Air-ground amphibious variable-structure unmanned aerial vehicle

Abstract

The invention discloses an air-ground amphibious variable-structure unmanned aerial vehicle which comprises a main body rack, a plurality of supporting arms and propellers installed on the supporting arms and driven by brushless motors, a plurality of rotating assemblies are fixed to the main body rack, and the near end of each supporting arm is connected with a rotating shaft of the corresponding rotating assembly in a one-to-one correspondence mode. A driving assembly is further installed on the supporting arm, the brushless motor is installed at the far end of the supporting arm, a hub coaxial with the propeller is further installed at the far end of the supporting arm, and the hub is in transmission connection with the driving assembly through a transmission assembly. The conversion of the unmanned aerial vehicle from a land running mode to an air flight mode is realized, and various defects in the prior art are effectively overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-rotor UAVs, and in particular to a land-air amphibious variable-configuration UAV. Background Art

[0002] Multirotor drones are high-tech tools with high scientific and technological integration, a wide range of uses, and obvious advantages and characteristics. They can be applied to areas such as package delivery, aerial photography, and exploration of unknown scenes. However, the most worrying shortcoming limiting the application of multirotors is their poor power efficiency. For example, exploration in large environments and long-distance delivery benefit from the maneuverability of multirotor aircraft, but at the same time pose a huge challenge to their endurance. In addition, when large payloads are required, the power efficiency of multirotor aircraft drops sharply, making the dilemma even more severe.

[0003] To this end, Chinese patent CN202311169386.4 discloses an amphibious drone that can fly and roll on the ground by placing propellers for flight and wheels for ground rolling separately. If it needs to travel normally, two sensors need to be added between the front and rear ends of the two wheels, and a balancing algorithm is added to ensure normal travel. However, the patent has the following disadvantages:

[0004] 1. The size will be larger than that of ordinary drones, so it will be difficult to operate the drone with high maneuverability in narrow and complex working environments.

[0005] 2. When in flight, if yaw, roll, and pitch are required, the drone needs to overcome the wheels installed at the bottom of the drone to lower the overall center of gravity to achieve the corresponding yaw, roll, and pitch movements. This requires the drone to provide a huge lift to overcome the torque increased by the lowered center of gravity, which will increase energy consumption. Although the use of a low-speed brushless motor can output greater force, it also requires an increase in the size of the propeller, and then the wheels will become larger, and the mass and volume will also increase. The corresponding battery also needs to be larger, which cannot achieve long-term endurance and high-precision and high-maneuverability operations. At the same time, the cost is also increased, and the aerodynamic performance during flight will also be damaged.

[0006] 3. When driving on the ground, if you need to be able to drive in a balanced manner, you need to add two sensors at the front and rear ends between the two wheels, plus a balancing algorithm to drive normally, but the accuracy is low, the reliability is poor, the efficiency is low, the speed is low, the adaptability to the terrain is poor, it is powerless on complex terrain, it is easy to slip, and it is unstable. If it is replaced with four wheels, although it can increase the ability to adapt to complex environments, it will also increase the size and weight, and the torque that needs to be overcome when yaw, roll, and pitch in the air will be greater. The energy loss is greater, the efficiency will be reduced accordingly, and the endurance will be reduced.

[0007] 4. The propeller is not protected and its safety performance is poor.

[0008] In addition, Chinese patent CN202220113462.4 discloses a deformable land and air amphibious drone, which has a foldable arm hinged at each of the four corners of the body, and a driving component is provided at the far end of the foldable arm. The upper end of the driving component is equipped with a propeller, and the outer side of the propeller is provided with a ring tire. When it is necessary to drive on the ground, the foldable arm needs to be manually bent 90 degrees to turn it into a brushless motor to drive the propeller to drive the wheel hub to rotate, so as to achieve a four-wheel driving state. However, the defects of this drone are:

[0009] 1. The folding part of the foldable arm has concentrated stress and is prone to deformation and damage.

[0010] 2. The propeller is used to support the wheel hub. The propeller needs to bear almost the entire weight of the fuselage and the load. The propeller's own structure is prone to bending and deformation. In addition, the gravity of the fuselage and the load greatly reduces the propeller's ultimate load capacity. If the propeller needs to work normally, it is necessary to use materials with high strength, high hardness and small mass, which will inevitably make the drone very expensive and costly.

[0011] 3. When entering the ground state, although the propeller and the hub can rotate together due to the snap connection, the brushless motor generally rotates very fast during operation, the hub rotates very fast, the power is small and the speed is high, so ground survey and navigation cannot be carried out normally.

[0012] 4. When on the ground, the propeller and the wheel hub rotate together. The rotation of the propeller will generate an axial force based on the brushless motor, which will interfere with the drone's land navigation and easily damage the fuselage. In addition, if you want to move forward, backward, turn left, or turn right, you can only control the steering based on the four-wheel differential. Therefore, to control four brushless motors to complete ground navigation, you need to add a ground navigation algorithm based on the air navigation algorithm. The algorithm is complex and has poor reliability. Summary of the invention

[0013] The present invention provides a land-air amphibious variable-configuration UAV to overcome various defects existing in the prior art.

[0014] A land-air amphibious variable-configuration drone comprises a main frame, a plurality of support arms, and a propeller mounted on each support arm and driven by a brushless motor. A plurality of rotating assemblies are fixed on the main frame, and the proximal end of each support arm is connected to a rotating shaft of the rotating assembly in a one-to-one correspondence. A driving assembly is also mounted on the support arm, and the brushless motor is mounted on the distal end of the support arm. A wheel hub coaxially arranged with the propeller is also mounted on the distal end of the support arm, and the wheel hub is connected to the driving assembly through a transmission assembly.

[0015] Furthermore, the main frame includes a body, a landing gear and a control module, the landing gear is fixedly connected to the bottom of the body, the control module is arranged in the body, and the rotating assembly is arranged at both ends of the body.

[0016] Furthermore, the body includes a base, a large cover, and a small cover. A first accommodating cavity for accommodating the control module is formed in the center of the base. The large cover covers the first accommodating cavity. A plurality of second accommodating cavities for placing the rotating components are respectively formed on both sides of the first accommodating cavity. The small cover covers the second accommodating cavities. The large cover and the small cover are both detachably connected to the base.

[0017] Furthermore, the landing gear includes an upper connecting frame, connecting columns, and a lower supporting frame. The upper surface of the upper connecting frame is fixedly connected to the lower surface of the body, and the lower surface of the upper connecting frame is connected to the upper surface of the lower supporting frame through a plurality of connecting columns.

[0018] Furthermore, a pull rod is connected at the center of the upper connecting frame and the center of the lower supporting frame.

[0019] Furthermore, the transmission assembly includes a driving gear and a driven gear ring that mesh with each other, the driving gear is fixed on the output end of the driving assembly, and the driven gear ring is coaxially arranged with the wheel hub and fixedly connected to the wheel hub.

[0020] Furthermore, the support arm includes a rotating section, a connecting section and a mounting section, one end of the rotating section is connected to the rotating shaft of the rotating assembly, and the other end of the rotating section is connected to the mounting section through the connecting section. A mounting hole for fixing the brushless motor is opened at the center of the mounting section, and a motor cover covering the lower end of the mounting hole is covered at the bottom of the mounting section. A mounting opening coaxially arranged with the mounting hole is formed at the upper end of the mounting section, a bearing is fixed in the mounting opening, and the lower end of the hub is connected to the inner ring of the bearing.

[0021] Furthermore, the wheel hub includes a fixing ring, a limiting ring, spokes, and a rim. The fixing ring is fixedly connected to the inner ring of the bearing. The limiting ring is sleeved on the upper part of the mounting section. The fixing ring, the limiting ring and the rim are coaxially arranged and connected through a plurality of spokes. The driven gear ring is fixed on the spokes, and the propeller is located in the area surrounded by the rim.

[0022] Furthermore, a plurality of weight-reducing holes distributed along the axial direction of the wheel rim are provided on the wheel rim.

[0023] Furthermore, the rotating component adopts a steering gear, and the driving component adopts a reduction motor.

[0024] Beneficial effects:

[0025] 1. The present invention organically combines a quad-rotor propeller and four wheels. Each of the four wheels adopts a coaxial double-degree-of-freedom mechanical structure of independent design. The support arm and the wheel hub are connected by bearings. The center of the bearing is provided with a brushless motor fixed on the support arm. The brushless motor drives the propeller to move and the wheel hub to rotate without affecting each other. The controller outputs a signal, and the receiver on the UAV receives the signal. The support arm is driven to rotate by the servo to realize the mutual conversion between the land driving mode and the air flight mode, thereby solving the difficult problem of rapid remote conversion of the air-to-ground mode in the field of land-air amphibious UAVs.

[0026] 2. Installing the wheel hub in coaxial dual-degree-of-freedom mode can reduce the size of the drone to the extreme, and has a strong load capacity and low cost. It truly realizes the combination of land wheels and propellers, and is not a simple mechanical patchwork.

[0027] 3. In the two operating postures, the appearance is very similar to that of ordinary drones and ordinary four-wheeled cars. Therefore, in the air flight mode, the present invention can achieve the best aerodynamic performance, high speed, good maneuverability, low energy consumption, and stable flight posture; in the land driving mode, the larger wheel hub of the present invention can adapt to most terrains, and the transmission ratio of the small gear and the large gear with fixed wheel hub is 1:30. The large transmission ratio can provide large torque, so it can have stronger environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 A top view of the present invention;

[0030] Figure 3 A bottom view of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the main frame in the present invention;

[0032] Figure 5 This is a front view of the main frame of the present invention;

[0033] Figure 6 This is a bottom view of the main frame of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the main frame of the present invention without the small cover;

[0035] Figure 8 It is a schematic diagram of the matching structure of the support arm, propeller, hub and drive assembly in the present invention;

[0036] Fig. 9 It is a top view of the matching structure of the support arm, propeller, hub and drive assembly in the present invention;

[0037] Fig.10 for Fig. 9 A top view of

[0038] Fig.11 is a schematic diagram of the structure of the wheel hub;

[0039] Fig.12 It is a schematic diagram of the structure of the present invention transformed into ground navigation. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with embodiments and drawings.

[0041] like Figure 1-Figure 12 As shown, a land-air amphibious variable-configuration UAV includes a main frame 10, four support arms 20, and a propeller 40 installed on each support arm 20 and driven by a brushless motor 30. A plurality of rotating components 50 are fixed on the main frame 10, and the proximal end of each support arm 20 is connected to a rotating shaft of the rotating component 50 in a one-to-one correspondence. A driving component 60 is also installed on the support arm 20, and the brushless motor 30 is installed at the distal end of the support arm 20. A hub 70 coaxially arranged with the propeller 40 is also installed at the distal end of the support arm 20, and the hub 70 is transmission-connected to the driving component 60 via a transmission component 80.

[0042] Based on the above structure, it can be known that the present invention forms a coaxial dual-degree-of-freedom mechanical structure by organically combining the propeller 40 of the quadcopter and the four wheel hubs 70, that is, the brushless motor 30 drives the propeller 40 to rotate and the rotation of the wheel hub 70 does not affect each other, and at the same time, the support arm 20 and the main frame 10 are connected through the rotating assembly 50, so that the relative position of the wheel hub 70 and the main frame 10 can be changed by controlling the rotation of the rotating assembly 50, thereby realizing the conversion of the drone described in the present invention from the land driving mode to the air flight mode. Based on the structure of the coaxial dual-degree-of-freedom mode, the size of the drone can be reduced to the extreme, and it has a stronger load capacity, and the combination of land wheels and propellers is truly realized, which is not a simple mechanical patchwork.

[0043] like Figures 4 to 7As shown, the main frame 10 includes a body 11, a landing gear 12 and a control module (not shown in the figure), the landing gear 12 is fixedly connected to the bottom of the body 11, and the landing gear 12 is used to provide support for the drone during the lifting and landing process to prevent the drone from breaking; a control module is arranged in the body 11, and the control module is used to receive a control signal sent by the drone remote control to control the working state of the brushless motor 30, the rotating assembly 50, and the driving assembly 60, so as to realize the turning, forward, backward and other movements of the drone in the land driving mode and the lifting, landing, yaw, roll, pitch and other movements in the air flight mode, and the rotating assembly 50 is arranged at both ends of the body 11 in the length direction, and two rotating assemblies 50 are arranged at each end to correspond to the two support arms 20 located at both ends of the body 11.

[0044] Furthermore, the body 11 includes a base 111, a large cover 112, and a small cover 113. A first accommodating cavity 114 for accommodating a control module is formed at the center of the base 111. The large cover 112 covers the first accommodating cavity 114. A plurality of second accommodating cavities 115 for placing the rotating assembly 50 are respectively formed on both sides of the first accommodating cavity 114. The small cover 113 covers the second accommodating cavity 115. The large cover 112 and the small cover 113 are both detachably connected to the base 111.

[0045] The above structure can not only facilitate the assembly of the body 11, but also facilitate and quickly assemble the control module and the rotating assembly 50, which helps to simplify the structure of the drone of the present invention and reduce production costs.

[0046] In this example, in order to reduce the weight of the drone to improve its endurance, ensure its load capacity, and enhance the heat dissipation effect of the control module, a hollow structure is adopted on the base 11 and the large cover 112 in the body 11.

[0047] from Figure 6 It can also be seen that the landing gear 12 includes an upper connecting frame 121, a connecting column 122, and a lower supporting frame 123. The upper surface of the upper connecting frame 121 is fixedly connected to the lower surface of the fuselage 11, and the lower surface of the upper connecting frame 121 is connected to the upper surface of the lower supporting frame 123 through a plurality of connecting columns 122. A pull rod 124 is also connected at the center of the upper connecting frame 121 and the center of the lower supporting frame 123.

[0048] Furthermore, the upper connecting frame 121 adopts a rectangular frame structure, and its length direction is consistent with the length direction of the body 11; the lower support frame 123 adopts a composite structure formed by alternating four arc segments and four straight segments, which not only has a beautiful appearance, but also can effectively reduce the impact force during lifting and landing; in addition, X-shaped reinforcements are connected to the center of the upper connecting frame 121 and the lower support frame 123, and the two reinforcements are connected by a pull rod 12, which not only enhances the structural strength of the upper connecting frame 121 and the lower support frame 123, but also prevents the middle part of the upper connecting frame 121 and the lower support frame 123 from deformation and affecting the safe take-off and landing of the UAV.

[0049] like Fig.10 As shown, the support arm 20 includes a rotating section 21, a connecting section 22 and a mounting section 23, one end of the rotating section 21 is connected to the rotating shaft of the rotating assembly 50, the driving assembly 60 is also fixed on the rotating section 21 close to the rotating assembly 50, and the mounting direction of the driving assembly 60 is perpendicular to the mounting direction of the rotating assembly 50, the other end of the rotating section 21 is connected to the mounting section 23 through the connecting section 22, the connecting section 22 is inclined and the mounting section 23 is connected to the higher end, a mounting hole 24 for fixing the brushless motor 30 is opened at the center of the mounting section 23, the bottom of the mounting section 23 is covered with a motor cover 27 covering the lower end of the mounting hole 24, and a mounting opening 25 coaxially arranged with the mounting hole 24 is formed at the upper end of the mounting section 23, a bearing 26 is fixed in the mounting opening 25, and the lower end of the hub 70 is connected to the inner ring of the bearing 26.

[0050] Based on the above structure, it can be known that, through the cooperation of the rotating section 21 and the rotating assembly 50, the rotating section 21 can be driven to rotate under the rotation of the rotating assembly 50, so that the support arm 20 drives the wheel hub 70 to rotate, and the land-air amphibious transformation of the UAV of the present invention is realized, and the driving assembly 60 set on the rotating section 21 drives the wheel hub to rotate through the transmission assembly 80, so that the UAV transformed into the land driving mode can be driven to move forward, backward, turn, etc. In addition, through the cooperation of the structures such as the mounting hole 24, the bearing 26 and the mounting opening 25, the connection between the wheel hub 70 and the mounting section 23 can be conveniently realized, and at the same time, the propeller 40, the wheel hub 70, etc. can also be conveniently replaced after being damaged.

[0051] from Fig.10 It can also be seen that the transmission assembly 80 includes a driving gear 81 and a driven gear ring 82 that mesh with each other, the driving gear 81 is fixed to the output end of the driving assembly 60, and the driven gear ring 82 is coaxially arranged with the wheel hub 70 and fixedly connected to the wheel hub 70.

[0052] The above-mentioned transmission assembly 80 can transmit the power of the drive assembly 60 to the wheel hub 70 to drive the movement of the UAV in the land driving mode. At the same time, a transmission structure with a large transmission ratio such as a pinion and a large gear ring can provide a large torque, thereby making the UAV described in this embodiment have a stronger environmental adaptability. In some specific embodiments, the transmission ratio of the driving gear 81 and the driven gear ring 82 is 1:30. Of course, in other embodiments, the transmission assembly 80 can also adopt other transmission methods such as belts, chains and other structural forms.

[0053] like Fig.10 and Fig.11 As shown, the hub 70 includes a fixing ring 71, a limiting ring 72, spokes 73, and a rim 74. The fixing ring 71 is fixedly connected to the inner ring of the bearing 26. The limiting ring 72 is sleeved on the upper part of the mounting section 23. The fixing ring 71, the limiting ring 72 and the rim 74 are coaxially arranged and connected through a plurality of spokes 73. The driven gear ring 82 is fixed on the spokes 73, and the propeller is located in the area surrounded by the rim 74.

[0054] The wheel hub 70 with the above structure not only has a high structural strength, but also has an appearance very similar to that of an ordinary drone and an ordinary four-wheeled car in the land driving mode and the air flight mode. Therefore, in the air flight mode, the present invention can achieve the best aerodynamic performance, high speed, good maneuverability, low energy consumption, and more stable flight attitude; in the land driving mode, the larger wheel hub of the present invention can adapt to most terrains. In addition, the propeller 40 is located in the area surrounded by the wheel rim 74, and the wheel rim 74 can act as a safety protective shell in the air flight mode to protect the safety of people and machines.

[0055] Preferably, a plurality of weight-reducing holes 75 distributed along the axial direction of the wheel rim 74 are provided to reduce the weight of the wheel hub 70 , thereby minimizing the influence of the wheel hub 70 on the endurance and load capacity of the drone.

[0056] In this embodiment, it is preferred that the rotating assembly 50 adopts a steering gear, and the driving assembly 60 adopts a reduction motor.

[0057] Based on the above structure, the working principle of the drone described in this embodiment is as follows:

[0058] Air flight mode: In this mode, the drone's shape is as follows: Figure 1 As shown, at this time, the flight control signal is sent out in real time through the remote control. After receiving the flight control signal, the control module generates a flight control instruction and outputs it to the four brushless motors 30 for flight control. The four brushless motors 30 transmit the corresponding power to the propellers 40, and then complete the take-off, landing, yaw, roll, pitch and other movements of the drone in the air mode.

[0059] Land driving mode: In this mode, the drone is Fig.12 As shown, the remote controller sends out a driving control signal in real time. After receiving the driving control signal, the control module generates a driving control instruction and distributes it to the four drive components 60. The drive components 60 output power and transmit it to the wheel hub 70 through the transmission component 80 to drive the wheel hub 70 to rotate, thereby realizing the turning, forward and backward of the UAV. Among them, the turning of the UAV in the land driving mode is realized by the different rotation speeds of the four wheel hubs 70, which is the differential principle.

[0060] Transformation process: If the flying mode is changed to the driving mode, the remote controller sends a transformation signal. After receiving the transformation signal, the control module generates a transformation control instruction and outputs it to the rotating assembly 50. The rotating assembly 50 drives the support arm 20 to rotate and drive the wheel hub 70 to transform until the wheel hub 70 moves to the position as shown in the figure. Fig.12 If the mode changes from the land driving mode to the air flying mode, the remote controller sends a conformational change signal, and the control module generates a conformational change control instruction after receiving the conformational change signal and outputs it to the rotating assembly 50, and the rotating assembly 50 drives the support arm 20 to rotate and drive the wheel hub 70 to change its conformation until the wheel hub 70 moves to the position shown in FIG. Figure 1 The posture shown is parallel to the ground.

[0061] In summary, the present invention organically combines the propeller 40 and four wheel hubs 70 of the quad-rotor to form a coaxial dual-degree-of-freedom mechanical structure, that is, the brushless motor 30 drives the propeller 40 to rotate and the rotation of the wheel hub 70 does not affect each other. At the same time, the support arm 20 and the main frame 10 are connected by the rotating assembly 50, so that the relative position of the wheel hub 70 and the main frame 10 can be changed by controlling the rotation of the rotating assembly 50, thereby realizing the conversion of the drone described in the present invention between the land driving mode and the air flight mode. It is not only small in size, strong in load capacity, long in endurance, and low in cost, but also has good maneuverability, low energy consumption, stable flight, and can adapt to most terrains, effectively overcoming various defects existing in the prior art.

[0062] Finally, it should be noted that the above description is only a preferred embodiment of the present invention. Under the guidance of the present invention, ordinary technicians in this field can make various similar expressions without violating the purpose of the present invention and the claims, for example: moving the support arm 20 into the body 11, using a motor instead of a servo plus a coaxial double-degree-of-freedom structure, replacing a quad-rotor with a hexa-rotor, installing the reduction motor in front of or behind the brushless motor 20, the meshing mode of the driving gear 81 and the driven gear ring 82 is external meshing or internal meshing, etc., all of which can achieve the purpose of the present invention, and such changes also fall within the protection scope of the present invention.

Claims

1. An amphibious and air-adaptable UAV, comprising a main frame (10), a plurality of support arms (20), and a propeller (40) mounted on each support arm (20) and driven by a brushless motor (30), characterized in that: A plurality of rotating assemblies (50) are fixed on the main frame (10), the proximal end of each support arm (20) is connected to a rotating shaft of a rotating assembly (50) in a one-to-one correspondence, a driving assembly (60) is also installed on the support arm (20), the brushless motor (30) is installed at the distal end of the support arm (20), and a wheel hub (70) coaxially arranged with the propeller (40) is also installed at the distal end of the support arm (20), and the wheel hub (70) is connected to the driving assembly (60) through a transmission assembly (80).

2. The amphibious adaptable UAV according to claim 1, characterized in that: The main frame (10) comprises a machine body (11), a landing gear (12) and a control module; the landing gear (12) is fixedly connected to the bottom of the machine body (11); the control module is arranged inside the machine body (11); and the rotating assembly (50) is arranged at both ends of the machine body (11).

3. The amphibious adaptable UAV according to claim 2 is characterized in that: The machine body (11) comprises a base (111), a large cover (112), and a small cover (113); a first accommodating cavity (114) for accommodating a control module is formed at the center of the base (111); the large cover (112) covers the first accommodating cavity (114); a plurality of second accommodating cavities (115) for accommodating the rotating assembly (50) are respectively formed on the groups on both sides of the first accommodating cavity (114); the small cover (113) covers the second accommodating cavities (115); and the large cover (112) and the small cover (113) are both detachably connected to the base (111).

4. The amphibious adaptable UAV according to claim 2, characterized in that: The landing gear (12) comprises an upper connecting frame (121), a connecting column (122), and a lower supporting frame (123); the upper surface of the upper connecting frame (121) is fixedly connected to the lower surface of the fuselage (11); and the lower surface of the upper connecting frame (121) is connected to the upper surface of the lower supporting frame (123) via a plurality of connecting columns (122).

5. The land-air amphibious adaptable UAV according to claim 4, characterized in that: A pull rod (124) is also connected at the center of the upper connecting frame (121) and the center of the lower supporting frame (123).

6. The amphibious adaptable UAV according to claim 1, characterized in that: The transmission assembly (80) comprises a driving gear (81) and a driven gear ring (82) meshing with each other, the driving gear (81) being fixed on the output end of the driving assembly (60), and the driven gear ring (82) being coaxially arranged with the wheel hub (70) and fixedly connected to the wheel hub (70).

7. The amphibious adaptable UAV according to claim 6, characterized in that: The support arm (20) comprises a rotating section (21), a connecting section (22) and a mounting section (23); one end of the rotating section (21) is connected to the rotating shaft of the rotating assembly (50); the other end of the rotating section (21) is connected to the mounting section (23) via the connecting section (22); a mounting hole (24) for fixing the brushless motor (30) is provided at the center of the mounting section (23); a motor cover (27) covering the lower end of the mounting hole (24) is provided at the bottom of the mounting section (23); a mounting opening (25) coaxially arranged with the mounting hole (24) is formed at the upper end of the mounting section (23); a bearing (26) is fixed in the mounting opening (25); and the lower end of the wheel hub (70) is connected to the inner ring of the bearing (26).

8. The land-air amphibious adaptable UAV according to claim 7, characterized in that: The wheel hub (70) comprises a fixing ring (71), a limiting ring (72), spokes (73) and a rim (74); the fixing ring (71) is fixedly connected to the inner ring of the bearing (26); the limiting ring (72) is sleeved on the upper part of the mounting section (23); the fixing ring (71), the limiting ring (72) and the rim (74) are coaxially arranged and connected through a plurality of spokes (73); the driven gear ring (82) is fixed on the spokes (73); and the propeller (40) is located in the area surrounded by the rim (74).

9. The amphibious adaptable UAV according to claim 8, characterized in that: The wheel rim (74) is provided with a plurality of weight-reducing holes (75) distributed along its axial direction.

10. The land-air amphibious adaptable UAV according to any one of claims 1 to 9, characterized in that: The rotating assembly (50) adopts a steering gear, and the driving assembly (60) adopts a reduction motor.

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