Modal switching mechanism, air-ground amphibious robot and modal switching method

Abstract

The invention discloses a mode switching mechanism, an air-ground amphibious robot and a mode switching method. The modal switching mechanism is driven by the steering engine, and the side wing assembly can be turned over integrally, so that the direction of the output shaft is switched; in the overturning process of the side wing assembly, the transmission gear can drive the motor to move through the transmission mechanism, and therefore the meshing relation between the first output gear and the output gear set is switched, when the first output gear is meshed with the second output gear, the lower transmission ratio is achieved, the rotating speed is higher, and the requirement for the high rotating speed of the rotor wings in the flying process is met; when the first output gear is meshed with the third output gear, the transmission ratio is higher, and the torque is higher so as to meet the high-torque requirement of wheels during land traveling. The invention relates to the technical field of land-air amphibious robots.

Description

Technical Field

[0001] The present application relates to the technical field of amphibious land-air robots, and particularly relates to a mode switching mechanism, an amphibious land-air robot, and a mode switching method. Background Art

[0002] With the gradual development and maturity of unmanned aerial vehicle technology, amphibious land-air robots have come into people's view. Compared with unmanned aerial vehicles with a single application scenario, amphibious land-air robots combine two motion modes and have great application prospects in fields such as post-disaster rescue and terrain exploration. Thanks to their flight function, the robots can conduct overall observation and evaluation of the environment in the air; in the land function, the robots can move quickly on the ground, thus making up for the observation blind spots in the air. In addition, when encountering complex motion environments such as narrow and rough terrains, the amphibious land-air robots can pass through by changing the mode and conduct in-depth environment detection, providing favorable conditions for rescue or terrain exploration.

[0003] Existing amphibious land-air robots mostly adopt a fixed frame, and the rotors and wheels are distributed at corresponding positions on the frame respectively. Therefore, the frame has a large volume, low space utilization rate, and extremely limited application environments. Moreover, the rotors and wheels respectively require a set of driving motors, which increases the weight of the robot and reduces its endurance. In addition, the parameters such as torque and rotational speed required in the two motion modes are different, so the driving motors of the rotors and wheels are often different, increasing the costs of control, debugging, maintenance, etc.

[0004] Therefore, in order to make the amphibious land-air robot have stronger environmental adaptability, it is required that its structure becomes more compact and can meet the different requirements for rotational speed and torque during flight and land travel. Summary of the Invention

[0005] The present application aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present application provides a mode switching mechanism, which can make the amphibious land-air robot have a more compact structure and can meet the different requirements for rotational speed and torque during flight and land travel.

[0006] The present application also provides an amphibious land-air robot with the above mode switching mechanism, and a mode switching method for the above mode switching mechanism.

[0007] The mode switching mechanism according to the first aspect embodiment of the present application includes:

[0008] A servo wheel train assembly, which includes a servo fixing frame, a servo, and a side wing swing gear. The servo fixing frame is provided with a driving tooth, a servo output gear is installed on the rotating shaft of the servo, and the side wing swing gear meshes with the servo output gear;

[0009] The wing assembly includes a wing support frame, a motor, a transmission gear, a transmission mechanism, and an output gear set. The wing support frame is fixedly connected to the wing swing gear. A slide rail is provided on the wing support frame. The motor slides on the slide rail. The transmission gear meshes with the driving gear. The transmission gear drives the motor to move along the slide rail through the transmission mechanism. A first output gear is installed on the rotating shaft of the motor. The output gear set includes a second output gear and a third output gear. The number of teeth of the second output gear is less than that of the third output gear. The movement of the motor on the slide rail can make the first output gear mesh with the second output gear or the third output gear.

[0010] The mode switching mechanism according to the embodiment of the present application has at least the following beneficial effects: Driven by the servo motor, the wing assembly can be integrally flipped, thereby switching the direction of the output shaft. Moreover, during the flipping process of the wing assembly, the transmission gear can drive the motor to move through the transmission mechanism, thereby switching the meshing relationship between the first output gear and the output gear set: When the first output gear meshes with the second output gear, it has a lower transmission ratio and a higher rotational speed to meet the high rotational speed requirements of the rotor during flight; when the first output gear meshes with the third output gear, it has a higher transmission ratio and a higher torque to meet the high torque requirements of the wheels during land travel.

[0011] According to some embodiments of the present application, the servo motor fixing frame includes a front fixing plate, a rear fixing plate, and a plurality of connecting columns. The two ends of the connecting column are respectively connected to the front fixing plate and the rear fixing plate. The servo motor is installed between the front fixing plate and the rear fixing plate. The wing swing gear is rotatably provided between the front fixing plate and the rear fixing plate.

[0012] According to some embodiments of the present application, the servo motor gear train assembly further includes an idler gear. The number of driving gears is two and they are symmetrically arranged on both sides of the servo motor fixing frame. The number of wing swing gears and the wing assemblies are both two and are connected in one-to-one correspondence. One of the wing swing gears directly meshes with the servo motor output gear, and the other wing swing gear meshes with the idler gear, and the idler gear meshes with the servo motor output gear.

[0013] According to some embodiments of the present application, the wing assembly further includes a slider. The motor is installed on the slider. The slider is slidably connected to the slide rail.

[0014] According to some embodiments of the present application, the transmission mechanism includes a first pulley, a second pulley, and a transmission belt. The first pulley or the second pulley is coaxially connected to the transmission gear. The transmission belt is wound around the first pulley and the second pulley. The slider is fixedly connected to the transmission belt.

[0015] According to some embodiments of the present application, both the first pulley and the second pulley are synchronous pulleys, and the transmission belt is a synchronous transmission belt.

[0016] According to some embodiments of the present application, the flank assembly further includes a tension pulley, which is rotatably connected to the flank support frame, and the tension pulley contacts the transmission belt and applies pressure thereto.

[0017] According to some embodiments of the present application, the second output gear meshes with the third output gear, and the rotation axis of the second output gear or the third output gear serves as the output shaft, and the output shaft transmits torque outward.

[0018] An amphibious robot according to the second aspect embodiment of the present application includes a robot body and the above-mentioned mode switching mechanism, and the mode switching mechanism is installed on the robot body.

[0019] A mode switching method according to the third aspect embodiment of the present application is based on the above-mentioned mode switching mechanism. The mode switching mechanism has a flight state and a land travel state; when the mode switching mechanism is in the flight state, the first output gear meshes with the second output gear; when the mode switching mechanism is in the land travel state, the first output gear meshes with the third output gear;

[0020] Wherein, when the mode switching mechanism switches from the flight state to the land travel state:

[0021] The servo motor drives the flank swing gear to rotate, thereby driving the flank assembly to flip;

[0022] During the flipping of the flank assembly, the transmission gear drives the motor to move through the transmission mechanism, and the first output gear disengages from the second output gear;

[0023] When the flank assembly flips in place, the first output gear meshes with the third output gear, and the transmission ratio between the first output gear and the output gear set increases;

[0024] When the mode switching mechanism switches from the land travel state to the flight state;

[0025] The servo motor drives the flank swing gear to rotate, thereby driving the flank assembly to flip;

[0026] During the flipping of the flank assembly, the transmission gear drives the motor to move through the transmission mechanism, and the first output gear disengages from the third output gear;

[0027] The side wing assembly is flipped in place, the first output gear meshes with the second output gear, and the transmission ratio of the first output gear to the output gear set decreases.

[0028] According to the mode switching method of the embodiment of the present application, it has at least the following beneficial effects: Through the mode switching mechanism, the amphibious robot can freely switch between the flight state and the land travel state, and the transmission ratio of the output gear set can be synchronously switched during the switching process, thereby meeting the rotational speed and torque requirements in different states.

[0029] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings are used to provide a further understanding of the technical solutions disclosed in the present application, and constitute a part of the specification. Together with the embodiments disclosed in the present application, they are used to explain the technical solutions of the present disclosure, and do not constitute a limitation to the technical solutions disclosed in the present application.

[0031] Figure 1 It is a three-dimensional view of the mode switching mechanism according to the embodiment of the first aspect of the present application;

[0032] Figure 2 It is an exploded view of the servo gear train assembly in the mode switching mechanism according to the embodiment of the first aspect of the present application;

[0033] Figure 3 It is an exploded view of the side wing assembly in the mode switching mechanism according to the embodiment of the first aspect of the present application;

[0034] Figure 4 It is a connection diagram of the side wing assembly and the servo gear train assembly in the mode switching mechanism according to the embodiment of the first aspect of the present application;

[0035] Figure 5 It is an engagement diagram of the side wing swing gear, the servo output gear and the idler gear in the mode switching mechanism according to the embodiment of the first aspect of the present application;

[0036] Figure 6 It is a three-dimensional view of the side wing assembly in the mode switching mechanism according to the embodiment of the first aspect of the present application.

[0037] Reference numerals: 100 - Steering gear train assembly, 110 - Steering gear fixing bracket, 111 - Driving tooth, 112 - Fixed front plate, 113 - Fixed rear plate, 114 - Connecting column, 120 - Steering gear, 121 - Steering gear output gear, 130 - Flank swing gear, 140 - Idler gear, 200 - Flank assembly, 210 - Flank support frame, 211 - Slide rail, 212 - Opening, 220 - Motor, 221 - First output gear, 230 - Transmission gear, 240 - Transmission mechanism, 241 - First pulley, 242 - Second pulley, 243 - Transmission belt, 250 - Output gear set, 251 - Second output gear, 252 - Third output gear, 260 - Slide block, 270 - Tension pulley. Detailed implementation manners

[0038] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0039] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0040] In the description of the present application, the meaning of "several" is more than one, the meaning of "multiple" is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0041] In the description of the present application, unless otherwise clearly defined, terms such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific content of the technical solution.

[0042] In the description of the present application, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0043] With the gradual development and maturity of drone technology, the land-air amphibious robot has come into people's view. Compared with drones with a single application scenario, the land-air amphibious robot combines two motion modes and has great application prospects in fields such as post-disaster rescue and terrain exploration. Thanks to its flight function, the robot can conduct overall observation and evaluation of the environment in the air; in the land function, the robot can move quickly on the ground, thus making up for the observation blind spots in the air. In addition, when encountering complex motion environments such as narrow and rough ones, the land-air amphibious robot can pass through by changing the mode and conduct in-depth environment detection, providing favorable conditions for rescue or terrain exploration.

[0044] Existing land-air amphibious robots mostly adopt a fixed frame, and the rotors and wheels are distributed at corresponding positions on the frame respectively. Therefore, the frame has a large volume, low space utilization rate, and extremely limited application environments. Moreover, the rotors and wheels respectively require a set of driving motors, which increases the weight of the robot and reduces its endurance. In addition, the parameters such as torque and rotational speed required in the two motion modes are different, so the driving motors of the rotors and wheels are often different, increasing the costs of control, debugging, maintenance, etc.

[0045] Therefore, in order to make the land-air amphibious robot have stronger environmental adaptability, it is required that its structure becomes more compact and can meet the different requirements for rotational speed and torque during flight and land travel.

[0046] In response to this, the present application proposes a mode switching mechanism. Driven by the servo motor 120, it can integrally flip the flank assembly 200, thereby switching the direction of the output shaft; and during the flipping process of the flank assembly 200, the transmission gear 230 can drive the motor 220 to move through the transmission mechanism 240, thereby switching the meshing relationship between the first output gear 221 and the output gear set 250: when the first output gear 221 meshes with the second output gear 251, it has a lower transmission ratio and a higher rotational speed to meet the high rotational speed requirements of the rotor during flight; when the first output gear 221 meshes with the third output gear 252, it has a higher transmission ratio and a higher torque to meet the high torque requirements of the wheels during land travel.

[0047] In addition, the present application also provides an amphibious land-air robot adopting the above-mentioned mode switching mechanism, as well as a mode switching method for the above-mentioned mode switching mechanism. Through the mode switching mechanism, the amphibious land-air robot can freely switch between the flight state and the land travel state, and can synchronously switch the transmission ratio of the output gear set 250 during the switching process, thereby meeting the rotational speed and torque requirements in different states.

[0048] Referring to Figure 1 , the mode switching mechanism in the first aspect embodiment of the present application includes a servo gear train assembly 100 and a flank assembly 200. Among them, the servo gear train assembly 100 is used to connect with the amphibious land-air robot body, and a servo 120 is provided thereon, which can drive the flank assembly 200 to flip. An electric motor 220 is provided on the flank assembly 200, which can provide power to an external rotor or wheel. In the flight state, the flank assembly 200 flips to the horizontal direction, and the amphibious land-air robot is deformed into a rotorcraft; in the land travel state, the flank assembly 200 flips to the vertical direction, and the amphibious land-air robot is deformed into a vehicle mode, thereby realizing the switching between the flight state and the land travel state.

[0049] Specifically, referring to Figure 2 , the servo gear train assembly 100 includes a servo fixing frame 110, a servo 120, and a flank swing gear 130. The servo fixing frame 110 is provided with a driving tooth 111, which is used to engage with the flank assembly 200, so as to adjust the rotational speed and torque of the output shaft while the flank assembly 200 flips. A servo output gear 121 is installed on the rotating shaft of the servo 120, and the flank swing gear 130 meshes with the servo output gear 121. Thus, when the rotating shaft of the servo 120 rotates, the servo output gear 121 can drive the flank swing gear 130, and then drive the flank assembly 200 to flip.

[0050] Referring to Figure 3 , the flank assembly 200 includes a flank support frame 210, an electric motor 220, a transmission gear 230, a transmission mechanism 240, and an output gear set 250. Among them, the flank support frame 210 is fixedly connected to the flank swing gear 130, and can drive the flank support frame 210 to flip when the flank swing gear 130 rotates. A slide rail 211 is provided on the flank support frame 210, and the electric motor 220 slides on the slide rail 211, so as to change the position of the electric motor 220 on the flank support frame 210.

[0051] Referring to Figure 4 , the transmission gear 230 meshes with the driving tooth 111, and the transmission gear 230 drives the electric motor 220 to move along the slide rail 211 through the transmission mechanism 240. Thus, when the flank assembly 200 flips as a whole, since the transmission gear 230 meshes with the driving tooth 111, the transmission gear 230 rotates, driving the electric motor 220 to move on the slide rail 211.

[0052] A first output gear 221 is installed on the rotating shaft of the motor 220. The output gear set 250 includes a second output gear 251 and a third output gear 252. It should be noted that the number of teeth of the second output gear 251 is less than that of the third output gear 252. The movement of the motor 220 on the slide rail 211 enables the first output gear 221 to mesh with the second output gear 251 or the third output gear 252. Thus, when the first output gear 221 meshes with different output gears in the output gear set 250, the transmission ratio will be different.

[0053] When the first output gear 221 meshes with the second output gear 251, due to the fewer number of teeth of the second output gear 251, the transmission ratio of the two meshing is smaller, and the output shaft connected to the second output gear 251 has a higher rotational speed, which can meet the rotational speed requirements of the rotor during flight; when the first output gear 221 meshes with the third output gear 252, due to the more number of teeth of the third output gear 252, the transmission ratio of the two meshing is larger, and the output shaft connected to the third output gear 252 has a greater torque, which can meet the torque requirements of the wheels during land travel.

[0054] Further, the servo mount 110 includes a fixed front plate 112, a fixed rear plate 113, and a plurality of connecting columns 114. The two ends of the connecting column 114 are respectively connected to the fixed front plate 112 and the fixed rear plate 113. The servo 120 is installed between the fixed front plate 112 and the fixed rear plate 113, and the flank swing gear 130 is rotatably arranged between the fixed front plate 112 and the fixed rear plate 113. The fixed front plate 112, the fixed rear plate 113, and each connecting column 114 together constitute the structure of the servo mount 110.

[0055] Further, referring to Figure 5 , the servo gear train assembly 100 further includes an idler gear 140. The number of driving teeth 111 is two and they are symmetrically arranged on both sides of the servo mount 110. The number of flank swing gears 130 and the flank assemblies 200 are both two and are connected in one-to-one correspondence. One of the flank swing gears 130 meshes directly with the servo output gear 121, and the other flank swing gear 130 meshes with the idler gear 140, and the idler gear 140 meshes with the servo output gear 121. Thus, through the commutation of the idler gear 140, the two flank swing gears 130 can rotate in opposite directions, and the two flank assemblies 200 always maintain a symmetrical relationship during the flipping process.

[0056] Further, the flank assembly 200 further includes a slider 260. The motor 220 is installed on the slider 260, and the slider 260 is slidably connected to the slide rail 211. Thus, the sliding direction of the motor 220 is restricted by the slider 260, avoiding the deviation of the motor 220 during sliding and causing poor sliding.

[0057] For the transmission mechanism 240, in some embodiments, the transmission mechanism 240 may adopt chain drive or gear drive to transmit power. In this embodiment, the transmission mechanism 240 adopts belt drive to transmit power. Specifically, the transmission mechanism 240 includes a first pulley 241, a second pulley 242, and a transmission belt 243. The first pulley 241 or the second pulley 242 is coaxially connected to the transmission gear 230. The transmission belt 243 is wound around the first pulley 241 and the second pulley 242, and the slider 260 is fixedly connected to the transmission belt 243.

[0058] Furthermore, both the first pulley 241 and the second pulley 242 are synchronous pulleys, and the transmission belt 243 is a synchronous transmission belt, thereby avoiding out-of-step situations.

[0059] Furthermore, the flank assembly 200 further includes a tension pulley 270. The tension pulley 270 is rotatably connected to the flank support frame 210. The tension pulley 270 contacts the transmission belt 243 and applies pressure to it to ensure that the transmission belt 243 can be in close contact with the first pulley 241 and the second pulley 242, avoiding out-of-step.

[0060] Furthermore, referring to Figure 6 , the second output gear 251 meshes with the third output gear 252. The rotation axis of the second output gear 251 or the third output gear 252 serves as the output shaft, and the output shaft transmits torque outward. Thus, regardless of whether the first output gear 221 meshes with the second output gear 251 or the third output gear 252, the torque is transmitted outward by the same output shaft, simplifying the mechanical structure.

[0061] Furthermore, for each component in the mode switching mechanism, an FDM 3D printer is used for printing. The material used for the structural components is PETG, and the material used for the gears is PLA.

[0062] The amphibious robot in the second aspect embodiment of this application includes a robot body and the above-mentioned mode switching mechanism, and the mode switching mechanism is installed on the robot body.

[0063] The mode switching method in the third aspect embodiment of this application is based on the above-mentioned mode switching mechanism. Specifically, the mode switching mechanism has a flight state and a land travel state. When the mode switching mechanism is in the flight state, the first output gear 221 meshes with the second output gear 251; when the mode switching mechanism is in the land travel state, the first output gear 221 meshes with the third output gear 252.

[0064] Among them, when the mode switching mechanism switches from the flight state to the land travel state:

[0065] S110. The steering gear 120 drives the wing swing gear 130 to rotate, thereby driving the wing assembly 200 to flip;

[0066] S120. During the flipping of the wing assembly 200, the transmission gear 230 drives the motor 220 to move through the transmission mechanism 240, and the first output gear 221 disengages from the engagement with the second output gear 251;

[0067] S130. When the wing assembly 200 flips in place, the first output gear 221 engages with the third output gear 252, and the transmission ratio between the first output gear 221 and the output gear set 250 increases.

[0068] Thus, when the mode switching mechanism is in the land travel state, the output torque of the output gear set 250 is greater, which can better meet the torque requirements of the land-air amphibious robot during land travel.

[0069] When the mode switching mechanism switches from the land travel state to the flight state;

[0070] S210. The steering gear 120 drives the wing swing gear 130 to rotate, thereby driving the wing assembly 200 to flip;

[0071] S220. During the flipping of the wing assembly 200, the transmission gear 230 drives the motor 220 to move through the transmission mechanism 240, and the first output gear 221 disengages from the engagement with the third output gear 252;

[0072] S230. When the wing assembly 200 flips in place, the first output gear 221 engages with the second output gear 251, and the transmission ratio between the first output gear 221 and the output gear set 250 decreases.

[0073] Thus, when the mode switching mechanism is in the flight state, the output speed of the output gear set 250 is higher, which can better meet the speed requirements of the land-air amphibious robot during flight.

[0074] The above has described the embodiments of the present application in detail with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art, various changes can be made without departing from the purpose of the present application. In addition, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Claims

1. A mode switching mechanism, characterized in that: include: A steering gear train assembly, comprising a steering gear fixing frame, a steering gear and a wing swing gear, wherein the steering gear fixing frame is provided with a driving gear, a steering gear output gear is installed on the rotating shaft of the steering gear, and the wing swing gear is meshed with the steering gear output gear; The wing assembly includes a wing support frame, a motor, a transmission gear, a transmission mechanism and an output gear group, the wing support frame is fixedly connected to the wing swing gear, a slide rail is arranged on the wing support frame, the motor slides on the slide rail, the transmission gear is meshed with the driving tooth, the transmission gear drives the motor to move along the slide rail through the transmission mechanism, a first output gear is installed on the rotating shaft of the motor, the output gear group includes a second output gear and a third output gear, the number of teeth of the second output gear is less than the number of teeth of the third output gear, and the movement of the motor on the slide rail can make the first output gear mesh with the second output gear or the third output gear.

2. The mode switching mechanism according to claim 1, characterized in that: The servo fixing frame includes a fixed front plate, a fixed rear plate and a plurality of connecting columns, the two ends of the connecting columns are respectively connected to the fixed front plate and the fixed rear plate, the servo is installed between the fixed front plate and the fixed rear plate, and the wing swing gear is rotatably arranged between the fixed front plate and the fixed rear plate.

3. The mode switching mechanism according to claim 1, characterized in that: The steering gear train assembly also includes an idler wheel, the number of the driving teeth is two and they are symmetrically arranged on both sides of the steering gear fixing frame, the number of the wing swing gears and the wing assembly are two and they are connected one by one, one of the wing swing gears is directly meshed with the steering gear output gear, the other wing swing gear is meshed with the idler wheel, and the idler wheel is meshed with the steering gear output gear.

4. The mode switching mechanism according to claim 1, characterized in that: The wing assembly also includes a slider, the motor is mounted on the slider, and the slider is slidably connected to the slide rail.

5. The mode switching mechanism according to claim 4, characterized in that: The transmission mechanism includes a first pulley, a second pulley and a transmission belt. The first pulley or the second pulley is coaxially connected to the transmission gear. The transmission belt is wound around the first pulley and the second pulley. The slider is fixedly connected to the transmission belt.

6. The mode switching mechanism according to claim 5, characterized in that: The first pulley and the second pulley are both synchronous pulleys, and the transmission belt is a synchronous transmission belt.

7. The mode switching mechanism according to claim 5, characterized in that: The side wing assembly also includes a tensioning wheel, which is rotatably connected to the side wing support frame, and the tensioning wheel contacts the transmission belt and applies pressure to it.

8. The mode switching mechanism according to claim 1, characterized in that: The second output gear is meshed with the third output gear, and the rotating shaft of the second output gear or the third output gear serves as an output shaft, and the output shaft transmits torque outwardly.

9. A land and air amphibious robot, characterized in that: It comprises a robot body and the mode switching mechanism described in any one of claims 1 to 8, wherein the mode switching mechanism is mounted on the robot body.

10. A mode switching method, based on the mode switching mechanism according to any one of claims 1 to 8, characterized in that: The mode switching mechanism has a flight state and a land state; when the mode switching mechanism is in the flight state, the first output gear is meshed with the second output gear; when the mode switching mechanism is in the land state, the first output gear is meshed with the third output gear; Wherein, when the mode switching mechanism switches from the flight state to the land state: The steering gear drives the wing swing gear to rotate, thereby driving the wing assembly to flip; During the flipping process of the side wing assembly, the transmission gear drives the motor to move through the transmission mechanism, and the first output gear is disengaged from the second output gear; The side wing assembly is flipped into place, the first output gear is meshed with the third output gear, and the transmission ratio between the first output gear and the output gear set is increased; When the mode switching mechanism switches from the land state to the flight state; The steering gear drives the wing swing gear to rotate, thereby driving the wing assembly to flip; During the flipping process of the side wing assembly, the transmission gear drives the motor to move through the transmission mechanism, and the first output gear is disengaged from the meshing with the third output gear; The side wing assembly is flipped into place, the first output gear is meshed with the second output gear, and the transmission ratio between the first output gear and the output gear set is reduced.

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