小型陆空两栖无人机的结构设计与试验

Structural Design and Test of Small Land-air Amphibious UAV

本文提出了一种小型陆空两栖无人机的结构,主体主要包括一种伸缩式四旋翼结构与四轮式行走机构,四旋翼部分创造性的提出了一种可伸展式结构,其能在飞行模式时展开旋翼飞行,在陆地行驶时,四旋翼收合进行避障;四轮式行走机构设计了一种等腰梯形双摇杆转向机构,车轮与地面进行滚动摩擦,降低了车轮的磨损,节省了功耗;对叶片及连翼杆进行了有限元分析校核,制作了样机,对样机进行了陆地行走试验和室外飞行试验,试验中,该机能够通过遥控指挥顺利完成陆地行走转弯、前进后退运行、室外飞行平稳起降,空中悬停、飞行转弯等基础功能动作。试验结果表明,该小型陆空无人机基本达到了设计要求。

This paper presents a structure of a small land-air amphibious UAV.The main body includes a telescopic Four-rotor structure and a four-wheel walking mechanism.The Four-rotor part creatively puts forward a kind of extensible structure,which can launch the rotor flight in flight mode and close the Four-rotor to avoid obstacles while driving on land.An isosceles trapezoidal double rocker steering mechanism is designed for wheel-type walking mechanism.Rolling friction between wheel and ground reduces wear and tear of wheel and saves power consumption.Finite element analysis of blade and connecting rod is carried out and a prototype is made.Land walking test and outdoor flight test are carried out on the prototype.Through remote control command,the machine can smoothly complete basic functions such as land turning,forward and backward operation,outdoor smooth takeoff and landing,hovering in the air,flight turning and so on.The test results show that the small land-air UAV basically meets the design requirements.