Wheel-duct integrated flying car and control system thereof

Abstract

The application discloses a kind of wheel duct integration flying car and its control system, it is related to flying car technical field, wheel duct integration flying car includes: chassis frame, automobile and aircraft conversion device and integrated power device, automobile and aircraft conversion device includes conversion steering gear and landing gear rotation axis complex, conversion steering gear is used to drive landing gear rotation axis complex rotates around first axis, landing gear rotation axis complex can drive integrated power device switch in first position and second position, when integrated power device is in first position, wheel duct integration flying car can walk on ground;When integrated power device is in second position, wheel duct integration flying car can fly.Therefore, by setting automobile and aircraft conversion device, to realize wheel duct integration flying car between flight mode and ground mode switch, effectively simplify the switching action when wheel duct integration flying car switches working mode.

Description

Technical Field

[0001] The present invention relates to the technical field of flying vehicles, and in particular to a wheel-duct integrated flying vehicle and a control system thereof. Background Art

[0002] Currently, flying cars have both flying and ground walking functions.

[0003] In the related art, a flying car switches its operating mode through multiple switching devices, which makes the switching action cumbersome, inconvenient to operate, and has low switching efficiency. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a wheel-ducted integrated flying vehicle, which has a simple operation mode switching action and effectively improves the switching efficiency.

[0005] A wheel-ducted integrated flying car comprises: a chassis frame; a car-to-aircraft conversion device, the car-to-aircraft conversion device comprising a conversion servo and a landing gear rotating shaft complex, the conversion servo being mounted on the chassis frame and connected to the landing gear rotating shaft complex, the conversion servo being used to drive the landing gear rotating shaft complex to rotate about a first axis; an integrated power unit, the integrated power unit being connected to the landing gear rotating shaft complex, and the conversion servo being used to drive the landing gear rotating shaft complex to drive the integrated power unit to switch between a first position and a second position; wherein, when the integrated power unit is in the first position, the integrated power unit can cooperate with the ground, and the wheel-ducted integrated flying car can walk on the ground; when the integrated power unit is in the second position, the integrated power unit can be supported on the ground, and the wheel-ducted integrated flying car can fly.

[0006] According to the flying car with integrated wheel ducts of the present invention, a car-to-aircraft conversion device is provided and the car-to-aircraft conversion device is connected to the integrated power device so that the integrated power device can be switched between a first position and a second position, thereby enabling the flying car with integrated wheel ducts to switch between a flight mode and a ground mode without providing additional switching components, effectively simplifying the switching action of the flying car with integrated wheel ducts and improving the switching efficiency of the working mode of the flying car with integrated wheel ducts.

[0007] According to some embodiments of the present application, the vehicle wheel duct integrated flight automobile further comprises a steering device, the steering device comprising: a steering engine, the steering engine being arranged on one side of the integrated power device in a radial direction; a connecting shaft assembly, the connecting shaft assembly being connected between the steering engine and the integrated power device, the steering engine being capable of driving the connecting shaft assembly to drive the integrated power device to rotate around a second axis of the connecting shaft assembly.

[0008] According to some embodiments of the present application, the chassis is provided with a take-off and landing shaft main shaft, the central axis of the take-off and landing shaft main shaft being the first axis, the take-off and landing shaft rotation complex comprising: a support body, the support body being connected to the output end of the conversion engine; a connecting arm, one end of the connecting arm being connected to the support body, and the extending direction of the connecting arm being parallel to the first axis; a steering shaft, the steering shaft being fixed to the other end of the connecting arm and being connected to the connecting shaft assembly, the steering shaft being rotatably connected to the take-off and landing shaft main shaft and being adapted to rotate around the first axis relative to the take-off and landing shaft main shaft.

[0009] According to some embodiments of the present application, the chassis is further provided with a take-off and landing shaft auxiliary shaft, the take-off and landing shaft auxiliary shaft being arranged between the take-off and landing shaft main shaft and the conversion engine, and the central axis of the take-off and landing shaft auxiliary shaft being the first axis, the connecting arm being provided with a connecting branch arm, the connecting branch arm being rotatably connected to the take-off and landing shaft auxiliary shaft.

[0010] According to some embodiments of the present application, each group of the take-off and landing shaft rotation complex comprises two connecting arms and two steering shafts, the two connecting arms being connected between the support body on two sides in a first direction and the two steering shafts, and each steering shaft being used for connecting to one integrated power device; wherein the first direction is arranged parallel to the first axis, and a group of the take-off and landing shaft rotation complex can simultaneously switch the positions of two integrated power devices.

[0011] According to some embodiments of the present application, the vehicle wheel duct integrated flight automobile comprises two groups of the automobile and aircraft conversion devices and four integrated power devices, and the two groups of the automobile and aircraft conversion devices are symmetrically arranged on two sides of the chassis in a second direction and are respectively used for driving two integrated power devices to switch positions.

[0012] According to some embodiments of the present application, the conversion engine is provided with a first engine disc and an engine take-off and landing frame, wherein the first engine disc is arranged at the output end of the conversion engine, the engine take-off and landing frame is connected to the output end of the conversion engine, the conversion engine is adapted to drive the engine take-off and landing frame to rotate, and the engine take-off and landing frame is connected to the support body.

[0013] According to some embodiments of the present application, the chassis is provided with a guide seat which is guided by the steering rudder.

[0014] According to some embodiments of the present application, the guide seat comprises a first guide arm and a second guide arm which are respectively arranged on two sides of the steering rudder in a first direction and define a guide slot, and the first guide arm and the second guide arm are used to limit the rotation of the steering rudder about a second axis of the connecting shaft assembly relative to the guide seat; wherein the first direction is arranged parallel to the first axis.

[0015] According to some embodiments of the present application, the guide seat further comprises a first limiting rod which is connected between the first guide arm and the second guide arm and arranged at one end of the guide slot, and the first limiting rod is adapted to limit the steering rudder when the integrated power device is in the first position; and a second limiting rod which is connected between the first guide arm and the second guide arm and arranged at the other end of the guide slot, and the second limiting rod is adapted to limit the steering rudder when the integrated power device is in the second position.

[0016] According to some embodiments of the present application, the connecting shaft assembly comprises a connecting seat which is fixedly connected with the integrated power device; and a connecting shaft which is power-connected between the steering rudder and the connecting seat, and the steering shaft sleeve is arranged on the connecting shaft; wherein the central axis of the connecting shaft is the second axis.

[0017] According to some embodiments of the present application, the connecting shaft assembly further comprises a rudder steering arm connecting sleeve which is sleeved and connected on the connecting shaft and located on the side of the connecting shaft away from the connecting seat in the axial direction, and the rudder steering arm connecting sleeve and the connecting seat limit the connecting shaft in the axial direction.

[0018] According to some embodiments of the present application, the connecting shaft assembly further comprises a steering sleeve fixing member which is used to fixedly connect the rudder steering arm connecting sleeve with the connecting shaft.

[0019] According to some embodiments of the present application, the second axis is perpendicular to the central axis of the integrated power device and arranged in the same plane.

[0020] According to some embodiments of the present application, the wheel-duct-integrated flying car further comprises a support frame which is arranged on the integrated power device and can be supported on the ground during the switching of the integrated power device from the first position to the second position.

[0021] The second object of the present application is to provide a control system of the wheel-duct integrated air car.

[0022] The control system of the wheel-duct integrated air car, the wheel-duct integrated air car being the wheel-duct integrated air car described above, the control system comprising: an acquisition module, the acquisition module being configured to acquire control instructions; a control module, the control module being connected to the acquisition module, and when the acquisition module acquires a ground mode instruction, the control module controls the automobile and aircraft conversion device to drive the integrated power device to switch to the first position; when the acquisition module acquires a flight mode instruction, the control module controls the automobile and aircraft conversion device to drive the integrated power device to switch to the second position.

[0023] The control system of the wheel-duct integrated air car has the same advantages as the wheel-duct integrated air car described above, and will not be described here.

[0024] Additional aspects and advantages of the present application will be described in the following description, become apparent from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0026] Figure 1 The structure schematic view of the wheel-duct integrated air car in the ground mode according to the embodiment of the present application;

[0027] Figure 2 The structure schematic view of the wheel-duct integrated air car in the flight mode according to the embodiment of the present application;

[0028] Figure 3 The assembly schematic view of the integrated power device, the steering device and the support frame according to the embodiment of the present application;

[0029] Figure 4 The structure schematic view of the automobile and aircraft conversion device according to the embodiment of the present application;

[0030] Figure 5 The structure schematic view of the control system of the wheel-duct integrated air car according to the embodiment of the present application.

[0031] REFERENCE NUMERALS:

[0032] wheel-duct integrated air car 100,

[0033] Chassis frame 10, take-off and landing shaft main shaft 11, take-off and landing frame auxiliary shaft 12,

[0034] Guide seat 13, first guide arm 131, second guide arm 132, guide groove 133, first limiting rod 134, second limiting rod 135,

[0035] Steering engine fixing frame 14,

[0036] Automobile and aircraft conversion device 20, conversion steering engine 21, first steering engine disc 211,

[0037] Steering engine take-off frame 212, first plate 2121, second plate 2122,

[0038] Take-off frame rotating shaft complex 22, support body 221, connecting arm 222, connecting branch arm 2221, steering shaft 223,

[0039] Integrated power device 30, wheel assembly 31, power assembly 32, duct motor 321, fan blade 322,

[0040] Steering device 40, steering engine 41, second steering engine disc 411,

[0041] Connecting shaft assembly 42, connecting seat 421, connecting shaft 422, steering engine steering arm connecting sleeve 423, steering sleeve fixing piece 424,

[0042] Support frame 50, arc-shaped support arm 51, first support arm 52, second support arm 53,

[0043] Control system 200, acquisition module 210, control module 220. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0045] In the description of the present application, it is to be understood that the terms "center", "length", "width", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0046] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] The following refers to Figures 1-4 The vehicle wheel and duct integrated flying car 100 according to the embodiment of the present application is described.

[0048] In combination Figure 1 , Figure 2 and Figure 4 , the vehicle wheel and duct integrated flying car 100 according to the present application comprises a chassis frame 10, a vehicle and aircraft conversion device 20, and an integrated power device 30. The vehicle and aircraft conversion device 20 comprises a conversion rudder 21 and a landing gear rotating shaft complex 22. The conversion rudder 21 is mounted on the chassis frame 10 and connected with the landing gear rotating shaft complex 22. The conversion rudder 21 is used to drive the landing gear rotating shaft complex 22 to rotate around the first axis. The integrated power device 30 is connected with the landing gear rotating shaft complex 22, and the conversion rudder 21 is used to drive the landing gear rotating shaft complex 22 to drive the integrated power device 30 to switch between the first position and the second position.

[0049] Specifically, the chassis frame 10 serves as a mounting carrier for mounting the vehicle and aircraft conversion device 20 and the integrated power device 30. The conversion rudder 21 is mounted on the chassis frame 10, and the conversion rudder 21 is drivingly connected with the landing gear rotating shaft complex 22. When the conversion rudder 21 is working, the conversion rudder 21 can drive the landing gear rotating shaft complex 22 to rotate around the first axis, and the landing gear rotating shaft complex 22 drives the integrated power device 30 to rotate around the first axis to switch the position of the integrated power device 30.

[0050] When the integrated power device 30 is in the first position, the integrated power device 30 can be matched with the ground, and the wheel-duct integrated flying automobile 100 can walk on the ground; when the integrated power device 30 is in the second position, the integrated power device 30 can be supported on the ground, and the wheel-duct integrated flying automobile 100 can fly.

[0051] Specifically, the integrated power device 30 comprises a wheel assembly 31 and a power assembly 32 which are connected and coaxially arranged, the wheel assembly 31 can rotate on the ground to provide ground power, and the power assembly 32 comprises a duct motor 321 and a fan blade 322, the duct motor 321 can drive the fan blade 322 to rotate and provide flying power.

[0052] In combination Figure 1 And Figure 2 When the conversion rudder 21 drives the integrated power device 30 to rotate to the central axis of the integrated power device 30 (which can also be understood as the central axis of the wheel assembly 31 and the power assembly 32) being parallel to the ground through the landing gear rotating shaft complex 22, the integrated power device 30 is in the first position, the wheel assembly 31 is in contact with the ground, and the wheel assembly 31 can rotate on the ground around the central axis of the integrated power device 30, so that the wheel-duct integrated flying automobile 100 can walk on the ground.

[0053] As Figure 2 shown, when the conversion rudder 21 drives the integrated power device 30 to rotate to the central axis of the integrated power device 30 being perpendicular to the ground through the landing gear rotating shaft complex 22, the integrated power device 30 can provide flying power, so that the wheel-duct integrated flying automobile 100 can fly.

[0054] According to the wheel-duct integrated flying automobile 100 of the present application, by arranging the automobile and aircraft conversion device 20 and connecting the automobile and aircraft conversion device 20 with the integrated power device 30, the integrated power device 30 can be switched between the first position and the second position, so that the wheel-duct integrated flying automobile 100 can be switched between the flying mode and the ground mode without arranging additional switching assemblies, effectively simplifying the switching action of the wheel-duct integrated flying automobile 100 and improving the efficiency when switching the working mode of the wheel-duct integrated flying automobile 100.

[0055] In combination Figures 1-3In some embodiments of the present application, the wheel-duct-integrated flying car 100 further comprises a steering device 40, which comprises a steering rudder 41 and a connecting shaft assembly 42. The steering rudder 41 is arranged on one side of the integrated power device 30 in the radial direction. The connecting shaft assembly 42 is connected between the steering rudder 41 and the integrated power device 30. The steering rudder 41 can drive the connecting shaft assembly 42 to rotate the integrated power device 30 around the second axis of the connecting shaft assembly 42.

[0056] Specifically, in combination with Figure 2 and Figure 3 , the connecting shaft assembly 42 is arranged on the radial outer side of the integrated power device 30, and extends along the radial direction of the integrated power device 30. The central axis of the connecting shaft assembly 42 is the second axis, and the second axis is arranged perpendicular to the central axis of the integrated power device 30 and the first axis.

[0057] Further in combination with Figure 1 and Figure 2 , the connecting shaft assembly 42 connects the integrated power device 30 and the output shaft of the steering rudder 41. The central axis of the connecting shaft assembly 42 (i.e. the second axis) is arranged in line with the central axis of the output shaft of the steering rudder 41. When the wheel-duct-integrated flying car 100 is in the ground mode, the output shaft of the steering rudder 41 can drive the connecting shaft assembly 42 to rotate around the second axis, and the connecting shaft assembly 42 can drive the integrated power device 30 to rotate around the second axis, so as to adjust the included angle between the vertical projection of the central axis of the integrated power device 30 and the vertical projection of the first axis, i.e. to adjust the movement direction of the integrated power device 30 on the ground, so as to realize the adjustment of the steering angle of the wheel-duct-integrated flying car 100 in the ground mode.

[0058] In combination with Figure 1 , Figure 2 and Figure 4 , in some embodiments of the present application, the chassis frame 10 is provided with a take-off shaft main shaft 11, and the central axis of the take-off shaft main shaft 11 is the first axis. The take-off frame rotating shaft composite 22 comprises a support body 221 connected to the output end of the conversion rudder 21, a connecting arm 222 connected to one end of the support body 221, and the extending direction of the connecting arm 222 is parallel to the first axis, and a steering shaft 223 fixedly connected to the other end of the connecting arm 222 and sleeved on the connecting shaft assembly 42. The steering shaft 223 is rotatably connected to the take-off shaft main shaft 11 and is adapted to rotate around the first axis relative to the take-off shaft main shaft 11.

[0059] Specifically, the rotation center line of the output end of the conversion rudder 21 is arranged in parallel and collinear with the first axis, the conversion rudder 21 can drive the support body 221 to rotate around the first axis, one end of the connecting arm 222 in the direction parallel to the first axis is connected with the support body 221, the steering shaft 223 is connected to the other end of the connecting arm 222 away from the support body 221 in the direction parallel to the first axis, and the steering shaft 223 is rotatably mounted on the chassis frame 10 through the take-off and landing shaft main rotating shaft 11. When the conversion rudder 21 drives the support body 221 to rotate around the first axis, the support body 221 drives the steering shaft 223 to rotate around the first axis through the connecting arm 222 relative to the take-off and landing shaft main rotating shaft 11.

[0060] Further, the end of the steering shaft 223 away from the take-off and landing shaft main rotating shaft 11 is sleeved with the connecting shaft assembly 42. When the conversion rudder 21 drives the steering shaft 223 to rotate around the first axis through the support body 221 and the connecting arm 222, the steering shaft 223 can drive the connecting shaft assembly 42 to rotate around the first axis, and the connecting shaft assembly 42 can drive the integrated power device 30 to rotate around the first axis to switch the position of the integrated power device 30.

[0061] Among them, by arranging the steering shaft 223, the connecting shaft assembly 42 and the take-off and landing shaft main rotating shaft 11 are arranged in a staggered manner, which facilitates the rotation of the connecting shaft assembly 42 independent of the take-off and landing shaft main rotating shaft 11, so as to avoid the mutual interference between the rotation of the connecting shaft assembly 42 around the second axis and the rotation of the connecting shaft assembly 42 around the first axis, and ensure the independence of the steering of the wheel tunnel integrated flying car 100 in the ground mode.

[0062] In combination with Figure 1 , Figure 2 and Figure 4 , in some embodiments of the present application, the chassis frame 10 is further provided with a take-off frame auxiliary rotating shaft 12, the take-off frame auxiliary rotating shaft 12 is arranged between the take-off and landing shaft main rotating shaft 11 and the conversion rudder 21, and the central axis of the take-off frame auxiliary rotating shaft 12 is the first axis. The connecting arm 222 is provided with a connecting branch arm 2221, and the connecting branch arm 2221 is rotatably connected with the take-off frame auxiliary rotating shaft 12.

[0063] Specifically, in the extension direction of the first axis, the take-off frame auxiliary rotating shaft 12 is located between the take-off and landing shaft main rotating shaft 11 and the conversion rudder 21, and the take-off frame auxiliary rotating shaft 12 is arranged in a collinear manner with the take-off and landing shaft main rotating shaft 11, that is, the central axis of the take-off frame auxiliary rotating shaft 12 and the take-off and landing shaft main rotating shaft 11 are both the first axis.

[0064] Further, in the second direction, the connecting branch 2221 is arranged on the side of the connecting arm 222 close to the chassis frame 10, and the connecting branch 2221 extends along the width direction of the wheel-duct-integrated flying automobile 100 to the side close to the chassis frame 10, and the connecting branch 2221 is rotatably connected with the landing gear auxiliary rotating shaft 12 to assist the rotation of the landing gear rotating shaft complex 22 relative to the chassis frame 10, improve the rigidity of the rotation connection between the landing gear rotating shaft complex 22 and the chassis frame 10, and prevent the landing gear rotating shaft complex 22 from being twisted due to the excessive distance between the landing shaft main rotating shaft 11 and the conversion steering engine 21.

[0065] It should be noted that the "second direction" refers to the width direction of the wheel-duct-integrated flying automobile 100, and the specific direction is shown in FIG. 2. Figure 1

[0066] In combination with FIG. 2 and FIG. 3, Figure 1 and Figure 2 In some embodiments of the present application, each set of landing gear rotating shaft complex 22 includes two connecting arms 222 and two steering shafts 223, the two connecting arms 222 are connected between the two steering shafts 223 on both sides of the bracket body 221 in the first direction, and each steering shaft 223 is used to be connected with an integrated power device 30; wherein the first direction is arranged parallel to the first axis, and the position of the two integrated power devices 30 can be simultaneously switched by a set of landing gear rotating shaft complex 22.

[0067] It should be noted that the "first direction" refers to the length direction of the wheel-duct-integrated flying automobile 100, and the specific direction is shown in FIG. 2. Figure 1

[0068] Specifically, the chassis frame 10 is provided with a landing shaft main rotating shaft 11 on both sides in the first direction, each steering shaft 223 is rotatably connected with the chassis frame 10 through the landing shaft main rotating shaft 11, and each steering shaft 223 is correspondingly provided with an integrated power device 30, each steering shaft 223 is connected with an integrated power device 30 through a connecting shaft assembly 42, that is, each set of landing gear rotating shaft complex 22 is connected with two integrated power devices 30.

[0069] ​​When the conversion rudder 21 drives the landing gear rotating shaft complex 22 to rotate around the first axis, the landing gear rotating shaft complex 22 drives the two integrated power devices 30 located on the two sides of the first direction to rotate around the first axis synchronously, so as to switch the positions of the two integrated power devices 30 at the same time, which is beneficial to improve the efficiency of switching the working mode of the wheel-duct integrated flying automobile 100, and the driving structure does not need to be arranged for each integrated power device 30, so that the structure of the wheel-duct integrated flying automobile 100 is effectively simplified, which is beneficial to realize the miniaturization design of the wheel-duct integrated flying automobile 100 and reduce the production cost of the wheel-duct integrated flying automobile 100.

[0070] In combination Figure 1 And Figure 2 In some embodiments of the present application, the wheel-duct integrated flying automobile 100 includes two sets of automobile and aircraft conversion devices 20 and four integrated power devices 30, and the two sets of automobile and aircraft conversion devices 20 are symmetrically arranged on the two sides of the chassis 10 in the second direction and are respectively used to drive the two integrated power devices 30 to switch positions.

[0071] Specifically, when the wheel-duct integrated flying automobile 100 needs to switch the working mode, the two sets of automobile and aircraft conversion devices 20 work to drive the integrated power devices 30 connected thereto to switch positions, for example, when the wheel-duct integrated flying automobile 100 needs to switch from the flying mode to the ground mode, the conversion rudders 21 in each set of automobile and aircraft conversion devices 20 work, the conversion rudders 21 drive the landing gear rotating shaft complex 22 to rotate around the first axis, the landing gear rotating shaft complex 22 drives the two connecting shaft assemblies 42 connected thereto to rotate around the first axis, and the connecting shaft assemblies 42 drive the integrated power devices 30 to rotate around the first axis, so that the central axis of the integrated power device 30 is switched from being perpendicular to the ground to being parallel to the ground, so as to switch the positions of the four integrated power devices 30 on the wheel-duct integrated flying automobile 100, thereby adjusting the working mode of the wheel-duct integrated flying automobile 100.

[0072] It should be noted that the rotation directions of the two sets of landing gear rotating shaft complexes 22 are different, for example, one set of the two sets of landing gear rotating shaft complexes 22 rotates clockwise around the first axis, and the other set of the two sets of landing gear rotating shaft complexes 22 rotates counterclockwise around the first axis, which is beneficial to ensure the symmetric arrangement of the two sets of automobile and aircraft conversion devices 20 after the wheel-duct integrated flying automobile 100 switches the working mode.

[0073] When the wheel-duct integrated flying automobile 100 needs to switch from the ground mode to the flying mode, the rotation directions of the landing gear rotating shaft complex 22 and the integrated power device 30 are opposite to the above-mentioned rotation directions, which will not be described here.

[0074] In combination Figure 1 And Figure 2 In some embodiments of the present application, the chassis frame 10 is provided with a steering gear fixing frame 14, and the conversion steering gear 21 is installed on the steering gear fixing frame 14 and connected to the chassis frame 10 through the steering gear fixing frame 14. In some embodiments of the present application, the chassis frame 10 is provided with a steering gear fixing frame 14 on each side in the second direction, and the two steering gear fixing frames 14 are respectively arranged corresponding to the two groups of automobile and aircraft conversion devices 20, so that the two conversion steering gears 21 can be respectively installed on the chassis frame 10.

[0075] Optionally, the steering gear fixing frame 14 can be integrally formed with the chassis frame 10, or the steering gear fixing frame 14 can be separately arranged and connected with the chassis frame 10. The specific arrangement of the steering gear fixing frame 14 and the chassis frame 10 can be determined according to actual processing and production, and is not limited here.

[0076] With reference to Figure 1 In some embodiments of the present application, the conversion steering gear 21 is provided with a first steering gear disc 211 and a steering gear lifting frame 212. The first steering gear disc 211 is arranged at the output end of the conversion steering gear 21, and the steering gear lifting frame 212 is connected to the output end of the conversion steering gear 21. The conversion steering gear 21 is adapted to drive the steering gear lifting frame 212 to rotate, and the steering gear lifting frame 212 is connected to the support body 221.

[0077] Specifically, the first steering gear disc 211 is used to connect the output end of the conversion steering gear 21 to the steering gear lifting frame 212, and the first steering gear disc 211 can transmit the power output by the conversion steering gear 21 to the steering gear lifting frame 212, so that the conversion steering gear 21 can drive the steering gear lifting frame 212 to rotate. The steering gear lifting frame 212 is connected to the support body 221, and when the conversion steering gear 21 drives the steering gear lifting frame 212 to rotate, the steering gear lifting frame 212 can drive the support body 221 to rotate. The support body 221 can drive the two connecting arms 222 connected thereto to rotate around the first axis, and the connecting arm 222 can drive the integrated power device 30 to rotate around the first axis through the connecting shaft assembly 42.

[0078] As Figure 1 shown, in some embodiments of the present application, the steering gear lifting frame 212 includes two first plates 2121 arranged opposite and spaced apart in the first direction. The first plate 2121 is used to connect to the output end of the conversion steering gear 21, and the conversion steering gear 21 can drive the first plate 2121 to rotate around the first axis.

[0079] Further, the steering engine lifting frame 212 further comprises a second plate 2122 which is arranged perpendicularly to the first plate 2121 and connected to the first plate 2121 away from the steering engine 21 (which can also be understood as away from one end of the chassis frame 10), that is, the steering engine lifting frame 212 is configured as a U-shaped plate, wherein the first plate 2121 can drive the second plate 2122 to rotate around the first axis, and in the process of driving the steering engine lifting frame 212 to rotate by the steering engine 21, the second plate 2122 is always arranged in a spaced manner, so that the steering engine lifting frame 212 can avoid the steering engine 21, and avoid mutual interference between the steering engine lifting frame 212 and the steering engine 21 in the process of rotating the steering engine lifting frame 212.

[0080] Further, the support body 221 is connected to the side of the steering engine lifting frame 212 away from the steering engine 21, and the support body 221 is configured as a U-shaped and is fitted with the steering engine lifting frame 212, so as to increase the connection area of the support body 221 and the steering engine lifting frame 212, thereby improving the connection reliability of the support body 221 and the steering engine lifting frame 212, and further facilitating the driving effect of the steering engine 21 on the lifting frame shaft composite 22.

[0081] Further, the connecting arm 222 is connected to the end of the support body 221 away from the steering engine 21, and the connecting arm 222 is arranged in parallel and spaced apart with the first axis, which is conducive to increasing the rotational moment arm of the connecting arm 222 relative to the steering engine 21, thereby facilitating the steering engine 21 to drive the connecting arm 222 to rotate around the first axis, and at the same time facilitating the connecting shaft assembly 42 and the connecting position of the steering shaft 223 to be arranged at a position suitable for avoiding the lifting shaft main shaft 11, so as to prevent the rotation of the connecting shaft assembly 42 and the rotation of the lifting shaft main shaft 11 from interfering with each other.

[0082] In combination Figure 1 and Figure 2 In some embodiments of the present application, the chassis frame 10 is provided with a guide seat 13 which is guided and matched with the steering engine 41.

[0083] Specifically, when the automobile and aircraft conversion device 20 drives the integrated power device 30 to rotate around the first axis, since the steering engine 41 is connected with the integrated power device 30 through the connecting shaft assembly 42, the integrated power device 30 can drive the steering engine 41 to rotate around the first axis synchronously through the connecting shaft assembly 42 when the integrated power device 30 rotates around the first axis, and the guide seat 13 is arranged to guide the rotation direction of the steering engine 41, so as to ensure the stability of the steering engine 41 when rotating, and prevent the steering engine 41 from deviating.

[0084] In combination Figure 1 and Figure 2In some embodiments of the present application, the guide base 13 comprises a first guide arm 131 and a second guide arm 132, which are respectively arranged on both sides of the steering engine 41 in the first direction and define a guide groove 133, and the first guide arm 131 and the second guide arm 132 are used to limit the rotation of the steering engine 41 about the second axis of the connecting shaft assembly 42 relative to the guide base 13; wherein the first direction is arranged parallel to the first axis.

[0085] Specifically, the first guide arm 131 and the second guide arm 132 are oppositely and spacedly arranged in the first direction, the guide groove 133 is formed between the first guide arm 131 and the second guide arm 132, part of the steering engine 41 is arranged in the guide groove 133 and guidedly matched with the guide groove 133, and when the automobile and aircraft conversion device 20 drives the integrated power device 30 to rotate about the first axis, the integrated power device 30 can drive the steering engine 41 to rotate in the guide groove 133, and at the same time, the first guide arm 131 and the second guide arm 132 can respectively stop and abut with the steering engine 41 on both sides of the steering engine 41 in the first direction, so as to prevent the steering engine 41 from rotating about the second axis relative to the guide base 13, that is, to prevent the steering engine 41 from affecting the power output effect of the steering engine 41 due to self-rotation of the steering engine 41 when the steering engine 41 works, thereby facilitating to ensure the driving effect of the steering engine 41 on the integrated power device 30.

[0086] In combination with Figure 1 and Figure 2 In some embodiments of the present application, the guide base 13 further comprises a first limiting rod 134 connected between the first guide arm 131 and the second guide arm 132 and arranged at one end of the guide groove 133, and the first limiting rod 134 is adapted to limit and cooperate with the steering engine 41 when the integrated power device 30 is in the first position; and a second limiting rod 135 connected between the first guide arm 131 and the second guide arm 132 and arranged at the other end of the guide groove 133, and the second limiting rod 135 is adapted to limit and cooperate with the steering engine 41 when the integrated power device 30 is in the second position.

[0087] Specifically, the first limiting rod 134 is arranged at one end in the extension direction of the first guide arm 131 and the second guide arm 132, and the first limiting rod 134 is connected with the first guide arm 131 and the second guide arm 132 respectively, and the second limiting rod 135 is connected at the other end in the extension direction of the first guide arm 131 and the second guide arm 132.

[0088] When the automobile and aircraft conversion device 20 drives the integrated power device 30 to rotate to the first position, the first limiting rod 134 abuts against one side of the steering engine 41 to prevent the steering engine 41 from further rotating around the first axis, and when the automobile and aircraft conversion device 20 drives the integrated power device 30 to rotate to the second position, the second limiting rod 135 abuts against the other side of the steering engine 41 to prevent the steering engine 41 from further rotating around the first axis. By arranging the first limiting rod 134 and the second limiting rod 135, the steering engine 41 is limited in the direction of rotating around the first axis.

[0089] Since the steering engine 41 is connected with the integrated power device 30, and the steering engine 41 and the integrated power device 30 can synchronously rotate around the first axis, the integrated power device 30 is limited to prevent the integrated power device 30 from deviating due to excessive position adjustment.

[0090] In combination Figures 1-3 In some embodiments of the present application, the connecting shaft assembly 42 comprises a connecting seat 421 fixedly connected with the integrated power device 30, and a connecting shaft 422 connected in power between the steering engine 41 and the connecting seat 421, and the steering shaft 223 is sleeved on the connecting shaft 422. The central axis of the connecting shaft 422 is the second axis.

[0091] Specifically, the connecting seat 421 is fixedly installed on the integrated power device 30, one end of the connecting shaft 422 is connected with the connecting seat 421 and extends away from the connecting seat 421, the other end of the connecting shaft 422 is connected with the steering engine 41, the output shaft of the steering engine 41 is provided with a second steering engine disc 411, the output shaft of the steering engine 41 is connected with the connecting shaft 422 through the second steering engine disc 411, and the output shaft of the steering engine 41 and the connecting shaft 422 are coaxially arranged, the steering shaft 223 is sleeved on the connecting shaft 422, and the connecting shaft 422 can independently rotate relative to the steering shaft 223.

[0092] When the steering engine 41 works, the steering engine 41 can drive the connecting shaft 422 to rotate around the second axis, and the connecting shaft 422 drives the integrated power device 30 to rotate around the second axis through the connecting seat 421, so as to adjust the included angle between the vertical projection of the central axis of the integrated power device 30 and the vertical projection of the first axis, that is, to adjust the movement direction of the integrated power device 30 on the ground, so as to realize the adjustment of the steering angle of the wheel duct integrated flight automobile 100 in the ground mode.

[0093] In combination Figures 1-3In some embodiments of the present application, the connecting shaft assembly 42 further comprises a rudder arm connecting sleeve 423, which is sleeved on the connecting shaft 422 and located on the side of the connecting shaft 422 away from the connecting seat 421 in the axial direction, and the rudder arm connecting sleeve 423 and the connecting seat 421 limit the connecting shaft 422 in the axial direction.

[0094] Specifically, the rudder arm connecting sleeve 423 is sleeved on the end of the connecting shaft 422 away from the connecting seat 421 and fixedly connected with the connecting shaft 422, and the side of the rudder arm connecting sleeve 423 away from the connecting seat 421 in the axial direction is connected with the second rudder disc 411, so that the rudder arm connecting sleeve 423 can be driven to rotate around the second axis by the steering rudder 41, so that the connecting shaft 422 can be driven to rotate by the rudder arm connecting sleeve 423.

[0095] Further, the rudder arm connecting sleeve 423 is located on the end of the steering shaft 223 away from the connecting seat 421 in the axial direction, and the rudder arm connecting sleeve 423 is in abutting fit with the steering shaft 223 in the axial direction, and the connecting seat 421 is in abutting fit with the side of the steering shaft 223 away from the rudder arm connecting sleeve 423 in the axial direction, so as to limit the connecting shaft 422 in the axial direction, prevent the connecting shaft 422 from slipping in the axial direction, and improve the assembly stability of the integrated power device 30.

[0096] In some embodiments of the present application, the connecting shaft assembly 42 further comprises a steering sleeve fixing member 424 for fixedly connecting the rudder arm connecting sleeve 423 with the connecting shaft 422.

[0097] For example, the steering sleeve fixing member 424 can be cylindrical, and the steering sleeve fixing member 424 is inserted into the rudder arm connecting sleeve 423 along the radial direction of the rudder arm connecting sleeve 423 and extends into the connecting shaft 422, so that the rudder arm connecting sleeve 423 and the connecting shaft 422 can be fixedly connected in the axial direction by the steering sleeve fixing member 424, so that when the rudder arm connecting sleeve 423 is in abutting fit with the steering shaft 223, the rudder arm connecting sleeve 423 can limit the connecting shaft 422 in the axial direction and prevent the connecting shaft 422 from slipping in the axial direction.

[0098] Alternatively, the steering sleeve fixing member 424 can be a threaded connecting member (such as a screw or a bolt), which can be threadedly connected with the rudder arm connecting sleeve 423 and the connecting shaft 422 respectively, so that the rudder arm connecting sleeve 423 and the connecting shaft 422 are fixedly connected, while the connection reliability of the rudder arm connecting sleeve 423 and the connecting shaft 422 can be ensured, and the rudder arm connecting sleeve 423 and the connecting shaft 422 can be easily disassembled.

[0099] The steering sleeve fixing member 424 can be provided in plurality, and the plurality of steering sleeve fixing members 424 are arranged at intervals along the circumferential direction of the steering arm connecting sleeve 423 of the steering engine, and the plurality of steering sleeve fixing members 424 are arranged to further improve the connection reliability of the steering arm connecting sleeve 423 of the steering engine and the connecting shaft 422. It can be understood that the steering sleeve fixing member 424 can be provided in three, four or the like, and the number of the steering sleeve fixing member 424 can be determined according to actual production requirements, which is not limited here.

[0100] With reference to Figure 3 In some embodiments of the application, the second axis is perpendicular to and coplanar with the central axis of the integrated power device 30.

[0101] Exemplarily, when the wheel-duct integrated flying automobile 100 is in the ground mode, the wheel assembly 31 is in contact with the ground, and the second axis is perpendicular to the ground, which is beneficial to ensure the driving effect of the steering engine 41 on the integrated power device 30, thereby ensuring the smoothness of the steering of the wheel-duct integrated flying automobile 100.

[0102] In combination Figures 1-3 In some embodiments of the application, the wheel-duct integrated flying automobile 100 further comprises a support frame 50, which is arranged on the integrated power device 30 and can be supported on the ground during the switching of the integrated power device 30 from the first position to the second position.

[0103] Specifically, the support frame 50 is fixedly installed on the integrated power device 30, and when the automobile and aircraft conversion device 20 drives the integrated power device 30 to rotate around the first axis, the integrated power device 30 can drive the support frame 50 to rotate around the first axis. During the switching of the integrated power device 30 from the first position to the second position, i.e. during the switching of the wheel-duct integrated flying automobile 100 from the ground mode to the flight mode, the support frame 50 can be supported on the ground to facilitate the switching of the position of the integrated power device 30.

[0104] Similarly, during the switching of the integrated power device 30 from the second position to the first position, i.e. during the switching of the wheel-duct integrated flying automobile 100 from the flight mode to the ground mode, the support frame 50 can be supported on the ground to facilitate the switching of the position of the integrated power device 30.

[0105] In combination Figures 1-3In some embodiments of the present application, the central axis of the ducted motor 321 is arranged in line with the central axis of the integrated power device 30, and the ducted motor 321 is located at one axial end of the integrated power device 30, the support frame 50 is arranged radially outside the integrated power device 30 and fixedly connected with the integrated power device 30, and the support frame 50 comprises a first support arm 52 and a second support arm 53, wherein the first support arm 52 extends in the axial direction of the integrated power device 30, and one end of the first support arm 52 close to the ducted motor 321 is arranged to protrude in the axial direction beyond the ducted motor 321.

[0106] As shown in Figure 2 , when the wheel-duct-integrated flying car 100 is in the flight mode, the ducted motor 321 is opposite to the ground, and the fan blade 322 is connected to the side of the ducted motor 321 away from the ground. At this time, the first support arm 52 can be used to support on the ground, for example: when the wheel-duct-integrated flying car 100 needs to land on the ground from the flight state, and when the wheel-duct-integrated flying car 100 lands on the ground and is still in the flight mode, the first support arm 52 can be supported on the ground to support the integrated power device 30, and the ducted motor 321 can be arranged to be spaced apart from the ground to avoid the ducted motor 321 from being damaged due to collision with the ground when the wheel-duct-integrated flying car 100 lands.

[0107] Further referring to Figure 1 , one end of the second support arm 53 is connected with the first support arm 52, and the second support arm 53 extends in the radial direction of the integrated power device 30. When the wheel-duct-integrated flying car 100 is in the ground mode, the wheel assembly 31 is in contact with the ground, and one end of the second support arm 53 away from the first support arm 52 is arranged to be spaced apart from the ground to avoid friction between the second support arm 53 and the ground to hinder the rotation of the wheel assembly 31, thereby ensuring the smoothness of the wheel-duct-integrated flying car 100 on the ground.

[0108] The support frame 50 further comprises an arc-shaped support arm 51, one end of the arc-shaped support arm 51 is connected to one end of the first support arm 52 protruding beyond the ducted motor 321, the other end of the arc-shaped support arm 51 is connected to one end of the second support arm 53 away from the first support arm 52, and the arc-shaped support arm 51 is arc-shaped and protrudes away from the connection position of the first support arm 52 and the second support arm 53. When the integrated power device 30 is in the first position, the second support arm 53 and the arc-shaped support arm 51 are both arranged to be spaced apart from the ground, and when the integrated power device 30 is in the second position, the part of the arc-shaped support arm 51 connected with the first support arm 52 and the first support arm 52 are in contact with the ground to support the integrated power device 30.

[0109] Further, when the integrated power device 30 is switched between the second position and the first position, the arc-shaped support arm 51 can slide on the ground, and the arc-shaped support arm 51 can play a role of transition and guidance to facilitate the switching of the integrated power device 30 between the first position and the second position, thereby improving the convenience of switching of the integrated power device 30.

[0110] In combination Figure 1 and Figure 2 , the control method of the wheel-duct integrated flying automobile 100 according to the present application comprises: obtaining a control instruction; when a ground mode instruction is obtained, controlling the automobile and aircraft conversion device 20 to drive the integrated power device 30 to switch to the first position; when a flight mode instruction is obtained, controlling the automobile and aircraft conversion device 20 to drive the integrated power device 30 to switch to the second position.

[0111] Specifically, the control instruction can include a ground mode instruction and a flight mode instruction, when the ground mode instruction is obtained and the wheel-duct integrated flying automobile 100 is in the flight mode, the automobile and aircraft conversion device 20 is controlled to operate, that is, the conversion rudder 21 is controlled to operate, the conversion rudder 21 drives the landing gear rotating shaft complex 22 to rotate around the first axis, the landing gear rotating shaft complex 22 drives the integrated power device 30 to rotate to the first position through the connecting shaft assembly 42, and the wheel assembly 31 is in contact with the ground, when the wheel assembly 31 rotates, the wheel-duct integrated flying automobile 100 can drive on the ground, thereby realizing the ground mode of the wheel-duct integrated flying automobile 100.

[0112] When the flight mode instruction is obtained and the wheel-duct integrated flying automobile 100 is in the ground mode, the automobile and aircraft conversion device 20 is controlled to operate, that is, the conversion rudder 21 is controlled to operate, the conversion rudder 21 drives the landing gear rotating shaft complex 22 to rotate around the first axis, and at this time, the rotation direction of the landing gear rotating shaft complex 22 is opposite to the rotation direction when the wheel-duct integrated flying automobile 100 is switched from the flight mode to the ground mode, the landing gear rotating shaft complex 22 drives the integrated power device 30 to rotate to the second position through the connecting shaft assembly 42, the wheel assembly 31 is spaced from the ground, and the duct motor 321 is opposite to the ground, when the duct motor 321 drives the fan blade 322 to rotate, the wheel-duct integrated flying automobile 100 can fly, thereby realizing the flight mode of the wheel-duct integrated flying automobile 100.

[0113] In combination Figure 1 , Figure 2 and Figure 5, the control system 200 of the wheel-duct integrated flying automobile 100 according to the application, the wheel-duct integrated flying automobile 100 is the wheel-duct integrated flying automobile 100 described above, the control system 200 comprises an acquisition module 210, the acquisition module 210 is used for acquiring a control instruction; a control module 220, the control module 220 is connected with the acquisition module 210, and when the acquisition module 210 acquires a ground mode instruction, the control module 220 controls the automobile and aircraft conversion device 20 to drive the integrated power device 30 to switch to the first position; when the acquisition module 210 acquires a flight mode instruction, the control module 220 controls the automobile and aircraft conversion device 20 to drive the integrated power device 30 to switch to the second position.

[0114] Specifically, the control system 200 can issue a control instruction to the acquisition module 210, the acquisition module 210 can acquire the control instruction, and the acquisition module 210 is connected in communication with the control module 220, and the control module 220 can control the automobile and aircraft conversion device to operate to switch the position of the integrated power device 30.

[0115] When the control system 200 issues a flight mode instruction, the acquisition module 210 acquires the flight mode instruction and judges whether the wheel-duct integrated flying automobile 100 is in the flight mode, if the wheel-duct integrated flying automobile 100 is in the flight mode, the control module 220 controls the wheel-duct integrated flying automobile 100 to switch to the flight control mode, and the control system 200 further comprises PIX4 (i.e. flight control system 200 software), which can receive a flight control signal to remotely control the wheel-duct integrated flying automobile 100 to fly.

[0116] If the wheel-duct integrated flying automobile 100 is not in the flight mode, the control module 220 controls the integrated power device 30 to switch to the flight mode, at this time, the duct motor 321 drives the fan blade 322 to rotate, the wheel assembly 31 does not rotate, the control module 220 controls the automobile and aircraft conversion device 20 to operate, i.e. controls the conversion steering engine 21 to operate, the conversion steering engine 21 drives the landing stand shaft complex 22 to rotate around the first axis, the landing stand shaft complex 22 drives the integrated power device 30 to rotate to the second position through the connecting shaft assembly 42, the wheel assembly 31 is spaced from the ground, the duct motor 321 is opposite to the ground, and the rotation directions of the output shafts of the two duct motors 321 located at opposite corners of the wheel-duct integrated flying automobile 100 are the same, at the same time, the control system 200 controls the wheel-duct integrated flying automobile 100 to switch to the flight control mode, the PIX4 receives a flight control signal to remotely control the wheel-duct integrated flying automobile 100 to fly, at this time, the duct motor 321 drives the fan blade 322 to rotate, realizing the flight mode of the wheel-duct integrated flying automobile 100.

[0117] When the control system 200 sends the ground mode instruction, the acquisition module 210 acquires the ground mode instruction and judges whether the wheel-duct integrated flying automobile 100 is in the ground mode, and if the wheel-duct integrated flying automobile 100 is in the ground mode, the control module 220 can control the wheel-duct integrated flying automobile 100 to run on the ground.

[0118] If the wheel-duct integrated flying automobile 100 is not in the ground mode, the control module 220 controls the automobile and aircraft conversion device 20 to run, that is, controls the conversion rudder 21 to run, the conversion rudder 21 drives the landing gear rotating shaft complex 22 to rotate around the first axis, the landing gear rotating shaft complex 22 drives the integrated power device 30 to rotate to the first position through the connecting shaft assembly 42, at this time, the central axis of the integrated power device 30 is parallel to the ground, the control module 220 controls the integrated power device 30 to switch to the ground mode, at this time, the duct motor 321 drives the wheel assembly 31 to rotate, and the rotating directions of the output shafts of the two duct motors 321 adjacent to each other in the first direction are the same, the wheel assembly 31 is in contact with the ground, when the wheel assembly 31 rotates, the wheel-duct integrated flying automobile 100 can run on the ground, thereby realizing the ground mode of the wheel-duct integrated flying automobile 100.

[0119] According to the control system 200 of the wheel-duct integrated flying automobile 100, the automobile and aircraft conversion device 20 is controlled to rotate, so that the integrated power device 30 can be switched between the first position and the second position, thereby realizing the switching between the flying mode and the ground mode of the wheel-duct integrated flying automobile 100, without the need to set an additional switching assembly, effectively simplifying the switching action of the wheel-duct integrated flying automobile 100 and improving the efficiency when the working mode of the wheel-duct integrated flying automobile 100 is switched.

[0120] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", 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 the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0121] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A flying car with integrated wheel and duct, characterized in that: include: chassis frame (10); A car and aircraft conversion device (20), the car and aircraft conversion device (20) comprising a conversion steering gear (21) and a landing gear rotating shaft complex (22), the conversion steering gear (21) being mounted on the chassis frame (10) and connected to the landing gear rotating shaft complex (22), the conversion steering gear (21) being used to drive the landing gear rotating shaft complex (22) to rotate around a first axis; An integrated power device (30), the integrated power device (30) is connected to the landing gear rotating shaft complex (22), and the conversion steering gear (21) is used to drive the landing gear rotating shaft complex (22) to drive the integrated power device (30) to switch between a first position and a second position, the integrated power device (30) includes a wheel assembly (31) and a power assembly (32) that are connected and coaxially arranged, and the power assembly (32) includes a ducted motor (321) and fan blades (322); Wherein, when the integrated power device (30) is in the first position, the integrated power device (30) can cooperate with the ground, and the wheel duct integrated flying car can walk on the ground; when the integrated power device (30) is in the second position, the integrated power device (30) can be supported on the ground, and the wheel duct integrated flying car can fly; It also includes a steering device (40), the steering device (40) including a steering servo (41) and a connecting shaft assembly (42), the connecting shaft assembly (42) being power-connected between the steering servo (41) and the integrated power device (30); The chassis frame (10) is provided with a main winding shaft (11) for the lifting and landing shaft, the central axis of the main winding shaft (11) for the lifting and landing shaft is the first axis, and the lifting and landing frame rotating shaft complex (22) comprises: A bracket body (221), the bracket body (221) being connected to an output end of the conversion servo (21); a connecting arm (222), one end of the connecting arm (222) being connected to the bracket body (221), and an extending direction of the connecting arm (222) being parallel to the first axis; A steering shaft (223), wherein the steering shaft (223) is fixed to the other end of the connecting arm (222) and sleevedly connected to the connecting shaft assembly (42), and the steering shaft (223) is rotatably connected to the main winding shaft (11) of the lifting and lowering shaft and is suitable for rotating around the first axis relative to the main winding shaft (11); The direction of the first axis is the length direction of the wheel-duct integrated flying car; Each set of the landing gear rotating shaft complex (22) includes two connecting arms (222) and two steering shafts (223), the two connecting arms (222) are respectively connected to the two sides of the bracket body (221) in the first direction and between the two steering shafts (223), and each steering shaft (223) is used to be connected to one of the integrated power devices (30); The first direction is arranged parallel to the first axis, and the positions of the two integrated power units (30) can be switched simultaneously through a set of the landing gear rotating shaft complexes (22); The invention also includes a support frame (50), wherein the support frame (50) is provided on the integrated power device (30), and the support frame (50) can be supported on the ground when the integrated power device (30) switches from the first position to the second position, and the support frame (50) includes a first support arm (52) and a second support arm (53), wherein the first support arm (52) extends along the axial direction of the integrated power device (30), and an end of the first support arm (52) close to the ducted motor (321) is arranged to protrude from the ducted motor (321) in the axial direction; One end of the second support arm (53) is connected to the first support arm (52), and the second support arm (53) extends along the radial direction of the integrated power device (30). When the wheel-ducted integrated flying car is in ground mode, the wheel assembly (31) contacts the ground, and one end of the second support arm (53) away from the first support arm (52) is spaced apart from the ground to avoid friction generated by the contact between the second support arm (53) and the ground, thereby preventing the wheel assembly (31) from rotating and being hindered, thereby ensuring the smoothness of the wheel-ducted integrated flying car traveling on the ground. The support frame (50) further includes an arc-shaped support arm (51), and the arc-shaped support arm (51) can play a role of transition and guidance; The connecting shaft assembly (42) includes: A connecting seat (421), the connecting seat (421) being fixedly connected to the integrated power device (30); A connecting shaft (422), the connecting shaft (422) being dynamically connected between the steering servo (41) and the connecting seat (421), and the steering shaft (223) being sleeved on the connecting shaft (422); Wherein, the central axis of the connecting shaft (422) is the second axis.

2. The wheel-duct integrated flying car according to claim 1, characterized in that: The steering servo (41) is arranged on one side of the integrated power device (30) in the radial direction; The steering servo (41) can drive the connecting shaft assembly (42) to drive the integrated power device (30) to rotate around the second axis of the connecting shaft assembly (42).

3. The wheel-duct integrated flying car according to claim 1, characterized in that: The chassis frame (10) is further provided with a landing gear auxiliary winding shaft (12), the landing gear auxiliary winding shaft (12) being provided between the landing shaft main winding shaft (11) and the conversion steering gear (21), and the central axis of the landing gear auxiliary winding shaft (12) being the first axis, and the connecting arm (222) is provided with a connecting support arm (2221), the connecting support arm (2221) being rotatably connected to the landing gear auxiliary winding shaft (12).

4. The wheel-duct integrated flying car according to claim 1, characterized in that: The wheel-ducted integrated flying car comprises two sets of the car-to-aircraft conversion devices (20) and four integrated power devices (30), and the two sets of the car-to-aircraft conversion devices (20) are symmetrically arranged on both sides of the chassis frame (10) in the second direction, and are respectively used to drive the two integrated power devices (30) to switch positions.

5. The wheel-duct integrated flying car according to claim 1, characterized in that: The conversion steering gear (21) is provided with a first steering gear disc (211) and a steering gear landing gear (212), wherein the first steering gear disc (211) is provided at the output end of the conversion steering gear (21), the steering gear landing gear (212) is connected to the output end of the conversion steering gear (21), the conversion steering gear (211) is suitable for driving the steering gear landing gear (212) to rotate, and the steering gear landing gear (212) is connected to the bracket body (221).

6. The wheel-duct integrated flying car according to claim 1, characterized in that: The chassis frame (10) is provided with a guide seat (13), and the guide seat (13) is in guiding cooperation with the steering servo (41).

7. The wheel-duct integrated flying car according to claim 6, characterized in that: The guide seat (13) includes a first guide arm (131) and a second guide arm (132), the first guide arm (131) and the second guide arm (132) being respectively arranged on both sides of the steering servo (41) in a first direction and defining a guide groove (133), and the first guide arm (131) and the second guide arm (132) are used to limit the steering servo (41) from rotating relative to the guide seat (13) around the second axis of the connecting shaft assembly (42); Wherein, the first direction is arranged parallel to the first axis.

8. The wheel-duct integrated flying car according to claim 7, characterized in that: The guide seat (13) further includes: a first limiting rod (134), the first limiting rod (134) being connected between the first guide arm (131) and the second guide arm (132) and being arranged at one end of the guide slot (133), and the first limiting rod (134) being adapted to cooperate with the steering servo (41) in limiting manner when the integrated power device (30) is in the first position; A second limiting rod (135) is connected between the first guide arm (131) and the second guide arm (132), and is arranged at the other end of the guide groove (133). The second limiting rod (135) is suitable for limiting cooperation with the steering servo (41) when the integrated power device (30) is in the second position.

9. The wheel-duct integrated flying car according to claim 1, characterized in that: The connecting shaft assembly (42) further comprises a steering gear steering arm connecting sleeve (423), the steering gear steering arm connecting sleeve (423) being sleeved and connected to the connecting shaft (422) and being located on a side of the connecting shaft (422) away from the connecting seat (421) in the axial direction, the steering gear steering arm connecting sleeve (423) and the connecting seat (421) limiting the connecting shaft (422) in the axial direction.

10. The wheel-duct integrated flying car according to claim 9, characterized in that: The connecting shaft assembly (42) further comprises a steering sleeve fixing member (424), wherein the steering sleeve fixing member (424) is used to fixedly connect the steering gear steering arm connecting sleeve (423) to the connecting shaft (422).

11. The wheel-duct integrated flying car according to claim 1, characterized in that: The second axis is perpendicular to the central axis of the integrated power device (30) and is arranged in the same plane.

12. A control system for a wheel-duct integrated flying car, characterized in that: The wheel-ducted integrated flying car is a wheel-ducted integrated flying car according to any one of claims 1 to 11, and the control system includes: An acquisition module (210), the acquisition module (210) is used to acquire control instructions; A control module (220) is connected to the acquisition module (210), and when the acquisition module (210) acquires a ground mode instruction, the control module (220) controls the automobile and aircraft conversion device (20) to drive the integrated power device (30) to switch to the first position; when the acquisition module (210) acquires a flight mode instruction, the control module (220) controls the automobile and aircraft conversion device (20) to drive the integrated power device (30) to switch to the second position.

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