An automatic folding multi-rotor water-air amphibious robot

Abstract

The invention discloses an automatic folding multi-rotor water and air amphibious robot, comprising a main body cabin, a tail and an underwater propeller; a plurality of arm control units are arranged around the main body cabin; each arm control unit has a coaxial A base and a baffle are arranged in parallel, an axial sliding assembly is arranged between the base and the baffle, and an arm support is hinged on the slider of the sliding assembly, and the arm support is far away from the sliding block. One end of the machine arm is hinged; one end of the machine arm extends to the baffle and is hinged with the main body cabin, and the other end is connected with a rotor unit through a motor seat; the main body cabin is close to the outer circumference of the tail wing There is also a roll axis control unit; the robot does not need to be equipped with additional ballast tanks to control the ups and downs, which significantly reduces the volume and weight of amphibious equipment, with low underwater forward resistance, suitable for underwater navigation, and can be automatically retracted and released, significantly reducing Difficulty of carrying, preparation before release.

Description

technical field [0001] The invention relates to the technical field of amphibious submersibles, in particular to an automatic folding multi-rotor water and air amphibious robot. Background technique [0002] At present, unmanned underwater operations such as underwater inspection and sampling mainly use submersibles, but the preparatory work of the submersibles is cumbersome, and the release into the water needs to be carried out manually. factor. Existing amphibious UAVs have shallow diving depth, and fixed-wing amphibious UAVs have higher requirements for take-off and landing ground on land; using rotors has larger underwater resistance and slower forward speed, so the operation efficiency is higher. Low. [0003] For example, a Chinese utility model patent (publication number: CN206615393U) disclosed a floating body throw-away amphibious quadrotor UAV in 2017, including four propellers, a rigid cross bracket mechanism and a control system, and the cross bracket mechanis...

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Problems solved by technology

[0003] For example, the Chinese utility model patent (publication number: CN206615393U) disclosed a floating body throwing off type amphibious four-rotor UAV in 2017, including four propellers, a rigid cross support mechanism and a control system, and the cross support mechanism includes a frame The main body and the four arms connected around the main body of the frame, the top of the main body of the frame is sealed with a floating body, the bottom is sealed with an inner cabin, and there are watertight joints for installing waterproof wires around and on the top; although the UAV It is capable of air and water navigation, but there are deficiencies in water entry attitude, underwater navigation stability and accuracy control, and the underwater driving resistance is relatively large

[0004] Another example is the Chinese invention patent application (publication number: CN109229374A) in 2019, which disclosed a cabin-type structure flying submersible, including a main control cabin, a power conversion cabin, a communication device, and a rotor; Rotating to form a traditional four-rotor UAV structure; when sailing on the water, the steering gear drives the rotor to rotate to form a paddle boat structure; when underwater, the steering gear drives the rotor to rotate to form a new type The structure of the unmanned submersible; the flying submersible can also navigate in the air and underwater, and can adjust the angle, but it is inconvenient for the flying submersible to take off and land on land, and the static release requires the assistance of foreign objects

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