A ducted UAV capable of amphibious operations on land, water and air

Abstract

The present invention discloses an amphibious ducted UAV, which relates to the technical field of unmanned aerial vehicles. It solves the cross-media working requirements of UAVs, and compared with existing amphibious UAVs, it has better power efficiency and ground maneuverability, and can perform tasks in water. The UAV includes a rolling shell, a duct, and an upper center body from the outside to the inside; one end of the upper center body is provided with a UAV main shaft, and the other end is provided with a fixed shaft coaxial with the UAV main shaft; the duct is fixedly connected to the upper center body through a connecting plate, and a walking power source is also fixedly connected to the inner wall of the duct; the UAV also includes a coaxial twin rotor and a lower center body; the lower center body is fixedly connected to the upper center body through a fixed shaft; and a number of rudders are also provided on the side wall of the lower center body. The UAV has the ability to perform tasks across media in three environments: air, water, and land, which improves the environmental adaptability and working flexibility of the UAV.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an amphibious ducted unmanned aerial vehicle capable of performing tasks in three environments: air, water and land. Background Art

[0002] Currently, drones are often used in military and civilian fields such as terrain reconnaissance and aerial photography. Especially in the military field, drones are gaining more and more attention due to their low cost, high concealment, and maneuverability. With the increase in military applications, more requirements are placed on the mission environment of drones. Drones are required to be able to perform tasks not only in the air, but also on the ground and in the water, with a wider mission execution range and greater flexibility. Therefore, an amphibious aircraft is needed that can perform tasks in three media environments.

[0003] At present, domestic patents on amphibious drones are mainly aimed at three working environments: air, land and water. The Chinese invention patent "A UAV that can be used in water, land and air" with the announcement number CN111532430B proposes an amphibious drone that can float on the water surface by increasing the contact area with water. The Chinese invention patent application "A multifunctional amphibious drone in water, land and air" with the publication number CN113459739A proposes an amphibious drone with a floating boat module designed to float on the water surface, and the drone is driven by a quadcopter to work on the water surface. However, the above two patents can only work on the water surface, and the concealment of working on the water surface is not as good as working in the water.

[0004] The Chinese invention application "A Tri-Amphibious Cross-Medium Horizontal Tilt-Rotor Aircraft" with publication number CN114013649A proposes a horizontal tilt-rotor aircraft. The overall fixed-wing aircraft configuration is provided with power by two horizontally arranged tilt-rotors. When working on the ground, it glides on wheels. Its ground maneuverability is poor, and it will fly off the ground when the ground gliding speed is high.

[0005] The Chinese invention application "A vertical take-off and landing amphibious cross-medium aircraft" with publication number CN111114772A proposes an amphibious aircraft with two tilt-rotors and one ducted rotor. The overall fixed-wing aircraft has a complex structure and the overall power efficiency of the three rotors is not high.

[0006] To sum up, how to make the amphibious UAV have better power efficiency, ground maneuverability, and be able to perform tasks in water, with a more compact and miniaturized structure, so as to achieve true amphibiousness, has become a technical problem that needs to be urgently solved by technicians in this field. Summary of the invention

[0007] In view of the above problems, the present invention proposes a three-dimensional amphibious ducted UAV, which solves the cross-media working requirements of UAVs. Compared with existing three-dimensional amphibious UAVs, it has better power efficiency and ground maneuverability, can perform tasks in water, has a more compact and miniaturized structure, and has the ability to perform tasks in three media environments: air, water, and land.

[0008] The technical solution of the present invention is as follows: the UAV comprises a rolling shell 1, a duct 2 and an upper center body 5 from outside to inside, and an upper support frame 3 and a lower support frame 7 fixedly connected thereto are respectively arranged at the top and bottom of the rolling shell 1;

[0009] One end of the upper central body 5 is provided with a drone main shaft 22, and the other end is provided with a fixed shaft coaxial with the drone main shaft 22; the drone main shaft 22 passes through the upper support frame 3, and the fixed shaft passes through the lower support frame 7;

[0010] The duct 2 is fixedly connected to the upper center body 5 through the connecting plate 6, and a travel power source is also fixedly connected to the inner wall of the duct 2, and the output shaft of the travel power source is connected to the upper support frame 3 or the lower support frame 7, and the upper support frame 3 or the lower support frame 7 is driven to rotate by the travel power source, thereby driving the rolling shell 1 to rotate relative to the duct 2;

[0011] The drone also includes a coaxial twin rotor 4 and a lower center body 7;

[0012] The two pairs of rotors in the coaxial twin rotors 4 are respectively fixedly connected to the main shaft 22 of the drone and a sleeve 23, the main shaft 22 of the drone passes through the sleeve 23, and the driving mechanism of the coaxial twin rotors 4 is arranged in the upper center body 5, and the two pairs of rotors are driven to rotate at the same speed and in opposite directions through the driving mechanism;

[0013] The lower center body 7 is fixedly connected to the upper center body 5 via a fixed shaft; a plurality of rudder surfaces 8 are also provided on the side wall of the lower center body 7, the roots of the rudder surfaces 8 are rotatably connected to the side wall of the lower center body 7 via a driving shaft, and a plurality of rotating power sources corresponding to the rudder surfaces 8 are provided inside the lower center body 7, the output shafts of the rotating power sources are connected to the driving shaft, and the plurality of rudder surfaces 8 are driven to independently swing back and forth through the plurality of rotating power sources.

[0014] Further, the UAV also includes a gravity center adjustment mechanism arranged in the upper center body 5, the gravity center adjustment mechanism includes a gravity center adjustment steering gear 17, a screw rod 18, a screw rod nut 19, a base 20 and two fixed plates 21, the two fixed plates 21 are fixedly connected in the upper center body 5, the gravity center adjustment steering gear 17 is fixedly connected to one of the fixed plates 21, the screw rod 18 is arranged parallel to the UAV main shaft 22, and its two ends are rotatably connected to the two fixed plates 21, the screw rod 18 is also connected to the output shaft of the gravity center adjustment steering gear 17, and passes through the screw rod nut 19, the screw rod 18 is connected to the screw rod nut 19 by threads, and the base 20 is fixedly connected to the screw rod nut 19;

[0015] The drone also includes a battery disposed in the upper central body 5 and a long slide rail parallel to the main axis of the drone. The battery is slidably connected to the long slide rail and is fixedly connected to the base 20.

[0016] Furthermore, the UAV also includes a protection mechanism including a protection shell 12 that can be extended or retracted between the rolling shell 1 and the duct 2, and the protection shell is arranged at the top and bottom of the rolling shell 1.

[0017] Further, the protective shell includes a plurality of protective shell single pieces 14, each protective shell single piece 14 is fixedly connected to a connecting bar 15, the connecting bar 15 is connected to a gear 13 and a protective shell servo, the gear 13 is rotatably connected to the connecting bar 15 through a rotating shaft, the protective shell servo is fixedly connected to the connecting bar 15, and its output shaft is fixedly connected to the rotating shaft;

[0018] A plurality of arc-shaped racks 16 are fixedly connected to the inner wall of the rolling housing 1 , and the gear 13 is meshed with the arc-shaped racks 16 .

[0019] Furthermore, a plurality of guide rails 25 are fixedly connected between the rolling housing 1 and the duct 2 , and a guide wheel 24 is connected to the rotating shaft, and the guide wheel is in contact with the outer side of the guide rail 25 .

[0020] Furthermore, the walking power source is a rolling shell motor 10, the output shaft of the rolling shell motor 10 is connected to the upper support frame 3 or the lower support frame 7 through a bevel gear set 11, one gear in the bevel gear set 11 is coaxial with the output shaft of the rolling shell motor 10 and is fixedly connected, another gear in the bevel gear set 11 is coaxial with the upper support frame 3 or the lower support frame 7 and is fixedly connected, and the two gears in the bevel gear set 11 remain meshed.

[0021] Furthermore, the rotational power source is a rudder surface servo, and the output shaft of the rudder surface servo is fixedly connected to the drive shaft.

[0022] Based on the cross-media working requirements of UAVs, the present invention proposes an amphibious ducted UAV, which adopts a coaxial double rotor design, and the coaxial double rotor provides power for the UAV in the air and in the water. A rolling shell is installed on the outside of the duct, so that the UAV has the ability to roll forward on the ground. Therefore, the present invention has the ability to perform tasks in three environments: air, water, and land, and improves the environmental adaptability of the UAV.

[0023] Compared with traditional surface operation drones, the main structure of the drone designed in this case is a ducted drone, which allows the drone to be completely submerged in water, has stronger concealment when performing tasks, and has no floating structure, so the overall structure is more compact.

[0024] Compared with the traditional fixed-wing aircraft configuration, this design adds a rolling shell to the outside of the duct, so that the drone can roll on the ground in an ellipsoidal shape, with flexible steering and good maneuverability. In addition, the design of coaxial twin rotors and duct-mounted rolling shell makes the overall structure simpler and more compact, and the power efficiency is higher.

[0025] Beneficial effects of the present invention:

[0026] 1. The coaxial twin rotors and rolling shell provide power for the UAV in the air, water and land respectively, enabling the UAV to perform tasks across media in the three environments of air, water and land, thus improving the UAV's environmental adaptability and working flexibility.

[0027] Second, the use of coaxial twin rotors as the power mechanism gives the UAV higher aerodynamic efficiency and energy utilization.

[0028] 3. The rolling shell is used as the power mechanism of the UAV on the ground. The center of gravity is adjusted to make turns, which has strong ground movement flexibility.

[0029] 4. The use of a retractable protective shell allows the drone to have a smaller ground turning radius, further enhancing its ground movement flexibility and protecting the safety of the rudder and rotor during ground work.

[0030] 5. The design of coaxial twin rotors and rolling shell makes the UAV structure compact, more conducive to miniaturization, and enhances its concealment when performing tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of this case;

[0032] Figure 2 It is a schematic diagram of the internal structure of this case;

[0033] Figure 3 This is a reference diagram of the use status of this case when working on the ground;

[0034] Figure 4 It is a schematic diagram of the structure of the protective shell in this case;

[0035] Figure 5 is a cross-sectional view of the rolling housing and the protective housing in this case;

[0036] Figure 6 It is a structural diagram of the center of gravity adjustment mechanism in this case;

[0037] Figure 7 It is a schematic diagram of the connection method of the rolling shell and the protective shell in this case;

[0038] In the figure, 1, rolling housing, 2, duct, 3, upper support frame, 4, coaxial twin rotors, 5, upper center body, 6, connecting plate, 7, lower support frame, 8, rudder, 9, lower center body, 10, rolling housing motor, 11, bevel gear set, 12, protective shell, 13, gear, 14, single piece of protective shell, 15, connecting strip, 16, arc rack, 17, center of gravity adjustment servo, 18, screw, 19, screw nut, 20, base, 21, fixing plate, 22, UAV main shaft, 23, sleeve, 24, guide wheel, 25, guide rail. DETAILED DESCRIPTION

[0039] In order to clearly illustrate the technical features of this case, the case is described in detail below through a specific implementation method and in conjunction with its accompanying drawings.

[0040] The present invention Figure 1-7 As shown, the UAV includes a rolling shell 1, a duct 2 and an upper center body 5 from the outside to the inside, and an upper support frame 3 and a lower support frame 7 fixedly connected thereto are respectively provided at the top and bottom of the rolling shell 1;

[0041] One end of the upper central body 5 is provided with a drone main shaft 22, and the other end is provided with a fixed shaft coaxial with the drone main shaft 22; the drone main shaft 22 passes through the upper support frame 3, and the fixed shaft passes through the lower support frame 7;

[0042] The duct 2 is fixedly connected to the upper center body 5 through the connecting plate 6, and a walking power source is also fixedly connected to the inner wall of the duct 2, and the output shaft of the walking power source is connected to the upper support frame 3 or the lower support frame 7. The upper support frame 3 or the lower support frame 7 is driven to rotate by the walking power source, and then the rolling shell 1 is driven to rotate relative to the duct 2, so that the UAV has the ability to move on the ground;

[0043] The drone also includes a coaxial twin rotor 4 and a lower center body 7;

[0044] The two pairs of rotors in the coaxial twin rotors 4 are respectively fixedly connected to the UAV main shaft 22 and a sleeve 23, and the UAV main shaft 22 passes through the sleeve 23. The driving mechanism of the coaxial twin rotors 4 is arranged in the upper center body 5, and the two pairs of rotors are driven by the driving mechanism to rotate at the same speed and in opposite directions; it should be explained that the driving mechanism of the coaxial twin rotors 4 is a conventional technology in the prior art, such as "A Coaxial Twin Rotor Unmanned Helicopter Rotor and Control System Design" written by Liu Shuai in the 7th issue of Volume 38 of "Mechanical Design" in July 2021, and "Kinematic Modeling and Analysis of a Coaxial Helicopter Control Mechanism" written by Yuan Xiaming, Zhu Jihong, etc. in the May 25, 2013 issue of "Acta Aeronautica Sinica", in which the rotor motor changes the rotation direction through a gear transmission mechanism to ensure that the coaxial twin rotors 4 are driven simultaneously at the same speed and in opposite directions, and the pitch angle can be reduced or increased through a variable pitch mechanism.

[0045] The lower center body 7 is fixedly connected to the upper center body 5 via a fixed shaft; a plurality of rudder surfaces 8 are also provided on the side wall of the lower center body 7, the roots of the rudder surfaces 8 are rotatably connected to the side wall of the lower center body 7 via a driving shaft, and a plurality of rotating power sources corresponding to the rudder surfaces 8 are provided inside the lower center body 7, the output shafts of the rotating power sources are connected to the driving shaft, and the plurality of rudder surfaces 8 are driven to independently swing back and forth through the plurality of rotating power sources.

[0046] The UAV further includes a gravity center adjustment mechanism disposed in the upper center body 5, the gravity center adjustment mechanism includes a gravity center adjustment steering gear 17, a screw rod 18, a screw rod nut 19, a base 20 and two fixing plates 21, the two fixing plates 21 are fixedly connected in the upper center body 5, the gravity center adjustment steering gear 17 is fixedly connected to one of the fixing plates 21, the screw rod 18 is arranged parallel to the UAV main shaft 22, and its two ends are rotatably connected to the two fixing plates 21, the screw rod 18 is also connected to the output shaft of the gravity center adjustment steering gear 17, and passes through the screw rod nut 19, the screw rod 18 is connected to the screw rod nut 19 by threads, and the base 20 is fixedly connected to the screw rod nut 19;

[0047] The drone also includes a battery disposed in the upper central body 5 and a long slide rail parallel to the main axis of the drone. The battery is slidably connected to the long slide rail and is fixedly connected to the base 20.

[0048] The center of gravity of the drone is adjusted by adjusting the position of the battery, so that the drone has the ability to turn on the ground.

[0049] The drone also includes a protection mechanism including a protection shell 12 that can be extended or retracted between the rolling shell 1 and the duct 2 , and a protection shell is arranged at the top and bottom of the rolling shell 1 .

[0050] When in air and water working mode, the protective shell is retracted into the rolling shell, which facilitates the manipulation of the rudder to change the attitude of the drone. When in land working mode, the protective shell extends out of the rolling shell to protect the rudder and rotor from damage, and also allows the drone to have a smaller ground turning radius, further enhancing the flexibility of ground movement.

[0051] The protective shell includes a plurality of protective shell single pieces 14, each of which is fixedly connected to a connecting bar 15, the connecting bar 15 is connected to a gear 13 and a protective shell servo, the gear 13 is rotatably connected to the connecting bar 15 via a rotating shaft, the protective shell servo is fixedly connected to the connecting bar 15, and its output shaft is fixedly connected to the rotating shaft;

[0052] A plurality of arc-shaped racks 16 are fixedly connected to the inner wall of the rolling housing 1, and the gears 13 are meshed with the arc-shaped racks 16. In this way, the gears 13 can be driven to rotate by the protective housing servo, thereby driving each protective housing single piece 14 to independently extend or retract between the rolling housing 1 and the duct 2.

[0053] A plurality of guide rails 25 are fixedly connected between the rolling housing 1 and the duct 2, and a guide wheel 24 is connected to the rotating shaft, and the guide wheel is attached to the outer side of the guide rail 25. Thus, the gear and the arc-shaped rack are kept in meshing, so as to ensure the stable output of power.

[0054] The walking power source is a rolling shell motor 10, and the output shaft of the rolling shell motor 10 is connected to the upper support frame 3 or the lower support frame 7 through a bevel gear set 11. One gear in the bevel gear set 11 is coaxial with the output shaft of the rolling shell motor 10 and is fixedly connected. Another gear in the bevel gear set 11 is coaxial with the upper support frame 3 or the lower support frame 7 and is fixedly connected. The two gears in the bevel gear set 11 remain meshed.

[0055] The rotation power source is a rudder surface servo, and the output shaft of the rudder surface servo is fixedly connected to the driving shaft.

[0056] The amphibious ducted UAV in this case provides power in the air and in the water through the coaxial twin rotors 4 and provides power through the rolling shell 1, thereby having the ability to work across media in three environments: air, water, and land.

[0057] When working in the air and in the water, the drone controller in the upper center body 5 controls the output power of the rotor motor according to the information obtained by the gyroscope, acceleration sensor, navigation module, etc., which are arranged in the upper center body. The rotor motor changes the direction of rotation through the gear transmission mechanism to ensure that the coaxial twin rotors 4 are driven in opposite directions at the same speed. When entering the air working mode, the coaxial twin rotors 4 reduce the pitch angle through the variable pitch mechanism to ensure a higher speed. When entering the water working mode, the coaxial twin rotors 4 increase the pitch angle through the variable pitch mechanism to ensure a lower speed and a larger underwater thrust. When working in the air and water modes, the attitude of the drone is changed by the rudder 8. The controller in the upper center body 5 controls the rudder servo in the lower center body 9 to drive the four rudders 8 to adjust to a position parallel to the main axis of the fuselage, that is, the neutral position. During the flight and diving process, according to the requirements of the fuselage attitude and motion trajectory, the rudder 8 is adjusted by the rudder servo to produce a corresponding attitude torque. When working in the air and in the water, the protective shell 12 is stored in the rolling shell, which facilitates the manipulation of the rudder 8 to change the attitude of the drone. The battery, electric adjustment and other components of the drone are all waterproof to ensure the safety of the drone when in the water.

[0058] The amphibious ducted UAV is endowed with the ability to move on land by installing a rolling shell 1 on the outside of the duct 2. The rolling shell 1 is fixedly connected to the upper support frame 3 and the lower support frame 7 to ensure that the rolling shell 1 can rotate around the main axis of the UAV. The rolling shell motor 10 drives the rolling shell 1 to rotate relative to the duct through a pair of bevel gears 11, thereby enabling the UAV to move on the ground.

[0059] like Figure 3 The figure shows a schematic diagram of an amphibious ducted UAV in this case when working on the ground. When entering the land working mode, the controller in the upper center body 5 controls the rudder servo in the lower center body 8 to drive the four rudders 8 to adjust to a position perpendicular to the main axis of the fuselage. In order to extend the protective shell 12 stored inside the rolling shell 1, the rudder and rotor can be protected from damage during the ground movement of the UAV, and the UAV can have a smaller ground turning radius, further enhancing the ground movement flexibility.

[0060] The movement of the screw nut 19 drives the battery of the drone to move, thereby adjusting the center of gravity of the drone. The entire mechanism is fixed to the upper center body 5 through the fixing plate 21. In the land working mode, when the drone needs to turn to a certain side, the center of gravity adjustment servo 17 drives the drone battery to move to that side, so that the center of gravity of the drone shifts to that side, thereby completing the turning action of the drone to that side.

[0061] The process of the drone landing and taking off from the ground requires special explanation.

[0062] The process of the amphibious ducted UAV landing on the ground: the UAV hovers at a height of about 10 cm from the ground. At this time, the control surface 8 is manipulated to make the fuselage generate a rolling moment, and slowly tilt sideways until the rolling shell 1 touches the ground. Then the coaxial twin rotors 4 stop rotating, and the control surface 8 is retracted and fixed in a position perpendicular to the main axis of the fuselage. The center of gravity position is adjusted according to the posture of the fuselage by controlling the center of gravity adjustment servo 17 to stabilize the fuselage. After the fuselage stops, the protective shell 12 is extended, and the rolling shell motor 10 starts to work, entering the land working mode.

[0063] The process of the amphibious ducted UAV taking off from the ground: the rolling shell motor 10 stops rotating, and the fuselage is stabilized by controlling the center of gravity and adjusting the steering gear 17. Then the protective shell 12 is retracted into the rolling shell 1, the rudder surface 8 is deflected to the neutral position, the coaxial twin rotors 4 work, the deflected rudder surface 8 rotates to generate the fuselage lifting moment, the UAV takes off from the ground, and finally the rudder surface 8 is manipulated to maintain stability in the air, and enters the air working mode.

[0064] There are many specific implementation ways of the present invention. The above is only the preferred implementation mode of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A ducted UAV capable of amphibious operation on land, sea and air, characterized in that: The drone comprises, from the outside to the inside, a rolling shell (1), a duct (2), and an upper center body (5). The top and bottom of the rolling shell (1) are respectively provided with an upper support frame (3) and a lower support frame (7) fixedly connected thereto. One end of the upper central body (5) is provided with a drone main shaft (22), and the other end is provided with a fixed shaft coaxial with the drone main shaft (22); the drone main shaft (22) passes through the upper support frame (3), and the fixed shaft passes through the lower support frame (7); The duct (2) is fixedly connected to the upper central body (5) via a connecting plate (6), and a travel power source is also fixedly connected to the inner wall of the duct (2), and the output shaft of the travel power source is connected to the upper support frame (3) or the lower support frame (7), and the upper support frame (3) or the lower support frame (7) is driven to rotate by the travel power source, thereby driving the rolling shell (1) to rotate relative to the duct (2); The drone also includes coaxial twin rotors (4) and a lower center body (9); The two pairs of rotors in the coaxial twin rotors (4) are respectively fixedly connected to a drone main shaft (22) and a sleeve (23), the drone main shaft (22) passing through the sleeve (23), and the driving mechanism of the coaxial twin rotors (4) is arranged inside the upper center body (5), and the two pairs of rotors are driven to rotate at the same speed and in opposite directions through the driving mechanism; The lower central body (9) is fixedly connected to the upper central body (5) via a fixed shaft; a plurality of rudder surfaces (8) are also provided on the side wall of the lower central body (9); the roots of the rudder surfaces (8) are rotatably connected to the side wall of the lower central body (9) via a driving shaft; and a plurality of rotary power sources corresponding to the rudder surfaces (8) are provided inside the lower central body (9); the output shafts of the rotary power sources are connected to the driving shaft, and the plurality of rudder surfaces (8) are driven to independently reciprocate and swing via the plurality of rotary power sources.

2. The amphibious ducted UAV according to claim 1, characterized in that: The drone also includes a center of gravity adjustment mechanism disposed within the upper center body (5), the center of gravity adjustment mechanism including a center of gravity adjustment steering gear (17), a screw rod (18), a screw rod nut (19), a base (20) and two fixing plates (21), the two fixing plates (21) being fixedly connected within the upper center body (5), the center of gravity adjustment steering gear (17) being fixedly connected to one of the fixing plates (21), the screw rod (18) being disposed parallel to the drone main shaft (22), and having two ends thereof being rotatably connected to the two fixing plates (21), the screw rod (18) being also connected to the output shaft of the center of gravity adjustment steering gear (17) and passing through the screw rod nut (19), the screw rod (18) being connected to the screw rod nut (19) by threads, and the base (20) being fixedly connected to the screw rod nut (19); The drone also includes a battery arranged in the upper central body (5) and a long slide rail parallel to the main axis of the drone, the battery being slidably connected to the long slide rail and fixedly connected to the base (20).

3. The amphibious ducted UAV according to claim 1, characterized in that: The drone also includes a protection mechanism, including a protection shell (12) that can be extended or retracted between the rolling shell (1) and the duct (2), and the protection shell is arranged at the top and bottom of the rolling shell (1).

4. The amphibious ducted UAV according to claim 3, characterized in that: The protective shell comprises a plurality of protective shell single pieces (14), each protective shell single piece (14) is fixedly connected to a connecting bar (15), the connecting bar (15) is connected to a gear (13) and a protective shell servo, the gear (13) is rotatably connected to the connecting bar (15) via a rotating shaft, the protective shell servo is fixedly connected to the connecting bar (15), and its output shaft is fixedly connected to the rotating shaft; A plurality of arc-shaped racks (16) are also fixedly connected to the inner wall of the rolling housing (1), and the gear (13) is kept in meshing engagement with the arc-shaped racks (16).

5. The amphibious ducted UAV according to claim 4, characterized in that: A plurality of guide rails (25) are fixedly connected between the rolling housing (1) and the duct (2), and a guide wheel (24) is connected to the rotating shaft, the guide wheel being in contact with the outer side of the guide rail (25).

6. The amphibious ducted UAV according to claim 1, characterized in that: The walking power source is a rolling shell motor (10), the output shaft of the rolling shell motor (10) is connected to the upper support frame (3) or the lower support frame (7) via a bevel gear set (11), one gear in the bevel gear set (11) is coaxial with the output shaft of the rolling shell motor (10) and is fixedly connected, another gear in the bevel gear set (11) is coaxial with the upper support frame (3) or the lower support frame (7) and is fixedly connected, and the two gears in the bevel gear set (11) are kept in meshing.

7. The amphibious ducted UAV according to claim 1, characterized in that: The rotation power source is a rudder surface servo, and the output shaft of the rudder surface servo is fixedly connected to the driving shaft.

Images