixedly connected to the battery mounting plate (16).

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