The folding arm amphibious four-rotor unmanned aerial vehicle comprises vehicle arms movably connected to the two sides of a vehicle body, rotors connected with rotor motors are arranged on the upper surfaces of the far ends of the vehicle arms, wheels connected with the rotor motors through reduction gear sets are arranged on the lower surfaces of the far ends of the vehicle arms, a deformation steering engine is arranged on the vehicle body, and an output shaft of the deformation steering engine is connected with a linear rudder arm. The two ends of the linear rudder arm are movably connected with universal ball head supports arranged on the vehicle arms through universal ball head connecting rods correspondingly. The two ends of the linear rudder arm are driven by the deformation steering engine to rotate around the output shaft, the universal ball head support and the vehicle arm are driven by the corresponding universal ball head connecting rod to move, and the angle between the vehicle arm and the vehicle body is changed to achieve unfolding or folding. On the basis of the four-rotor unmanned aerial vehicle, the movement modes of the wheeled robot are increased, the wheeled robot has deformation capacity, and the wheeled robot and the four-rotor unmanned aerial vehicle can be switched through folding deformation, so that the unmanned aerial vehicle can adapt to different operation task requirements in a ground scene and an air scene.
本发明涉及一种折叠臂两栖四旋翼无人机,包括活动连接在机身两侧的机臂,机臂远端的上表面设有与旋翼电机连接的旋翼,下表面设有通过减速齿轮组与旋翼电机连接的车轮,机身上设有变形舵机,变形舵机的输出轴连接一字型舵臂,一字型舵臂的两端分别通过万向球头连接杆与机臂上设置的万向球头支座活动连接;通过变形舵机带动一字型舵臂的两端绕输出轴转动,经对应的万向球头连接杆带动万向球头支座和机臂运动,使机臂与机身之间的角度改变实现展开或折叠。在四旋翼无人机的基础上,增加了轮式机器人的运动模态,具备变形能力,能够通过折叠变形在轮式机器人和四旋翼无人机之间切换,从而使无人机能够适应地面场景和空中场景下不同的作业任务需求。
Amphibious four-rotor unmanned aerial vehicle with folding arms
一种折叠臂两栖四旋翼无人机
2023-01-03
Patent
Electronic Resource
Chinese
European Patent Office | 2022
|European Patent Office | 2023
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