Amphibious flying platform

Abstract

The present invention provides an amphibious flight platform, comprising a main frame; a flight component, comprising a plurality of rotor components; an amphibious component, comprising a pair of leg structures, the leg structure comprising a connecting rod component and a land running component located at the end of the connecting rod component and used to drive the amphibious flight platform to move on the ground; the connecting rod component comprises a first joint portion connected to the main frame and a second joint portion located between the first joint portion and the land running component and having a rotational freedom, the leg structure also comprises a slide plate connected to the second joint portion and used to make the amphibious flight platform float or glide on the water surface, and when the second joint portion rotates, the slide plate and the land running component move together, through the above arrangement, the amphibious flight platform can be placed in different motion forms, realizing flight, land travel or water surface floating / gliding, and further travel on low-adhesion terrain such as sand or snow, and at the same time, increasing the flight distance and extending the flight time, and improving the wind resistance.

Description

Technical Field

[0001] The invention relates to an amphibious flying platform. Background Art

[0002] Multi-rotor drones have been widely used due to their fast vertical take-off capability and flexible aerial flight capability. However, multi-rotor drones have problems such as high energy consumption, short flight time and high noise, making it difficult for them to complete tasks that require long endurance and high confidentiality. At the same time, people also hope that these drones can adapt to different mission requirements. For example, when drones are required to move over a large range to a small space to perform specific tasks, due to space limitations, multi-rotor drones cannot fly and thus cannot complete the specified tasks. Therefore, people have developed air-land amphibious robots that combine multi-rotor drones and mobile robots. These air-land amphibious robots are shown in documents such as CN115284804A, CN116353264A, CN117533067A, and CN221794921U.

[0003] However, in further demands, people hope that these robots can also adapt to ground environments such as water surfaces and sand, that is, they need to adapt to amphibious operation scenarios in water, land and air at the same time. Therefore, an amphibious flying platform is needed to solve the above technical problems. Summary of the invention

[0004] To this end, the present invention provides an amphibious flying platform to solve the above-mentioned technical problems.

[0005] An amphibious flight platform, comprising:

[0006] Main frame;

[0007] a flight assembly, including a plurality of rotor assemblies;

[0008] The amphibious assembly includes a pair of leg structures, wherein the leg structures include a connecting rod assembly and a land running assembly located at the end of the connecting rod assembly and used to drive the amphibious flight platform to move on the ground;

[0009] The connecting rod assembly includes a first joint portion connected to the main frame and a second joint portion located between the first joint portion and the land running assembly and having a rotational freedom. The leg structure also includes a skateboard connected to the second joint portion and used to enable the amphibious flight platform to float or glide on the water surface. When the second joint portion rotates, the skateboard and the land running assembly move together.

[0010] Among them, the second joint part is configured to rotate around a third rotation axis, and the first joint part has two rotational degrees of freedom, including a first rotation pair that can rotate around the first rotation axis and a second rotation pair that can rotate around the second rotation axis. The first rotation axis is parallel to the third rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

[0011] Among them, the skateboard includes a board body, the land-running component includes a land-running wheel rotating around a fourth rotation axis, the fourth rotation axis is parallel to the third rotation axis, the plane defined by the first rotation axis and the second rotation axis is defined as the first plane, the plane defined by the first rotation axis and the third rotation axis is defined as the second plane, the plane defined by the third rotation axis and the fourth rotation axis is defined as the third plane, and when the first plane is in a horizontal state, a plane passing through the head and tail ends of the board body and perpendicular to the vertical plane is defined as the board body reference plane, then, the angle between the board body reference plane and the third plane is 0~8°, and the angle between the third plane and the second plane is 10°~170°.

[0012] Among them, the amphibious flying platform includes an air flying state, a land moving state or a water gliding / floating state. When the amphibious flying platform is in the water gliding / floating state, the angle between the plate body reference plane and the horizontal plane is 3 to 10 degrees.

[0013] Among them, when the amphibious flying platform is in a state of moving on land, the angle between the second plane and the first plane is 40° to 75°, and the angle between the third plane and the second plane is 110° to 165°.

[0014] Among them, the aerial flight state includes a first flight state and a second flight state. When in the first flight state, the angle between the plate reference plane and the horizontal plane is -8°~8°, the angle between the second plane and the first plane is 40°~75°, and the angle between the third plane and the second plane is 110°~165°. When in the second flight state, the angle between the plate reference plane and the horizontal plane in the width direction of the plate is greater than or equal to 40°, and at the same time, the length direction of the plate is parallel to the horizontal plane.

[0015] Wherein, the skateboard includes a board body, and the maximum projection area of ​​the board body on the horizontal plane is defined as S, and the gravity of the amphibious flight platform is V, then V / S≤2000Pa.

[0016] Wherein, the rotor assembly includes a wind sweeping area, the projection of the plate body on the horizontal plane includes an overlapping area with the wind sweeping area, and the ratio of the overlapping area to the wind sweeping area should be less than or equal to 25%.

[0017] Wherein, the slide plate comprises a plate body, the plate body comprises a bottom surface away from the main frame and a top surface facing the main frame, and the bottom surface comprises an arc surface convex in a direction away from the main frame.

[0018] Wherein, the skateboard comprises a board body, and the board body is a lifting body.

[0019] Beneficial effects: An embodiment of the present invention provides an amphibious flight platform, comprising a main frame; a flight component, comprising a plurality of rotor components; and an amphibious component, comprising a pair of leg structures, wherein the leg structure comprises a connecting rod assembly and a land-running component located at the end of the connecting rod assembly and used to drive the amphibious flight platform to move on the ground; the connecting rod assembly comprises a first joint portion connected to the main frame and a second joint portion located between the first joint portion and the land-running component and having a rotational freedom, the leg structure also comprises a skateboard connected to the second joint portion and used to make the amphibious flight platform float or glide on the water surface, and when the second joint portion rotates, the skateboard and the land-running component move together. Through the above arrangement, the amphibious flight platform can be in different motion forms, realizing flight, land travel or water floating / gliding, and further traveling on low-adhesion terrain such as sand or snow, while increasing the flight distance, extending the flight time, and improving the wind resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A three-dimensional schematic diagram of an amphibious flight platform according to an embodiment of the present invention;

[0021] Figure 2 for Figure 1 Middle main view;

[0022] Figure 3 for Figure 1 center left view;

[0023] Figure 4 for Figure 1 Enlarged schematic diagram of area A in the middle;

[0024] Figure 5 for Figure 1 Enlarged schematic diagram of area B in the middle;

[0025] Figure 6 for Figure 2 A simplified structural diagram of

[0026] Figure 7 For Figure 6 Schematic diagram of the simplified structure of when moving on the water surface;

[0027] Figure 8 For Figure 6 Schematic diagram of a simplified structure moving on the ground;

[0028] Fig. 9 For Figure 6 A schematic diagram of a simplified structure of the invention in a first flight state;

[0029] Fig.10 For Figure 6 Schematic diagram of the simplified structure in the second flight state.

[0030] Main frame 10; flight component 20; rotor component 21; amphibious component 30; leg structure 300; first joint part 31; first rotation pair 311; first rotation axis 3110; second rotation pair 312; second rotation axis 3120; first plane 310; first rigid rod 32; second plane 320; second joint part 33; third rotation axis 330; first clamping plate 331; joint motor 332; second clamping plate 333; angle sensor 334; second rigid rod 34; third plane 340; land component 35; fourth rotation axis 350; land wheel 351; land motor 352; plate body 36; plate body reference plane 3600; connecting plate 361; spacing space 3612. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and effect of the present application clearer and more specific, the following will describe the embodiments of the technical solution of the present application in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0033] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two), similarly, "multiple groups" refers to more than two (including two groups), and "multiple pieces" refers to more than two (including two pieces), unless otherwise clearly and specifically defined.

[0034] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may 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 addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0036] Amounts, ratios and other numerical values ​​are presented herein in a range format. It should be understood that such a range format is for convenience and brevity and should be flexibly interpreted to include not only the values ​​explicitly specified as range limits, but also all individual values ​​or sub-ranges encompassed within the range, as if each value and sub-range were explicitly specified.

[0037] Please refer to the attached Figure 1-5 The embodiment of the present invention provides an amphibious flying platform that can adapt to different operating environments. Specifically, the amphibious flying platform can be in a state of flying in the air, moving on the ground, or gliding on the water. At the same time, the state of moving on the ground can be specifically presented as rolling on wheels or moving in a foot-stepping form. The amphibious flying platform includes a main frame 10, a flying component 20, and an amphibious component 30.

[0038] The flight assembly 20 is arranged above the main frame 10, and includes a plurality of rotor assemblies 21, which are used to make the amphibious flight platform appear to be flying in the air.

[0039] In this embodiment, there are four rotor assemblies 21, forming a four-rotor configuration. It can be understood that the rotor assemblies 21 are not limited to four, and other suitable numbers, such as six, eight, etc. are also feasible. Each rotor assembly 21 includes a flight motor and blades connected to the flight motor.

[0040] It can be understood that the flight component 20 may also include a battery and a control system, and the control system may include an electric regulator and a control chip, etc., which will not be elaborated here.

[0041] The water-land assembly 30 includes a pair of leg structures 300. In this embodiment, the pair of leg structures 300 have the same structural form and are presented in a symmetrical form on both sides of the main frame 10. Therefore, in the following description, only the leg structures 300 will be described. Figure 2 The leg structure 300 located on the right side is described in detail, and the leg structure 300 located on the left side is not described again.

[0042] The leg structure 300 includes a connecting rod assembly and a land running assembly 35, wherein the connecting rod assembly includes at least two joints, and the land running assembly 35 located at the end of the connecting rod assembly has at least two degrees of freedom.

[0043] In this embodiment, the connecting rod assembly includes a first joint portion 31 connected to the main frame 10 and a second joint portion 33 located between the first joint portion 31 and the land running assembly 35 and having a rotational freedom. A first rigid rod 32 is included between the first joint portion 31 and the second joint portion 33, and a second rigid rod 34 is included between the second joint portion 33 and the land running assembly 35. Under this arrangement, the second joint portion 33 connects the first rigid rod 32 and the second rigid rod 34. At the same time, the second joint portion 33 is provided with a driving device for driving the second joint portion 33 to rotate and allowing the second rigid rod 34 to rotate relative to the first rigid rod 32. At the same time, since the land running assembly 35 is arranged at the end of the second rigid rod 34, when the second rigid rod 34 moves, the land running assembly 35 moves along with it. More specifically, when the second rigid rod 34 rotates, the land running assembly 35 rotates along with it.

[0044] Please refer to Figure 5 ,exist Figure 5 An enlarged schematic diagram of the area corresponding to the second joint part 33 is shown in the figure, wherein the second joint part 33 includes a first rotating part for connecting to the first rigid rod 32 and a second rotating part for connecting to the second rigid rod 34, and the first rotating part and the second rotating part are coaxially arranged, wherein, in this embodiment, the first rotating part includes a pair of first clamping plates 331 arranged at intervals, and the second rotating part includes a pair of second clamping plates 333 arranged at intervals, wherein a joint motor 332 is arranged between the pair of first clamping plates 331, and the housing of the joint motor 332 is fixed on the first clamping plate 331, and the driving shaft of the joint motor 332 is fixedly connected to the second clamping plate 333, so as to drive the second clamping plate 333 to rotate relative to the first clamping plate 331 through the joint motor 332.

[0045] In this embodiment, the second joint portion 33 also includes an angle sensor 334, which is used to obtain the relative angle between the first rotating portion and the second rotating portion, thereby obtaining the relative angle or angle change between the first rigid rod 32 and the second rigid rod 34. The amphibious flight platform can be configured according to the relative angle or angle change between the first rigid rod 32 and the second rigid rod 34.

[0046] In a specific embodiment, the angle sensor 334 is a triboelectric sensor. A triboelectric sensor (TENG) is a sensor based on the triboelectric effect. The triboelectric effect refers to the fact that when two different materials come into contact and separate, static charge is generated at the interface due to the difference in electronegativity of the materials. When these materials move relative to each other, the charge is transferred to the electrode, thereby generating an electrical signal. The triboelectric sensor generates charge transfer by rubbing electrode layers made of different materials against each other, thereby realizing detection of displacement, pressure, rotation, etc.

[0047] In a specific embodiment, the angle sensor 334 may have the following structure, including a sleeved shell and a sensor array, wherein the shell is in a cylindrical shape, including a cylindrical accommodating space, the sensor array is arranged in the accommodating space and is coaxially arranged with the accommodating space, the sensor array includes a substrate and a plurality of sensor groups, the plurality of sensor groups are arranged equidistantly on the outer side of the substrate along its circumference, each sensor group includes a first patch and a second patch as negative electrode materials in the triboelectric effect, the first patch and the second patch are arranged at intervals, and at the same time, the first patch in each sensor group in the sensor array The length ratio of the first patch and the second patch is different. When the first patch and the second patch are triboelectrically electrified, the voltage ratio formed by the first patch and the second patch is different, so that the voltage ratio of each sensor group is unique. At the same time, the angle sensor 334 also includes a slide fixed on the shell, and the slide includes a pair of positive contacts in contact with the first patch and the second patch. When the shell and the sensor array rotate relative to each other, a friction electric effect is formed between the positive contact and the pair of positive contacts. By detecting the voltage ratio, the specific position of the slide in the sensor array can be obtained, thereby determining the angle between the sensor array and the shell.

[0048] In this embodiment, the angle sensor 334 is arranged between a pair of second clamps 333, and the sensor array and the shell are respectively connected to the second clamps 333 and the shell of the joint motor 332, so as to obtain the relative position and relative angle of the angle between the second rotating part and the first rotating part when the joint motor 332 drives the second rotating part to move.

[0049] The first joint portion 31 is located at the upper end of the first rigid rod 32, and connects the main frame 10 and the first rigid rod 32. The first joint portion 31 should have at least one degree of rotational freedom, and the second joint portion 33 rotates around the third rotation axis 330. When the first joint portion 31 rotates around the first rotation axis 3110, the first rotation axis 3110 should be parallel to the third rotation axis 330, so that the land-based component 35 can change its position in the vertical direction. Further, the amphibious flight platform can move in a foot-step form.

[0050] It can be understood that the first joint portion 31 has at least one driving device for driving the first rigid rod 32 to rotate around the first axis.

[0051] In this embodiment, the first joint part 31 has two rotational degrees of freedom, that is, the second joint part 33 is also configured to rotate around the third rotation axis 330. More specifically, the first joint part 31 includes two rotation pairs, namely, a first rotation pair 311 that can rotate around the first rotation axis 3110 and a second rotation pair 312 that can rotate around the second rotation axis 3120, wherein the first rigid rod 32, the first rotation axis, and the first bracket constitute the first rotation pair 311, the first bracket, the lower bracket, and the second rotation axis constitute the second rotation pair 312, and the lower bracket is fixedly arranged below the main frame 10. It can be understood that the first rotation axis 3110 is the central axis of the first rotation axis, and the second rotation axis 3120 is the central axis of the second rotation axis. In addition, the driving shaft of the first rotating motor is fixedly connected to the first rotating shaft to drive the first rigid rod 32 to rotate around the first rotating axis 3110, and the driving shaft of the second rotating motor is fixedly connected to the second rotating shaft to drive the first bracket to rotate around the second rotating axis 3120, so that the first joint part 31 can form two rotational degrees of freedom.

[0052] It can be understood that the first rotation axis 3110 is perpendicular to the second rotation axis 3120. At the same time, the main frame 10 includes a base surface, and the first rotation axis 3110 and the second rotation axis 3120 are parallel to the base surface of the main frame 10. Under this arrangement, the connecting rod assembly and the land running assembly 35 can form a side swing.

[0053] The land running component 35 is arranged at the end of the second rigid rod 34, and includes a land running wheel 351 and a land running motor 352 for driving the land running wheel 351 to rotate. In this embodiment, the land running wheel 351 and the land running motor 352 are coaxially arranged, and the land running wheel 351 rotates around the fourth rotation axis 350.

[0054] Furthermore, the second rigid rod 34 includes a pair of fixing plates, and the land running motor 352 is disposed between the pair of fixing plates.

[0055] Furthermore, the pair of fixing plates and the pair of second clamping plates 333 are arranged correspondingly. In a preferred embodiment, each fixing plate and the corresponding second clamping plate 333 are integrally formed.

[0056] The leg structure 300 also includes a skateboard connected to the second joint portion 33 and used to make the amphibious flight platform float or glide on the water surface. The skateboard includes a board body 36 and a connecting plate 361 arranged above the board body 36 and connected to the second joint portion 33.

[0057] It can be understood that the board body 36 should have sufficient rigidity to be supported by the board body 36 when the amphibious flight platform floats or glides on the water. At the same time, the board body 36 is preferably made of lightweight material. Preferably, the lightweight material more specifically refers to a material with a density less than 1g / cm³. More specifically, the board body 36 can be made of wood or plastic. The wood can be balsa wood, and the plastic can be polyethylene, polypropylene or polyurethane.

[0058] Furthermore, the board body 36 is in the shape of a surfboard. More specifically, the board body 36 includes a bottom surface away from the main frame 10 and a top surface toward the main frame 10. The bottom surface includes an arc surface protruding away from the main frame 10, so that when the amphibious flying platform glides on the water surface, on the one hand, the friction resistance and wave-making resistance of the water surface are reduced, and on the other hand, upward water pressure can be formed according to the Bernoulli principle, so that the amphibious flying platform can glide stably on the water surface.

[0059] Furthermore, in order to enable the amphibious flying platform to stay or glide on sand or snow, the plate body 36 should have a sufficient area. Preferably, when the maximum projection area of ​​the plate body 36 on the horizontal plane is S, and the gravity of the amphibious flying platform is V, then V / S≤2000Pa. It can be understood that when the plate body 36 is roughly horizontal, the plate body 36 has a maximum projection area on the horizontal plane.

[0060] It can be understood that since the plate body 36 is located below the rotor assembly 21, when the projection of the plate body 36 on the horizontal plane overlaps with the wind sweeping area of ​​the rotor assembly 21, the plate body 36 will affect the airflow blown downward by the rotor assembly 21. It can be understood that when the plate body 36 is roughly horizontal, that is, when the plate body 36 has the maximum projection area on the horizontal plane, it has the maximum overlap with the wind sweeping area. The ratio of the maximum overlap area to the wind sweeping area should be less than or equal to 25% to reduce the impact of the plate body 36 on the airflow blown downward by the rotor assembly 21.

[0061] Furthermore, the ratio of the maximum overlapping area to the swept wind area is less than or equal to 20%, more preferably, less than or equal to 18%.

[0062] Furthermore, the top surface includes a raised area raised toward the main frame 10, and the raised height of the raised area should be greater than the raised height of the arc surface away from the main frame 10, so that when the amphibious flight platform is in level flight in the air, according to the Bernoulli principle, the air flow velocity on the upper side of the top surface is greater than the air flow velocity on the lower side of the bottom surface, so that the air pressure on the lower side of the bottom surface is greater than the air pressure on the upper side of the top surface, thereby forming a pressure difference to form a stable lift. That is, in this case, the plate body 36 will constitute a lift body to help the amphibious flight platform to stably fly and reduce energy consumption during the flight process.

[0063] The connecting plate 361 extends upward from the top surface and is fixed to the second clamping plate 333 , so that when the joint motor 332 drives the second rotating part to rotate, the sliding plate rotates along with it.

[0064] Furthermore, there is a pair of connecting plates 361, and the pair of connecting plates 361 are spaced apart and include a spacing space 3612 between the pair of connecting plates 361, and the first rotating part is accommodated in the spacing space 3612. Through this arrangement, the second joint part 33 is more compact.

[0065] Furthermore, the connecting plate 361 includes a hanging hole, and the driving shaft of the second joint motor 332 passes through the hanging hole.

[0066] It can be understood that setting the skateboard at the second joint 33, on the one hand, makes the structure of the entire amphibious flight platform compact; on the other hand, the position of the skateboard can be adjusted through the second joint 33. At the same time, since the second rigid rod 34 and the land running component 35 will move along with the second joint 33, the position of the skateboard will not interfere with the position of the land running component 35 when the position of the skateboard is adjusted, or the position of the land running component 35 will not interfere with the skateboard when the position of the skateboard is adjusted. Thirdly, the skateboard and the land running component 35 can be used at the same time, so that the amphibious flight platform can meet amphibious operations, that is, it can fly in the air, travel on land, or glide / float on the water, or further can travel on a field with low surface adhesion, such as sand or snow.

[0067] To further understand the amphibious flight platform of the present invention, please refer to Figure 6-Figure 10 ,exist Figure 6 The structure of the amphibious flight platform is shown in a simplified schematic diagram. Figure 7-10 The simplified schematic diagram shows the amphibious flight platform in different motion states.

[0068] It can be understood that the amphibious flight platform has at least three motion states, namely, flying in the air, traveling on land, or gliding / floating on the water surface. When the amphibious flight platform is in the gliding / floating state on the water surface, the plate 36 is in a horizontal state or a substantially horizontal state, and the substantially horizontal state means that the angle between the plate 36 and the horizontal plane is less than 10°. In addition, when the amphibious flight platform is in the traveling state on land, the land-traveling component 35 is in contact with the ground, and the plate 36 is in an inclined state, and the inclined state means that the angle between the plate 36 and the horizontal plane is greater than 30°.

[0069] For further information, please refer to Fig. 9 and Fig.10 The amphibious flight platform can be in a first flight state and a second flight state. When in the first flight state, the plate body 36 is in a horizontal state or a substantially horizontal state, so that the plate body 36 provides lift for the amphibious flight platform, thereby reducing flight energy consumption. When in the second flight state, the plate body 36 is inclined to the horizontal plane, and the plate body 36 forms a vertical stabilizer to stabilize the flight direction and provide partial lift.

[0070] It can be understood that the inclination of the plate body 36 is formed by the side swing of the first joint part 31. It can be understood that in the process of inclination of the plate body 36 by the side swing of the first joint part 31, the land running component 35 moves upward synchronously, so that the center of gravity of the land running component 35 moves upward, thereby changing the structure of the entire amphibious flight platform into a more compact structure, and making the center of gravity of the entire amphibious flight platform centered, so that the amphibious flight platform is more stable during flight.

[0071] For further information, please refer to Figure 6 A simplified schematic diagram is provided. In order to better determine the positions of the skateboard and the land running component 35, the plane defined by the first rotation axis 3110 and the second rotation axis 3120 is defined as the first plane 310, the plane defined by the first rotation axis 3110 and the third rotation axis 330 is defined as the second plane 320, the plane defined by the third rotation axis 330 and the fourth rotation axis 350 is defined as the third plane 340, and a plane passing through the head and tail ends of the plate body 36 and perpendicular to the vertical plane when the first plane 310 is horizontal is defined as the plate body reference plane 3600, then, the angle between the plate body reference plane 3600 and the third plane 340 is 0 to 8°, and the angle between the third plane 340 and the first plane 310 is 10° to 170°.

[0072] Furthermore, when the amphibious flying platform is in a gliding / floating state on the water surface, the angle between the plate reference plane 3600 and the horizontal plane is 3 to 10 degrees.

[0073] Furthermore, when the amphibious flying platform is in a state of traveling on land, the angle between the second plane 320 and the first plane 310 is 40° to 75°, and the angle between the third plane 340 and the second plane 320 is 110° to 165°.

[0074] Furthermore, when the amphibious flying platform moves on land in the form of feet, the angle between the second plane 320 and the first plane 310 and the angle between the third plane 340 and the second plane 320 are changed. More specifically, the size of the angle between the second plane 320 and the first plane 310 and the size of the angle between the third plane 340 and the second plane 320 change alternately. At the same time, the angle between the corresponding second plane 320 and the first plane 310 between the two leg structures 300 changes alternately.

[0075] Furthermore, when the amphibious flight platform is in the first flight state, the angle between the plate reference plane 3600 and the horizontal plane is -8° to 8°, so as to utilize the lift effect of the plate 36 and adjust the pitch of the amphibious flight platform through the plate 36.

[0076] In addition, when the amphibious flight platform is in the first flight state, the angle between the second plane 320 and the first plane 310 is less than 40°, and the angle between the third plane 340 and the second plane 320 is less than 40°.

[0077] Furthermore, when the amphibious flight platform is in the second flight state, the angle between the plate reference plane 3600 and the horizontal plane in the width direction of the plate 36 is greater than or equal to 40°, and at the same time, the length direction of the plate 36 is parallel to the horizontal plane.

[0078] It can be understood that through the above-mentioned settings, the amphibious flying platform can be in different motion forms, realizing flight, land travel or floating / gliding on the water, and further traveling on low-adhesion terrain such as sand or snow. At the same time, by setting up a skateboard, the skateboard can provide lift. In practice, compared with amphibious drones without skateboards, the flight distance is increased by an average of 15.1%, and the flight time is extended by more than 10.6%. In addition, the wind resistance can be improved by 8.5%.

[0079] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An amphibious flying platform, characterized in that: include, Main frame; a flight assembly, including a plurality of rotor assemblies; The amphibious assembly includes a pair of leg structures, wherein the leg structures include a connecting rod assembly and a land running assembly located at the end of the connecting rod assembly and used to drive the amphibious flight platform to move on the ground; The connecting rod assembly includes a first joint connected to the main frame and a second joint located between the first joint and the land running assembly and having a rotational freedom, the leg structure also includes a slide connected to the second joint and used to make the amphibious flight platform float or glide on the water surface, and when the second joint rotates, the slide and the land running assembly move together; The skateboard includes a board body, and the amphibious flight platform includes an aerial flight state, a land moving state or a water gliding / floating state. When the amphibious flight platform is in the water gliding / floating state, the board body is in a horizontal state or a substantially horizontal state. The aerial flight state includes a first flight state. When in the first flight state, the board body is in a horizontal state or a substantially horizontal state, and the board body provides lift for the amphibious flight platform. When in the second flight state, the board body is inclined to the horizontal plane, and the board body forms a vertical stabilizer to stabilize the flight direction and provide partial lift.

2. The amphibious flying platform according to claim 1, characterized in that: The second joint part is configured to rotate around a third rotation axis, and the first joint part has two rotational degrees of freedom, including a first rotation pair that can rotate around the first rotation axis and a second rotation pair that can rotate around the second rotation axis. The first rotation axis is parallel to the third rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

3. The amphibious flying platform according to claim 2, characterized in that: The land-running assembly includes a land-running wheel rotating around a fourth rotation axis, the fourth rotation axis is parallel to the third rotation axis, a plane defined by the first rotation axis and the second rotation axis is defined as a first plane, a plane defined by the first rotation axis and the third rotation axis is defined as a second plane, a plane defined by the third rotation axis and the fourth rotation axis is defined as a third plane, and when the first plane is horizontal, a plane passing through the head and tail ends of the plate body and perpendicular to the vertical plane is defined as a plate body reference plane, then, an angle between the plate body reference plane and the third plane is 0 to 8°, and an angle between the third plane and the second plane is 10° to 170°.

4. The amphibious flying platform according to claim 3, characterized in that: When the amphibious flying platform is in a gliding / floating state on the water surface, the angle between the plate body reference plane and the horizontal plane is 3 to 10 degrees.

5. The amphibious flying platform according to claim 4, characterized in that: When the amphibious flying platform is in a state of traveling on land, the angle between the second plane and the first plane is 40° to 75°, and the angle between the third plane and the second plane is 110° to 165°.

6. The amphibious flying platform according to claim 4, characterized in that: The aerial flight state also includes a second flight state. When in the first flight state, the angle between the plate reference plane and the horizontal plane is -8° to 8°, the angle between the second plane and the first plane is 40° to 75°, and the angle between the third plane and the second plane is 110° to 165°. When in the second flight state, the angle between the plate reference plane and the horizontal plane in the width direction of the plate is greater than or equal to 40°, and at the same time, the length direction of the plate is parallel to the horizontal plane.

7. The amphibious flying platform according to claim 1, characterized in that: The skateboard includes a board body, and the maximum projection area of ​​the board body on the horizontal plane is defined as S. The gravity of the amphibious flight platform is defined as V, and then V / S≤2000Pa.

8. The amphibious flying platform according to claim 7, characterized in that: The rotor assembly includes a wind sweeping area, the projection of the plate body on the horizontal plane includes an overlapping area with the wind sweeping area, and the ratio of the overlapping area to the wind sweeping area should be less than or equal to 25%.

9. The amphibious flying platform according to claim 1, characterized in that: The slide plate comprises a plate body, the plate body comprises a bottom surface away from the main frame and a top surface facing the main frame, and the bottom surface comprises an arc surface convex in a direction away from the main frame.

10. The amphibious flying platform according to claim 1, characterized in that: The skateboard comprises a board body, and the board body is a lifting body.

Images