A folding amphibious bionic unmanned aerial vehicle

Abstract

The application discloses a folding land-air amphibious bionic unmanned aerial vehicle, which comprises a shell, a rotating drive module, M folding wings, 2M storage supports, an air source and N universal wheels; the rotating drive module comprises a rotating motor, a driving bevel gear and M rotating units; the rotating unit comprises a rotating seat, a rotating shaft, first and second rotating gears, first and second rotating bearings, first and second bearing seats, a transmission rod and a transmission bevel gear; the folding wing comprises a folding motor, a folding shaft, first and second folding gears, first and second connecting plates, a power shaft, first and second power bearings, a balance air bag, a collision air bag, first and second movable impellers, a power motor, first and second power gears, a switching motor, a switching driving gear, a switching shaft, first and second switching driven gears and first and second switching assemblies; the application has the advantages of being capable of being folded and stored, having greater protection strength and better balance.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a foldable amphibious bionic UAV. Background Technology

[0002] Quadcopter drones are widely used in aerial photography, express delivery, inspection, agriculture, entertainment and other fields. However, their single flight mode limits their ability to perform certain tasks.

[0003] Application number CN201810446474.7 discloses a deformable amphibious unmanned aerial vehicle (UAV), comprising a deformation mechanism, a transmission mechanism, and a main shaft. The deformation mechanism includes multiple deformation mechanism units, each comprising a body support structure and a support. The support includes a first support and a second support rotatably connected to the first support. A deformation drive motor and a rotor assembly are respectively mounted on the first and second supports. A main gear is connected to the deformation drive motor, and the main gear meshes with a driven gear fixedly connected to the second support. A rotor protective cover is also provided on the second support. The transmission mechanism includes a support plate, a support seat mounted on the support plate and rotatably connected to the main shaft, and a drive mechanism for driving the main shaft to rotate. The end of the main shaft away from the support seat is connected to the first support. This UAV has a simplified structure, high safety performance, effectively realizes the switching between aerial flight and ground walking modes at any time, has stable operation, and strong terrain clearance capabilities.

[0004] The invention described above sets up a rotor protection shield around the rotor assembly after the drone is converted into a land form to prevent the rotor from being damaged when the drone travels on land. However, the rotor protection shield is a hollow frame, which can only block large external impacts and cannot prevent damage to the rotor surface from gravel and other debris during land travel. This can easily cause scratches or even bending on the rotor surface, resulting in limited protection for the drone's capabilities and rotor, and a large protective loophole. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the deficiencies mentioned in the background art by providing a foldable land-air amphibious bionic unmanned aerial vehicle.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A foldable amphibious bionic drone includes a shell, a rotation drive module, M foldable wings, 2M storage brackets, an air source, and N omnidirectional wheels, where M and N are natural numbers greater than or equal to 3.

[0008] The shell is hollow and includes a top cover, side walls and bottom plate that are fixedly connected from top to bottom;

[0009] The N casters are located below the base plate and are evenly distributed around the center of the base plate.

[0010] The gas source is located inside the housing and is used to supply gas;

[0011] The rotary drive module includes a rotary motor, a drive bevel gear, and M rotary units;

[0012] The rotary motor is located at the center of the base plate, with its output shaft perpendicular to the base plate and facing upwards.

[0013] The drive bevel gear and the output shaft of the rotary motor are coaxially and rigidly connected.

[0014] The side wall of the housing is uniformly provided with M rotating mounting holes that correspond one-to-one with the rotating unit.

[0015] The rotating unit includes a rotating base, a rotating shaft, first and second rotating gears, first and third rotating bearings, first and second bearing seats, a transmission rod, and a transmission bevel gear;

[0016] The third rotary bearing is disposed in the rotary mounting hole corresponding to its rotary unit. The outer ring is coaxially fixed to the rotary mounting hole, and the inner ring is coaxially fixed to the rotary shaft, so that one end of the rotary shaft extends out of the side wall of the housing and the other end is located inside the housing, allowing it to rotate freely.

[0017] One end of the rotating shaft extending outside the side wall of the housing is fixedly connected to the rotating seat, and the other end located inside the housing is coaxially fixedly connected to the first rotating gear; the rotating seat is hollow and has a pivot hole for pivoting.

[0018] The first rotary bearing is fixed to the bottom plate of the housing via a first bearing seat, with the outer ring fixedly connected to the first bearing seat and the inner ring fixedly connected to the guide rod coaxially; the second rotary bearing is fixed to the bottom plate of the housing via a second bearing seat, with the outer ring fixedly connected to the second bearing seat and the inner ring fixedly connected to the guide rod coaxially.

[0019] One end of the guide rod is coaxially fixed to the second rotating gear, and the other end is coaxially fixed to the guide bevel gear. The second rotating gear meshes with the first rotating gear, and the guide bevel gear meshes with the driving bevel gear.

[0020] The rotary motor can drive the rotating bases of M rotating units to rotate;

[0021] The M folding wings have the same structure and correspond one-to-one with the rotating seats of the M rotating units;

[0022] The folding wing includes a folding motor, a folding shaft, first and second folding gears, first and second connecting plates, a power shaft, first and second power bearings, a balance airbag, an anti-collision airbag, first and second movable impellers, a power motor, first and second power gears, a switching motor, a switching drive gear, a switching shaft, first and third switching driven gears, and first and second switching components;

[0023] The folding shaft and the rotating unit corresponding to the folding wing are pivotally connected to the pivot hole on the rotating seat, allowing them to rotate freely. The two ends of the folding shaft are respectively fixedly connected to one end of the first connecting plate and one end of the second connecting plate.

[0024] The first folding gear is coaxially mounted on the folding shaft;

[0025] The folding motor is fixed in the rotating seat of the rotating unit corresponding to the folding wing, and its output shaft is coaxially and fixedly connected to the second folding gear; the second folding gear meshes with the first folding gear.

[0026] The first connecting plate and the second connecting plate are arranged in parallel, and each of them has a power mounting hole at the end away from the folding pivot.

[0027] The first power bearing is disposed in the power mounting hole of the first connecting plate, with its outer ring fixedly connected to the first connecting plate and its inner ring coaxially fixedly connected to the power shaft; the second power bearing is disposed in the power mounting hole of the second connecting plate, with its outer ring fixedly connected to the second connecting plate and its inner ring coaxially fixedly connected to the power shaft; so that both ends of the power shaft extend out from the power mounting holes of the first connecting plate and the second connecting plate respectively, and can rotate freely;

[0028] Both the balance airbag and the anti-collision airbag are fixed between the first connecting plate and the second connecting plate. Both the balance airbag and the anti-collision airbag are provided with an air inlet and an air outlet. The air inlet of the balance airbag is connected to the airbag through a hose, and the air outlet of the balance airbag is connected to the air inlet of the anti-collision airbag through a pipe. The air outlet of the anti-collision airbag is provided with a pressure relief valve. The pipe connecting the air outlet of the balance airbag and the air inlet of the anti-collision airbag is perpendicular to the folding pivot, and an automatic valve is provided in the pipe.

[0029] The automatic valve includes a valve body, a return spring, and a valve core. The valve core is a hollow cylinder open at both ends. One end of the valve body has a sliding blind hole for cooperating with the valve core, and the other end has an air inlet. The valve body also has an air intake channel connecting the air inlet and the side wall of the sliding blind hole. The valve core and the return spring are both disposed in the sliding blind hole. The valve core and the sliding blind hole are in clearance fit and can slide freely. One end of the return spring is fixedly connected to the bottom end of the sliding blind hole, and the other end is fixedly connected to the valve core. When the valve body is vertical, the weight of the valve core presses the return spring, and the outer wall of the valve core blocks the outlet of the air intake channel, at which time both ends of the valve body are closed. When the valve body is horizontal, the return spring pushes the valve core, so that the outlet of the air intake channel and the sliding blind hole are connected, at which time both ends of the valve body are connected.

[0030] The first and second movable impellers have the same structure, each including a fixed ring and P airfoil blades, where P is a natural number greater than or equal to 3. Each airfoil blade includes a fixed blade and a movable blade. The root of the movable blade and the end of the fixed blade are hinged and provided with a torsion spring, so that the movable blade and the fixed blade are coplanar. The P airfoil blades are evenly arranged circumferentially on the outer wall of the fixed ring, and the root of the fixed blade is fixedly connected to the outer wall of the fixed ring.

[0031] The retaining ring of the first movable impeller is coaxially fixed to one end face of the power shaft, and the retaining ring of the second movable impeller is coaxially fixed to the other end face of the power shaft.

[0032] The power motor is fixed to the first connecting plate, and its output shaft is coaxially and fixedly connected to the first power gear.

[0033] The second power gear is sleeved on the power shaft and is coaxially fixed to the power shaft; the first power gear and the second power gear mesh.

[0034] The first and second switching components have identical structures, each including a movable ring, q pushing units, an intermediate bearing, and an intermediate gear. The movable ring is circular, with q switching mounting holes, each corresponding to one of the pushing units, evenly distributed around one side wall. Each pushing unit includes a pushing bearing, a pushing gear, and a pushing screw. The pushing bearing is disposed in the corresponding switching mounting hole of the pushing unit, with its outer ring fixedly connected to the movable ring and its inner ring coaxially fixedly connected to one end of the pushing screw. The pushing gear is a hollow gear, with an internal thread on its inner wall that matches the external thread of the pushing screw. The intermediate gear is also a hollow gear, with its inner wall coaxially fixedly connected to the outer wall of the intermediate bearing.

[0035] The first connecting plate is provided with q switching through holes around the power shaft, each corresponding to a push unit of the first switching component; the second connecting plate is provided with q switching through holes around the power shaft, each corresponding to a push unit of the second switching component.

[0036] In the first switching assembly: the movable ring is fitted outside the fixed ring of the first movable impeller, coaxial with the power shaft, and the distance between the movable ring and the fixed ring of the first movable impeller is greater than the length of the fixed impeller; the threaded rod in each push unit passes through the corresponding switching through hole on the first connecting plate and is threadedly connected to the push gear in the push unit; the intermediate bearing is fitted on the power shaft, and the inner ring is coaxially fixed with the power bearing; the push gears of q push units are all set on the first connecting plate and all mesh with the intermediate gear; the intermediate gear is used to drive the movable ring to move forward or backward along its axial direction through the q push units;

[0037] In the second switching assembly: the movable ring is fitted outside the fixed ring of the second movable impeller, coaxial with the power shaft, and the distance between the movable ring and the fixed ring of the second movable impeller is greater than the length of the fixed impeller; the threaded rod in each push unit passes through the corresponding switching through hole on the second connecting plate and is threadedly connected to the push gear in that push unit; the intermediate bearing is fitted on the power shaft, and the inner ring is coaxially fixed with the power bearing; the push gears of q push units are all set on the second connecting plate and all mesh with the intermediate gear; the intermediate gear is used to drive the movable ring to move forward or backward along its axial direction through the q push units;

[0038] The first switching driven gear is mounted on the first connecting plate, and the second switching driven gear is mounted on the second connecting plate; one end of the switching shaft is coaxially and fixedly connected to the first switching driven gear, and the other end is coaxially and fixedly connected to the second switching driven gear;

[0039] The third switching driven gear is a hollow gear, which is sleeved on the switching shaft and coaxially fixed to the switching shaft.

[0040] The switching motor is mounted on the first connecting plate, and its output shaft and the switching drive gear are coaxially and fixedly connected.

[0041] The switching drive gear and the third switching driven gear mesh;

[0042] The switching motor is used to drive the movable rings of the first switching component and the second switching component to move towards or away from each other simultaneously, so that the movable blades of the first and second movable impellers can be opened or closed simultaneously.

[0043] The 2M storage brackets have the same structure and are evenly arranged on the upper cover in a circumferential direction. Each of them is provided with a protective groove to accommodate the movable blades of the first and second movable impellers of the M folding wings after they are brought together.

[0044] As a further optimization of the foldable land-air amphibious bionic unmanned aerial vehicle of the present invention, both M and N are taken as 4.

[0045] As a further optimization of the foldable land-air amphibious bionic unmanned aerial vehicle of the present invention, P is set to 5.

[0046] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects:

[0047] 1. In this invention, after the rotating seat rotates vertically, the automatic valve automatically opens under gravity, allowing the gas introduced into the balance airbag to be introduced into the anti-collision airbag, causing the anti-collision airbag to inflate. Then, the folding wing folds towards the main body of the drone, and the motor drives the movable blades to converge. The folding of the wing allows the converged movable blades to automatically engage with the protective slot of the folding frame, allowing the drone rotor to converge within the protective slot. The folding of the movable blades reduces the probability of the blade tips being bumped, preventing the blades from being bent or broken, and preventing the horizontal and vertical rotors from being broken during the drone's operation on land. At the same time, it reduces the exposed area of ​​the rotor, and a semi-enclosed structure is set around the rotor, reducing the possibility of the rotor surface being scratched by gravel, etc., increasing the protection level of the drone rotor. Meanwhile, the expansion of the anti-collision airbag increases the anti-collision energy of the drone during its operation on land.

[0048] 2. In this invention, when the drone is flying, the rotation of the upper mounting shaft drives the fixed blades and movable blades at both ends to rotate, thereby driving the drone to fly. At the same time, the balance airbag is automatically filled with gas, which blocks the flow of space between the folding wings, reduces the interference of airflow on the drone, and the balance airbag also increases the buoyancy of the drone, reduces the impact of the drone's own weight after the addition of drive wheels, assists the drone in flying, maintains the balance of the drone during flight, and increases the stability of the drone during flight. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of the present invention in its unfolded state;

[0050] Figure 2 This is a cross-sectional view of the invention in its unfolded state;

[0051] Figure 3 This is a partial schematic diagram of the rotating unit structure in this invention;

[0052] Figure 4 This is a schematic diagram of the structure of the transmission bevel gear and the driving bevel gear in this invention.

[0053] Figure 5 This is a schematic diagram of the structure of the present invention in its folded state;

[0054] Figure 6 This is a cross-sectional view of the automatic valve in the pipeline according to the present invention;

[0055] Figure 7This is a partial structural diagram of the folding wing in this invention;

[0056] Figure 8 This is a schematic diagram of the structure when the second movable impeller is gathered in the protective groove in this invention.

[0057] In the diagram, 1-shell, 2-folding wing, 3-storage bracket, 4-caster wheel, 5-rotating seat, 6-rotating shaft, 7-third rotary bearing, 8-first rotary gear, 9-second rotary gear, 10-side wall of the shell, 11-transmission rod, 12-transmission bevel gear, 13-drive bevel gear, 14-folding shaft, 15-first connecting plate, 16-second connecting plate, 17-power shaft, 18-airbag, 19-moving ring, 20-pipe between the exhaust port of the balance airbag and the air inlet of the airbag, 21-valve body, 22-reset spring, 23-valve core, 24-sliding blind hole, 25-intake channel, 26-fixed ring, 27-fixed blade, 28-moving blade, 29-push gear, 30-threaded rod, 31-switching shaft, 32-second switching driven gear. Detailed Implementation

[0058] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0059] This invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0060] It should be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, and / or parts, these elements, components, and / or parts are not limited by these terms. These terms are merely used to distinguish elements, components, and / or parts from one another. Therefore, the first element, component, and / or part discussed below may be a second element, component, or part without departing from the teachings of this invention.

[0061] like Figure 1 As shown, this invention discloses a foldable land-air amphibious bionic unmanned aerial vehicle, comprising a shell, a rotation drive module, M foldable wings, 2M storage brackets, an air source, and N omnidirectional wheels, where M and N are both natural numbers greater than or equal to 3;

[0062] The shell is hollow and includes a top cover, side walls and bottom plate that are fixedly connected from top to bottom;

[0063] The N casters are located below the base plate and are evenly distributed around the center of the base plate.

[0064] The gas source is located inside the housing and is used to supply gas;

[0065] like Figure 2 As shown, the rotation drive module includes a rotary motor, a drive bevel gear, and M rotation units;

[0066] The rotary motor is located at the center of the base plate, with its output shaft perpendicular to the base plate and facing upwards.

[0067] The drive bevel gear and the output shaft of the rotary motor are coaxially and rigidly connected.

[0068] The side wall of the housing is uniformly provided with M rotating mounting holes that correspond one-to-one with the rotating unit.

[0069] like Figure 3 As shown, the rotating unit includes a rotating seat, a rotating shaft, first and second rotating gears, first and third rotating bearings, first and second bearing seats, a transmission rod, and a transmission bevel gear;

[0070] The third rotary bearing is disposed in the rotary mounting hole corresponding to its rotary unit. The outer ring is coaxially fixed to the rotary mounting hole, and the inner ring is coaxially fixed to the rotary shaft, so that one end of the rotary shaft extends out of the side wall of the housing and the other end is located inside the housing, allowing it to rotate freely.

[0071] One end of the rotating shaft extending outside the side wall of the housing is fixedly connected to the rotating seat, and the other end located inside the housing is coaxially fixedly connected to the first rotating gear; the rotating seat is hollow and has a pivot hole for pivoting.

[0072] The first rotary bearing is fixed to the bottom plate of the housing via a first bearing seat, with the outer ring fixedly connected to the first bearing seat and the inner ring fixedly connected to the guide rod coaxially; the second rotary bearing is fixed to the bottom plate of the housing via a second bearing seat, with the outer ring fixedly connected to the second bearing seat and the inner ring fixedly connected to the guide rod coaxially.

[0073] One end of the guiding rod is coaxially fixed to the second rotating gear, and the other end is coaxially fixed to the guiding bevel gear. The second rotating gear meshes with the first rotating gear, and the guiding bevel gear meshes with the driving bevel gear. Figure 4 As shown;

[0074] The rotary motor can drive the rotating bases of M rotating units to rotate;

[0075] The M folding wings have the same structure and correspond one-to-one with the rotating seats of the M rotating units;

[0076] like Figure 5As shown, the folding wing includes a folding motor, a folding shaft, first and second folding gears, first and second connecting plates, a power shaft, first and second power bearings, a balance airbag, an anti-collision airbag, first and second movable impellers, a power motor, first and second power gears, a switching motor, a switching drive gear, a switching shaft, first and third switching driven gears, and first and second switching components;

[0077] The folding shaft and the rotating unit corresponding to the folding wing are pivotally connected to the pivot hole on the rotating seat, allowing them to rotate freely. The two ends of the folding shaft are respectively fixedly connected to one end of the first connecting plate and one end of the second connecting plate.

[0078] The first folding gear is coaxially mounted on the folding shaft;

[0079] The folding motor is fixed in the rotating seat of the rotating unit corresponding to the folding wing, and its output shaft is coaxially and fixedly connected to the second folding gear; the second folding gear meshes with the first folding gear.

[0080] The first connecting plate and the second connecting plate are arranged in parallel, and each of them has a power mounting hole at the end away from the folding pivot.

[0081] The first power bearing is disposed in the power mounting hole of the first connecting plate, with its outer ring fixedly connected to the first connecting plate and its inner ring coaxially fixedly connected to the power shaft; the second power bearing is disposed in the power mounting hole of the second connecting plate, with its outer ring fixedly connected to the second connecting plate and its inner ring coaxially fixedly connected to the power shaft; so that both ends of the power shaft extend out from the power mounting holes of the first connecting plate and the second connecting plate respectively, and can rotate freely;

[0082] Both the balance airbag and the anti-collision airbag are fixed between the first connecting plate and the second connecting plate. Both the balance airbag and the anti-collision airbag are provided with an air inlet and an air outlet. The air inlet of the balance airbag is connected to the airbag through a hose, and the air outlet of the balance airbag is connected to the air inlet of the anti-collision airbag through a pipe. The air outlet of the anti-collision airbag is provided with a pressure relief valve. The pipe connecting the air outlet of the balance airbag and the air inlet of the anti-collision airbag is perpendicular to the folding pivot, and an automatic valve is provided in the pipe.

[0083] like Figure 6As shown, the automatic valve includes a valve body, a return spring, and a valve core. The valve core is a hollow cylinder open at both ends. One end of the valve body has a sliding blind hole for cooperating with the valve core, and the other end has an air inlet. The valve body also has an air intake channel connecting the air inlet and the side wall of the sliding blind hole. The valve core and the return spring are both disposed in the sliding blind hole. The valve core and the sliding blind hole are in clearance fit and can slide freely. One end of the return spring is fixedly connected to the bottom end of the sliding blind hole, and the other end is fixedly connected to the valve core. When the valve body is vertical, the weight of the valve core presses the return spring, and the outer wall of the valve core blocks the outlet of the air intake channel, at which time both ends of the valve body are closed. When the valve body is horizontal, the return spring pushes the valve core, so that the outlet of the air intake channel and the sliding blind hole are connected, at which time both ends of the valve body are connected.

[0084] like Figure 7 As shown, the first and second movable impellers have the same structure, each including a fixed ring and P airfoil blades, where P is a natural number greater than or equal to 3; each airfoil blade includes a fixed blade and a movable blade, the root of the movable blade and the end of the fixed blade are hinged and provided with a torsion spring, so that the movable blade and the fixed blade are coplanar; the P airfoil blades are evenly arranged circumferentially on the outer wall of the fixed ring, and the root of the fixed blade is fixedly connected to the outer wall of the fixed ring;

[0085] The retaining ring of the first movable impeller is coaxially fixed to one end face of the power shaft, and the retaining ring of the second movable impeller is coaxially fixed to the other end face of the power shaft.

[0086] The power motor is fixed to the first connecting plate, and its output shaft is coaxially and fixedly connected to the first power gear.

[0087] The second power gear is sleeved on the power shaft and is coaxially fixed to the power shaft; the first power gear and the second power gear mesh.

[0088] The first and second switching components have identical structures, each including a movable ring, q pushing units, an intermediate bearing, and an intermediate gear. The movable ring is circular, with q switching mounting holes, each corresponding to one of the pushing units, evenly distributed around one side wall. Each pushing unit includes a pushing bearing, a pushing gear, and a pushing screw. The pushing bearing is disposed in the corresponding switching mounting hole of the pushing unit, with its outer ring fixedly connected to the movable ring and its inner ring coaxially fixedly connected to one end of the pushing screw. The pushing gear is a hollow gear, with an internal thread on its inner wall that matches the external thread of the pushing screw. The intermediate gear is also a hollow gear, with its inner wall coaxially fixedly connected to the outer wall of the intermediate bearing.

[0089] The first connecting plate is provided with q switching through holes around the power shaft, each corresponding to a push unit of the first switching component; the second connecting plate is provided with q switching through holes around the power shaft, each corresponding to a push unit of the second switching component.

[0090] In the first switching assembly: the movable ring is fitted outside the fixed ring of the first movable impeller, coaxial with the power shaft, and the distance between the movable ring and the fixed ring of the first movable impeller is greater than the length of the fixed impeller; the threaded rod in each push unit passes through the corresponding switching through hole on the first connecting plate and is threadedly connected to the push gear in the push unit; the intermediate bearing is fitted on the power shaft, and the inner ring is coaxially fixed with the power bearing; the push gears of q push units are all set on the first connecting plate and all mesh with the intermediate gear; the intermediate gear is used to drive the movable ring to move forward or backward along its axial direction through the q push units;

[0091] In the second switching assembly: the movable ring is fitted outside the fixed ring of the second movable impeller, coaxial with the power shaft, and the distance between the movable ring and the fixed ring of the second movable impeller is greater than the length of the fixed impeller; the threaded rod in each push unit passes through the corresponding switching through hole on the second connecting plate and is threadedly connected to the push gear in that push unit; the intermediate bearing is fitted on the power shaft, and the inner ring is coaxially fixed with the power bearing; the push gears of q push units are all set on the second connecting plate and all mesh with the intermediate gear; the intermediate gear is used to drive the movable ring to move forward or backward along its axial direction through the q push units;

[0092] The first switching driven gear is mounted on the first connecting plate, and the second switching driven gear is mounted on the second connecting plate; one end of the switching shaft is coaxially and fixedly connected to the first switching driven gear, and the other end is coaxially and fixedly connected to the second switching driven gear;

[0093] The third switching driven gear is a hollow gear, which is sleeved on the switching shaft and coaxially fixed to the switching shaft.

[0094] The switching motor is mounted on the first connecting plate, and its output shaft and the switching drive gear are coaxially and fixedly connected.

[0095] The switching drive gear and the third switching driven gear mesh;

[0096] The switching motor drives the movable rings of the first switching component and the second switching component to move simultaneously toward or away from each other, thereby causing the movable blades of the first and second movable impellers to simultaneously expand or converge; when the second movable impeller converges, as... Figure 8 As shown;

[0097] The 2M storage brackets have the same structure and are evenly arranged on the upper cover in a circumferential direction. Each of them is provided with a protective groove to accommodate the movable blades of the first and second movable impellers of the M folding wings after they are brought together.

[0098] Both M and N are set to 4.

[0099] The value of P is 5.

[0100] like Figure 1 As shown, when the drone is in flight, both the folding wings and the movable impellers are in the open state, and the automatic valve is in the closed state. During flight, the upper power shaft rotates, driving the first and second movable impellers to rotate, thus propelling the drone. Simultaneously, the balance airbag automatically fills with gas, blocking airflow between the folding wings and reducing airflow interference with the drone. The balance airbag also increases the drone's buoyancy, reducing the impact of the added drive wheels on the drone's weight, assisting in flight, maintaining the drone's balance during flight, and increasing its stability. When the drone is in land-based driving mode (e.g....), Figure 5 As shown, when both the folding wings and the moving impellers are folded, the automatic valve opens automatically under gravity, allowing gas introduced into the balance airbag to be introduced into the anti-collision airbag, causing the anti-collision airbag to inflate. Then, the folding wings fold towards the main body of the drone and drive the moving impellers to converge. The folding of the wings allows the converged moving impellers to automatically engage with the protective slots of the storage brackets, reducing the probability of the moving impeller tips being hit and avoiding the possibility of the moving impellers being bent or broken. This prevents the horizontal and vertical rotors from breaking during the drone's operation on land, while also reducing the exposed area of ​​the rotors. A semi-enclosed structure is set around the rotors, reducing the possibility of the rotor surface being scratched by gravel, etc., increasing the protection level of the drone rotors. At the same time, the anti-collision airbags inflate, increasing the anti-collision energy of the drone during its operation on land.

[0101] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0102] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A foldable amphibious biomimetic unmanned aerial vehicle, characterized in that, It includes a shell, a rotation drive module, M folding wings, 2M storage brackets, an air source, and N omnidirectional wheels, where M and N are natural numbers greater than or equal to 3; The shell is hollow and includes a top cover, side walls and bottom plate that are fixedly connected from top to bottom; The N casters are located below the base plate and are evenly distributed around the center of the base plate. The gas source is located inside the housing and is used to supply gas; The rotary drive module includes a rotary motor, a drive bevel gear, and M rotary units; The rotary motor is located at the center of the base plate, with its output shaft perpendicular to the base plate and facing upwards. The drive bevel gear and the output shaft of the rotary motor are coaxially and rigidly connected. The side wall of the housing is uniformly provided with M rotating mounting holes that correspond one-to-one with the rotating unit. The rotating unit includes a rotating base, a rotating shaft, first and second rotating gears, first and third rotating bearings, first and second bearing seats, a transmission rod, and a transmission bevel gear; The third rotary bearing is disposed in the rotary mounting hole corresponding to its rotary unit. The outer ring is coaxially fixed to the rotary mounting hole, and the inner ring is coaxially fixed to the rotary shaft, so that one end of the rotary shaft extends out of the side wall of the housing and the other end is located inside the housing, allowing it to rotate freely. One end of the rotating shaft extending outside the side wall of the housing is fixedly connected to the rotating seat, and the other end located inside the housing is coaxially fixedly connected to the first rotating gear; the rotating seat is hollow and has a pivot hole for pivoting. The first rotary bearing is fixed to the bottom plate of the housing via a first bearing seat, with the outer ring fixedly connected to the first bearing seat and the inner ring fixedly connected to the guide rod coaxially; the second rotary bearing is fixed to the bottom plate of the housing via a second bearing seat, with the outer ring fixedly connected to the second bearing seat and the inner ring fixedly connected to the guide rod coaxially. One end of the guide rod is coaxially fixed to the second rotating gear, and the other end is coaxially fixed to the guide bevel gear. The second rotating gear meshes with the first rotating gear, and the guide bevel gear meshes with the driving bevel gear. The rotary motor can drive the rotating bases of M rotating units to rotate; The M folding wings have the same structure and correspond one-to-one with the rotating seats of the M rotating units; The folding wing includes a folding motor, a folding shaft, first and second folding gears, first and second connecting plates, a power shaft, first and second power bearings, a balance airbag, an anti-collision airbag, first and second movable impellers, a power motor, first and second power gears, a switching motor, a switching drive gear, a switching shaft, first and third switching driven gears, and first and second switching components; The folding shaft and the rotating unit corresponding to the folding wing are pivotally connected to the pivot hole on the rotating seat, allowing them to rotate freely. The two ends of the folding shaft are respectively fixedly connected to one end of the first connecting plate and one end of the second connecting plate. The first folding gear is coaxially mounted on the folding shaft; The folding motor is fixed in the rotating seat of the rotating unit corresponding to the folding wing, and its output shaft is coaxially and fixedly connected to the second folding gear; the second folding gear meshes with the first folding gear. The first connecting plate and the second connecting plate are arranged in parallel, and each of them has a power mounting hole at the end away from the folding pivot. The first power bearing is installed in the power mounting hole of the first connecting plate, with its outer ring fixedly connected to the first connecting plate and its inner ring coaxially fixedly connected to the power shaft; the second power bearing is installed in the power mounting hole of the second connecting plate, with its outer ring fixedly connected to the second connecting plate and its inner ring coaxially fixedly connected to the power shaft; so that both ends of the power shaft extend out from the power mounting holes of the first connecting plate and the second connecting plate respectively, and can rotate freely; Both the balance airbag and the anti-collision airbag are fixed between the first connecting plate and the second connecting plate. Both the balance airbag and the anti-collision airbag are provided with an air inlet and an air outlet. The air inlet of the balance airbag is connected to an air source through a hose, and the air outlet of the balance airbag is connected to the air inlet of the anti-collision airbag through a pipe. The air outlet of the anti-collision airbag is provided with a pressure relief valve. The pipe connecting the air outlet of the balance airbag and the air inlet of the anti-collision airbag is perpendicular to the folding pivot, and an automatic valve is provided in the pipe. The automatic valve includes a valve body, a return spring, and a valve core. The valve core is a hollow cylinder open at both ends. One end of the valve body has a sliding blind hole for cooperating with the valve core, and the other end has an air inlet. The valve body also has an air intake channel connecting the air inlet and the side wall of the sliding blind hole. The valve core and the return spring are both disposed in the sliding blind hole. The valve core and the sliding blind hole are in clearance fit and can slide freely. One end of the return spring is fixedly connected to the bottom end of the sliding blind hole, and the other end is fixedly connected to the valve core. When the valve body is vertical, the weight of the valve core presses the return spring, and the outer wall of the valve core blocks the outlet of the air intake channel, at which time both ends of the valve body are closed. When the valve body is horizontal, the return spring pushes the valve core, so that the outlet of the air intake channel and the sliding blind hole are connected, at which time both ends of the valve body are connected. The first and second movable impellers have the same structure, each including a fixed ring and P airfoil blades, where P is a natural number greater than or equal to 3. Each airfoil blade includes a fixed blade and a movable blade. The root of the movable blade and the end of the fixed blade are hinged and provided with a torsion spring, so that the movable blade and the fixed blade are coplanar. The P airfoil blades are evenly arranged circumferentially on the outer wall of the fixed ring, and the root of the fixed blade is fixedly connected to the outer wall of the fixed ring. The retaining ring of the first movable impeller is coaxially fixed to one end face of the power shaft, and the retaining ring of the second movable impeller is coaxially fixed to the other end face of the power shaft. The power motor is fixed to the first connecting plate, and its output shaft and the first power gear are coaxially connected. The second power gear is sleeved on the power shaft and is coaxially fixed to the power shaft; the first power gear and the second power gear mesh. The first and second switching components have identical structures, each including a movable ring, q pushing units, an intermediate bearing, and an intermediate gear. The movable ring is annular, with q switching mounting holes, each corresponding to one of the pushing units, evenly distributed circumferentially on one side wall. Each pushing unit includes a pushing bearing, a pushing gear, and a pushing screw. The pushing bearing is disposed in the corresponding switching mounting hole of the pushing unit, with its outer ring fixedly connected to the movable ring and its inner ring coaxially fixedly connected to one end of the pushing screw. The pushing gear is a hollow gear, with an internal thread on its inner wall that matches the external thread of the pushing screw. The intermediate gear is also a hollow gear, with its inner wall coaxially fixedly connected to the outer wall of the intermediate bearing. The first connecting plate is provided with q switching through holes around the power shaft, each corresponding to a push unit of the first switching component; the second connecting plate is provided with q switching through holes around the power shaft, each corresponding to a push unit of the second switching component. In the first switching assembly: the movable ring is fitted outside the fixed ring of the first movable impeller, coaxial with the power shaft, and the distance between the movable ring and the fixed ring of the first movable impeller is greater than the length of the fixed impeller; the threaded rod in each push unit passes through the corresponding switching through hole on the first connecting plate and is threadedly connected to the push gear in the push unit; the intermediate bearing is fitted on the power shaft, and the inner ring is coaxially fixed with the power bearing; the push gears of q push units are all set on the first connecting plate and all mesh with the intermediate gear; the intermediate gear is used to drive the movable ring to move forward or backward along its axial direction through the q push units; In the second switching assembly: the movable ring is fitted outside the fixed ring of the second movable impeller, coaxial with the power shaft, and the distance between the movable ring and the fixed ring of the second movable impeller is greater than the length of the fixed impeller; the threaded rod in each push unit passes through the corresponding switching through hole on the second connecting plate and is threadedly connected to the push gear in that push unit; the intermediate bearing is fitted on the power shaft, and the inner ring is coaxially fixed with the power bearing; the push gears of q push units are all set on the second connecting plate and all mesh with the intermediate gear; the intermediate gear is used to drive the movable ring to move forward or backward along its axial direction through the q push units; The first switching driven gear is disposed on the first connecting plate, and the second switching driven gear is disposed on the second connecting plate; one end of the switching shaft is coaxially and fixedly connected to the first switching driven gear, and the other end is coaxially and fixedly connected to the second switching driven gear; The third switching driven gear is a hollow gear, which is sleeved on the switching shaft and coaxially fixed to the switching shaft. The switching motor is mounted on the first connecting plate, and its output shaft and the switching drive gear are coaxially and fixedly connected. The switching drive gear and the third switching driven gear mesh; The switching motor is used to drive the movable rings of the first switching component and the second switching component to move towards or away from each other simultaneously, so that the movable blades of the first and second movable impellers can be opened or closed simultaneously. The 2M storage brackets have the same structure and are evenly arranged on the upper cover in a circumferential direction. Each of them is provided with a protective groove to accommodate the movable blades of the first and second movable impellers of the M folding wings after they are brought together.

2. The foldable amphibious bionic UAV according to claim 1, characterized in that, Both M and N are set to 4.

3. The foldable amphibious bionic UAV according to claim 1, characterized in that, The value of P is 5.

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