Amphibious heavy-load unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses an amphibious heavy-load unmanned aerial vehicle which comprises a frame, a vertical driving unit which is mounted on the frame and provides thrust in the vertical direction, and a horizontal driving module which is mounted on the frame and provides thrust in the horizontal direction. And the vertical driving unit comprises a plurality of groups of vertical driving modules which are mounted on the mounting frame and are positioned on the same plane. According to the invention, the endurance time can be effectively prolonged; thrust required by flight is provided for the unmanned aerial vehicle; and the unification of the overall rigidity, strength and lightweight design requirements of the unmanned aerial vehicle aircraft is effectively realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and more particularly to an amphibious heavy-load unmanned aerial vehicle. Background Art

[0002] A heavy-load amphibious unmanned aerial vehicle refers to an unmanned aerial vehicle with a payload greater than 100kg and a flight time greater than 1h.

[0003] Industrial drones are equipped with different professional equipment according to different industry needs, such as forest fire fighting, laser radar, weapon systems and other heavy loads, requiring long endurance and high payload; they are mainly used in cargo transportation, field rescue, fire fighting and military applications;

[0004] With the rapid development of lithium battery energy storage technology, multi-rotor drive motor technology and flight control technology, the development of heavy-load industrial-grade unmanned aerial vehicles has received attention; with the continuous iteration of technology, the energy storage density of different lithium battery energy storage components is between 250kW / h-400kW / h, which is the decisive factor in the development of high-load and long-flight unmanned aerial vehicles.

[0005] The multi-rotor brushless motor is the power output device for the flight of unmanned aerial vehicles. The pulling force generated by the same type of multi-rotor brushless motor is related to the input power. The higher the input power (or the greater the throttle), the greater the thrust generated. However, the energy efficiency decreases rapidly as the output thrust increases. This is one of the main reasons for the short flight time and low payload of current unmanned aerial vehicles.

[0006] Take the MAD multi-rotor brushless motor as an example:

[0007] MADM6C15KV220, when the throttle is 80%, the power consumption is 0.198KW, the thrust generated is 2.035kg, and the energy efficiency is 10.2g / W. Although the energy efficiency is very high, the thrust of a single motor is too small and is not suitable for the design requirements of heavy-load unmanned aerial vehicles;

[0008] MADM10KV90, when the throttle is 80%, the power consumption is 0.854kW, the thrust generated is 7.225kg, and the energy efficiency is 8.5g / W. MADM50C35EEE, when the throttle is 80%, the power consumption is 11.397kW, the thrust generated is 57.129kg, and the efficiency is 5.8g / W. Although the thrust of a single motor is large, the energy efficiency is not high, which is not suitable for the long-flight design requirements of heavy-load unmanned aerial vehicles;

[0009] Therefore, it is necessary to develop new UAV design and integration technologies to meet the UAV's high thrust and long flight time requirements. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide an amphibious heavy-load unmanned aerial vehicle;

[0011] The solution adopted by the present invention to solve the technical problem is:

[0012] An amphibious heavy-load unmanned aerial vehicle comprises a frame, a vertical drive unit installed on the frame and providing vertical thrust, and a horizontal drive module installed on the frame and providing horizontal thrust;

[0013] The vertical driving unit includes a plurality of groups of vertical driving modules which are installed on a mounting frame and are on the same plane.

[0014] In some possible implementations, the vertical driving unit is multi-layered, and the horizontal driving module is disposed at the bottom of the frame and between the vertical driving modules adjacent to the bottom of the frame.

[0015] In some possible implementations, the horizontal driving module is centrally disposed within the frame.

[0016] In some possible implementations, the vertical driving module and the horizontal driving module have the same structure;

[0017] The invention comprises a frame installed on a frame, a plurality of motor mounting seats installed on the frame and evenly arranged along the length direction of the frame, a multi-rotor motor installed on each group of motor mounting seats, and a rotor installed on each group of multi-rotor motors.

[0018] In some possible implementations, the static bearing capacity of the frame is G, and the sum of the weights of the motor mounting base, the multi-rotor motor, and the rotor installed on the frame is g; G>1.5g.

[0019] In some possible implementations, the motor mounting seat in the vertical drive module is mounted on the frame, and the rotor in the vertical drive module rotates around the Z-axis direction;

[0020] The motor mounting seat in the horizontal driving module is mounted on the side of the frame, and the rotor in the horizontal driving module rotates around the X-axis direction.

[0021] In some possible implementations, a connecting member is further included between two adjacent layers of vertical driving modules;

[0022] The connecting member comprises a force transmission rod arranged in the frame and a pull cable which is used to connect the force transmission rod and the motor mounting seat and is arranged vertically.

[0023] In some possible implementations, the tensile strength of the cable is F, the vertical thrust provided by the multi-rotor motor in the vertical drive module is f, and F>1.5f.

[0024] In some possible implementations, the frame in the horizontal driving module structure includes a frame body mounted on the frame, an inner frame located in the frame body and rotatably matched with the frame body, and a driving motor mounted on the frame body and used to control the inner frame to rotate around the Y-axis direction;

[0025] The motor mounting seat in the horizontal driving module structure is mounted on the inner frame.

[0026] In some possible implementations, it also includes a buoyancy tank installed at the bottom of the frame, a flight control system installed on the frame, an energy storage module and a cargo hold installed on the frame.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention enables the unmanned aerial vehicle to operate under the condition that the efficiency of the multi-rotor motor is greater than 8.5g / W, which can effectively increase the flight time; multiple multi-rotor brushless motors are bundled and integrated together, and the multiple multi-rotor motors work together to provide the unmanned aerial vehicle with the thrust required for flight;

[0029] The present invention effectively solves the conflict between the high strength and high rigidity of the unmanned aerial vehicle and the lightweight structure of the unmanned aerial vehicle by arranging cables and force transmission rods. High-strength cables are used to prestress connections between various key stress points of the unmanned aerial vehicle to achieve the unification of the overall rigidity, strength and lightweight design requirements of the unmanned aerial vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a side view of the present invention;

[0031] Figure 2 It is a schematic diagram of the connection between the vertical drive module, the cable, the force transmission rod and the bottom of the frame in the present invention;

[0032] Figure 3 It is a schematic diagram of the case where the vertical driving module and the horizontal driving module have the same structure in the present invention;

[0033] Figure 4 It is a schematic diagram of the connection relationship between the middle frame body, the inner frame, the drive motor, the multi-rotor motor, the motor mounting seat, and the rotor of the present invention;

[0034] Figure 5 A top view of the present invention;

[0035] Among them: 1. frame; 11. force transmission rod; 2. horizontal drive module; 3. vertical drive module; 21. frame; 211. frame body; 212. inner frame; 213. drive motor; 22. motor mounting seat; 23. multi-rotor motor; 24. rotor; 4. cable; 5. buoyancy tank; 6. flight control system; 7. energy storage module. DETAILED DESCRIPTION

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. The "first", "second" and similar words mentioned in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, "one" or "one" and other similar words do not indicate a quantity restriction, but indicate the existence of at least one. In the implementation of this application, "and / or" describes the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" refers to two or more. For example, multiple positioning columns refer to two or more positioning columns. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The present invention is described in detail below.

[0038] like Figure 1-Figure 5 As shown:

[0039] An amphibious heavy-load unmanned aerial vehicle comprises a frame 1, a vertical drive unit installed on the frame 1 and providing vertical thrust, a horizontal drive module 2 installed on the frame 1 and providing horizontal thrust, a buoyancy tank 5 installed at the bottom of the frame 1, a flight control system 6 installed on the frame 1, an energy storage module 7 installed on the frame 1, and a cargo hold.

[0040] The vertical driving unit comprises a plurality of groups of vertical driving modules 3 mounted on the mounting frame 1 and on the same horizontal plane;

[0041] Specifically, when the vertical driving module 3 in the vertical driving unit is in use, it will generate a vertical upward thrust for the UAV, pushing the UAV to fly vertically;

[0042] When in use, the horizontal driving module 2 will generate horizontal thrust to push the UAV to fly horizontally, and can also effectively adjust the flight direction according to usage requirements;

[0043] Specifically, the frame 1 is a multi-layer structure, which is made of high-strength lightweight materials, and the number of layers of the frame 1 is greater than 3; the specific number of layers of the frame 1 is determined according to design parameters such as the payload of the aircraft and the take-off weight; the shape of the frame 1 can be a rectangular parallelepiped or a tower shape;

[0044] Specifically, the frame 1 is made of a plastic pipe, the outer side of the plastic pipe is wound with carbon fiber, and an epoxy resin layer is arranged on the outer side of the carbon fiber, so that the frame 1 has high strength and light weight;

[0045] The buoyancy box 5 is a closed box made of lightweight material; the buoyancy box 5 installed at the bottom of the light frame 1 can support the unmanned aerial vehicle to land on the water surface, and sail on the water surface under the drive of the horizontal driving module 2, thereby achieving the amphibious flight design goal of the unmanned aerial vehicle.

[0046] In some possible implementations, in order to effectively realize the normal flight of the UAV through the vertical driving module 3 and the horizontal driving module 2;

[0047] The vertical drive module 3 and the horizontal drive module 2 have the same structure; they include a frame 21 mounted on the frame 1, a plurality of motor mounting seats 22 mounted on the frame 21 and evenly arranged along the length direction of the frame 21, a multi-rotor motor 23 mounted on each set of motor mounting seats 22, and a rotor 24 mounted on each set of multi-rotor motors 23;

[0048] Furthermore, the frame 21 and the frame 1 are connected and fixed by riveting;

[0049] Specifically, the motor mounting seat 22 in the vertical driving module 3 is installed on the frame 21, and the rotor 24 in the vertical driving module 3 rotates around the Z-axis direction;

[0050] The motor mounting seat 22 in the vertical drive module 3 is installed on the corresponding frame 21, the multi-rotor motor 23 is installed on the corresponding motor mounting seat 22, and the rotor 24 is installed on the output shaft of the multi-rotor motor 23. The output shaft of the multi-rotor motor 23 is arranged along the Z-axis direction. When the output shaft rotates around its axis, the rotor 24 is driven to rotate around the Z-axis direction; thereby, the rotor 24 in the vertical drive module 3 provides a vertical upward thrust to the entire frame 1, thereby pushing the unmanned aerial vehicle to fly vertically.

[0051] Specifically, the motor mounting seat 22 in the horizontal driving module 2 is installed on the side of the corresponding frame 21, and the rotor 24 in the horizontal driving module 2 rotates around the X-axis direction.

[0052] The motor mounting seat 22 in the horizontal driving module 2 is installed on the corresponding frame 21, the multi-rotor motor 23 is installed on the corresponding motor mounting seat 22, and the rotor 24 is installed on the output shaft of the multi-rotor motor 23. The output shaft of the multi-rotor motor 23 is arranged along the X-axis direction. When the output shaft rotates around its axis, the rotor 24 is driven to rotate around the X-axis direction; thereby, the rotor 24 in the vertical driving module 3 provides horizontal thrust to the entire frame 1, pushing the unmanned aerial vehicle to fly horizontally; when turning is to be achieved, the power of the multi-rotor motor 23 at the two ends of the frame 21 along its long direction is controlled, so that the corresponding rotor 24 rotates at different speeds, thereby achieving adjustment of the flight direction.

[0053] This configuration integrates multiple multi-rotor motors 23 on a high-strength and lightweight frame 21, forming a horizontal drive module 2 that can propel the UAV to horizontal flight, and a vertical drive module 3 that propels the UAV to vertical flight; the configuration has high integration, high thrust, and is easy to manufacture.

[0054] The present invention can enable each multi-rotor motor 23 to operate under a lower throttle condition under heavy load conditions, so that each multi-rotor motor 23 operates under high energy efficiency, achieving the design goal of using multiple multi-rotor motors 23 with small thrust and high energy efficiency to drive heavy-load unmanned aerial vehicles, and improving the flight time of the unmanned aerial vehicle.

[0055] In some possible implementations, such as Figure 4 As shown, the frame 21 in the structure of the horizontal driving module 2 includes a frame body 211 mounted on the frame 1, an inner frame 212 located inside the frame body 211 and rotatably matched therewith, and a driving motor 213 mounted on the frame body 211 and used to control the inner frame 212 to rotate around the Y-axis direction;

[0056] The motor mounting seat 22 in the structure of the horizontal driving module 2 is installed on the inner frame 212;

[0057] The frame body 211 is fixedly mounted on the frame 1, and the inner frame 212 is rotatably mounted in the frame body 211. The motor mounting seat 22 is mounted on the inner frame 212. When the driving motor 213 needs to control the entire flight forward or backward, it will control the inner frame 212 to rotate around the Y-axis direction, thereby realizing the forward or backward control of the unmanned flight.

[0058] In some possible implementations, in order to enable the unmanned aerial vehicle to have sufficient vertical upward thrust; the vertical drive unit is multi-layered, and the horizontal drive module 2 is arranged at the bottom of the frame 1 and between the vertical drive module 3 adjacent to the bottom of the frame 1;

[0059] This setup provides collaborative drive of vertical upward thrust through multiple layers of vertical drive modules, achieving the design goal of heavy-load vertical flight of the unmanned aerial vehicle.

[0060] In some possible implementations, the horizontal driving module 2 is centrally disposed in the frame 1, thereby ensuring that the unmanned aerial vehicle is subjected to balanced forces and has stable flight during flight.

[0061] In some possible implementations, the static bearing capacity of the frame 21 is G, and the sum of the weights of the motor mounting base 22, the multi-rotor motor 23, and the rotor 24 installed on the frame 21 is g; G>1.5g.

[0062] In some possible implementations, in order to enable the vertical driving module 3 to transmit the vertical upward thrust to the entire frame 1, a connecting member is further included between two adjacent layers of vertical driving modules 3;

[0063] The connecting member includes a force transmission rod 11 arranged in the frame 1 and a pull cable 4 which is used to connect the force transmission rod 11 and an adjacent motor mounting seat 22 and is vertically arranged.

[0064] The force transmission rod 11 is arranged between adjacent vertical drive modules 3 and / or between the vertical drive module 3 and the bottom of the frame 1; through the arrangement of the cable 4 and the force transmission rod 11, a prestressed connection is achieved between the motor base of each multi-rotor motor 23 installed on the vertical drive module 3 and the bottom of the frame 1, and the upward thrust generated by each multi-rotor motor 23 is transmitted to the bottom of the frame 1.

[0065] Specifically, the tensile strength of the cable 4 is F, the vertical thrust provided by the multi-rotor motor 23 in the vertical drive module 3 is f, and F>1.5f.

[0066] The unmanned aerial vehicle of the present invention has broad application prospects in the fields of tourism, forest fire fighting, plant protection, etc.

[0067] Embodiment 1:

[0068] An amphibious unmanned aerial vehicle with a rectangular shape. In this embodiment, the frame 1 is a rectangular structure. The payload of the unmanned aerial vehicle in this embodiment is 150kg, the take-off weight is 520kg, and the flight time is 1h. The unmanned aerial vehicle in this embodiment has low wind resistance and a stable structure, and is suitable for light-load unmanned aerial vehicles.

[0069] Specifically, a frame 1 made of a lightweight material is used; the main structural dimensions of the frame 1 are length×width×height: 4500mm×3000mm×2500mm; the frame 1 is a three-layer rectangular parallelepiped structure; the inter-layer spacing is 1200mm;

[0070] The frame 1 is made of a plastic pipe, with high-strength carbon fiber wrapped around its outer side, and an epoxy resin composite layer is arranged on the outer side of the carbon fiber; the total weight of the frame 1 is 80 kg.

[0071] Seven multi-rotor motors 23 are installed on the frame 21 of the horizontal drive module 2; the structural dimensions of the frame 21 are: length × width is 5600mm × 660mm; the model of the multi-rotor motor 23 is MADM10KV90; when the throttle is 80%, the power consumption is 0.854kW, the horizontal pulling force generated is 7.225kg, and the pulling efficiency is 8.5g / W; it is used to drive the unmanned aerial vehicle to fly horizontally and adjust the flight direction; the total pulling force for horizontal flight is 50kg.

[0072] In the vertical drive unit, the vertical drive modules 3 form a layer, and there are 10 sets in total; each set is equipped with 10 multi-rotor motors 23.

[0073] The structural dimensions of the frame 21 in the vertical driving module 3 are: length×width: 5600 mm×660 mm.

[0074] The model of the multi-rotor motor 23 is MADM10KV90. When the throttle is 80%, the power consumption is 0.854kW, the horizontal pulling force generated is 7.225kg, and the pulling efficiency is 8.5g / W; it is used for the vertical flight of the unmanned aerial vehicle.

[0075] After considering the weight of the multi-rotor motor 23, the rotor 24, the current regulator, and the frame 1, the vertical thrust of a single multi-rotor motor 23 is 5.23 kg / unit; the vertical thrust efficiency is 6.12 g / W.

[0076] The number of multi-rotor motors 23 installed in the vertical drive unit is 100; the total vertical flight thrust is 523kg.

[0077] The energy storage module 7 is a lithium battery energy storage system and is installed in the frame 1. The 107 multi-rotor motors 23 of model MADM10KV90 in the entire frame 1 have a total power of 0.854kW×107=91.3kW at 80% throttle; the total power consumed for 1 hour of continuous work is 91.3kW / h; when the energy density of the lithium battery energy storage system is 350W / kg, the total weight of the lithium battery energy storage system is 260kg.

[0078] The buoyancy box 5 is installed at the bottom of the frame 1, the number is 2 sets, the volume is 1.0m 3 ;Total weight: 10kg;

[0079] The total thrust of 100 multi-rotor motors 23 in the vertical drive unit to propel the UAV to vertical flight is 523kg; deducting the total weight of 20kg of other components such as the multi-layer frame 1 made of lightweight materials, the lithium battery energy storage system, the buoyancy box 5, the flight control system 6, etc.; it can be obtained that the UAV payload is 150kg and the flight time is 1h.

[0080] Embodiment 2:

[0081] A tower-shaped amphibious heavy-load unmanned aerial vehicle. Specifically, the shape of the frame 1 is a tower-shaped structure. In this embodiment, the unmanned aerial vehicle has a payload of 800kg; take-off weight: 2370kg; flight time: 1h; the unmanned aerial vehicle of this embodiment has a low center of gravity, low wind resistance, and a stable structure; this type of structure is more suitable for heavy-load unmanned aerial vehicles.

[0082] Specifically, the frame 1 is made of lightweight materials, and the shape of the frame is a tower structure; the main structure size of the frame 1 is 4500mm×3000mm×2500mm in length×width×height; the frame 1 is a four-layer rectangular parallelepiped structure; the inter-layer spacing is 1200mm;

[0083] The frame 1 is made of a plastic pipe, with high-strength carbon fiber wrapped around its outer side, and an epoxy resin composite layer is arranged on the outer side of the carbon fiber; the total weight of the frame 1 is 320 kg.

[0084] The horizontal driving module 2 is used for the horizontal flight and flight direction adjustment of the UAV, wherein the frame 21 has a length of 6800 mm and a width of 660 mm, and a total pulling force of 80 kg for horizontal flight;

[0085] The number of multi-rotor motors 23 installed on the frame 21 is 12; the model of the multi-rotor motor 23 is MADM10KV90; when the throttle is 80%, the power consumption is 0.854kW, the horizontal pulling force generated is 7.225kg, and the pulling efficiency is 8.5g / W.

[0086] The vertical drive unit is mainly used to generate vertical upward thrust for the UAV to propel the UAV to vertical flight. It consists of four layers, which are arranged at equal intervals from top to bottom.

[0087] The vertical drive module 3 on the top of the mounting frame 1 is the first layer; there are 12 groups of vertical drive modules 3 on this layer; the length of the frame 21 in each group of vertical drive modules 3 is 9300 mm and the width is 660 mm; there are 15 multi-rotor motors 23 on each group of frame 21;

[0088] The vertical thrust provided by all multi-rotor motors 23 on this layer is: 941kg.

[0089] The vertical driving modules 3 installed below the first layer frame 1 are the second layer; there are 10 groups of vertical driving modules 3 on this layer;

[0090] The length of the frame 21 in each set of vertical drive modules 3 is 8100 mm and the width is 660 mm; there are 13 multi-rotor motors 23 on each set of frame 21;

[0091] The model of the multi-rotor motor 23 is the same as the model of the multi-rotor motor 23 in the first layer;

[0092] The vertical thrust provided by all the multi-rotor motors 23 on this layer is 680kg.

[0093] The vertical drive module 3 installed below the second layer is the third layer;

[0094] There are 8 groups of vertical drive modules 3 on this layer; the length of the frame 21 in each group of vertical drive modules 3 is 6800 mm and the width is 660 mm; there are 11 multi-rotor motors 23 on each group of frame 21;

[0095] The model of the multi-rotor motor 23 is the same as the model of the multi-rotor motor 23 in the first layer;

[0096] The vertical thrust provided by all multi-rotor motors 23 on this layer is: 460kg.

[0097] The vertical driving module 3 installed below the third layer and above the bottom of the frame 1 is the fourth layer;

[0098] There are 6 groups of vertical drive modules 3 on this layer; the length of the frame 21 in each group of vertical drive modules 3 is 5600mm and the width is 660mm; there are 9 multi-rotor motors 23 on each group of frame 21;

[0099] The model of the multi-rotor motor 23 is the same as the model of the multi-rotor motor 23 in the first layer;

[0100] The vertical thrust provided by all the multi-rotor motors 23 on this layer is: 280kg.

[0101] In the entire vertical drive unit, the vertical thrust of the multi-rotor motor 23 is 2370 kg.

[0102] The horizontal driving module 2 is arranged between the fourth layer and the bottom of the frame 1, and is centrally arranged in the frame 1;

[0103] The number of multi-rotor motors 23 in the horizontal drive module 2 and the vertical drive unit in the entire device is 466 multi-rotor motors 23 of model MADM10KV90. The total power consumed when working continuously for 1 hour at 80% throttle is: 466×0.854=380kW / h.

[0104] The energy storage module 7 is a lithium battery energy storage system and is installed in the frame 1; when the energy density of the lithium battery energy storage system is 350W / kg, the total weight of the lithium battery energy storage system is 1000kg.

[0105] There are two sets of buoyancy tanks 5, installed at the bottom of the frame 1, each set has a volume of 1.5m 3 ;Total weight is 50kg;

[0106] The total thrust of the 454 multi-rotor motors 23 in the vertical drive unit is 2370kg; after deducting the weight of other components such as the multi-layer frame 1 made of lightweight materials, the lithium battery energy storage system, the buoyancy tank 5, the flight control system 6, etc., the total weight is 200kg; the UAV payload is 800kg and the flight time is 1h.

[0107] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. An amphibious heavy-load unmanned aerial vehicle, characterized in that: It includes a frame, a vertical driving unit installed on the frame and providing vertical thrust, and a horizontal driving module installed on the frame and providing horizontal thrust; The vertical driving unit includes a plurality of groups of vertical driving modules which are installed on a mounting frame and are on the same plane.

2. The amphibious heavy-load unmanned aerial vehicle according to claim 1, characterized in that: The vertical driving unit is multi-layered, and the horizontal driving module is arranged at the bottom of the frame and between the vertical driving modules adjacent to the bottom of the frame.

3. The amphibious heavy-load unmanned aerial vehicle according to claim 1, characterized in that: The horizontal driving module is centrally arranged in the frame.

4. The amphibious heavy-load unmanned aerial vehicle according to claim 1, characterized in that: The vertical driving module and the horizontal driving module have the same structure; The invention comprises a frame mounted on a frame, a plurality of motor mounting seats mounted on the frame and evenly arranged along the length direction of the frame, a multi-rotor motor mounted on each motor mounting seat, and a rotor mounted on each multi-rotor motor.

5. The amphibious heavy-load unmanned aerial vehicle according to claim 4, characterized in that: The static bearing capacity of the frame is G, and the sum of the weights of the motor mounting base, the multi-rotor motor, and the rotor installed on the frame is g; G>1.5g.

6. The amphibious heavy-load unmanned aerial vehicle according to claim 4, characterized in that: The motor mounting seat in the vertical drive module is installed on the frame, and the rotor in the vertical drive module rotates around the Z-axis direction; The motor mounting seat in the horizontal driving module is mounted on the side of the frame, and the rotor in the horizontal driving module rotates around the X-axis direction.

7. The amphibious heavy-load unmanned aerial vehicle according to claim 4, characterized in that: Also included is a connecting piece arranged between two adjacent layers of vertical driving modules; The connecting member comprises a force transmission rod arranged in the frame and a pull cable used to connect the force transmission rod and the motor mounting seat and arranged vertically.

8. The amphibious heavy-load unmanned aerial vehicle according to claim 7, characterized in that: The tensile strength of the cable is F, and the vertical thrust provided by the multi-rotor motor in the vertical drive module is f, where F>1.5f.

9. The amphibious heavy-load unmanned aerial vehicle according to claim 4, characterized in that: The frame in the horizontal driving module structure includes a frame body mounted on the frame, an inner frame located in the frame body and rotatably matched with the frame body, and a driving motor mounted on the frame body and used to control the inner frame to rotate around the Y-axis direction; The motor mounting seat in the horizontal driving module structure is mounted on the inner frame.

10. An amphibious heavy-load unmanned aerial vehicle according to any one of claims 1 to 9, characterized in that: It also includes a buoyancy tank mounted on the bottom of the frame, a flight control system mounted on the frame, an energy storage module mounted on the frame, and a cargo hold.

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