Water-air cross-domain aircraft

Abstract

According to the water-air cross-domain aircraft, the vehicle arm mounting mechanism provides driving force to drive the first vehicle arm mechanism and the second vehicle arm mechanism to operate, the first vehicle arm mechanism rotates around the first end of the first vehicle arm mechanism, and the second vehicle arm mechanism rotates around the first end of the second vehicle arm mechanism; the second end of the first arm mechanism and the second end of the second arm mechanism are close to or far away from each other, so that the first clamp-shaped arm and the second clamp-shaped arm are close to or far away from each other, and the action of grabbing or loosening an object is completed. The actions such as clamping and grabbing of objects can be achieved through the first pincer-shaped arm and the second pincer-shaped arm, the situation that related additional equipment is additionally arranged on the aircraft is avoided, loads are not added to the aircraft any more, energy is saved, and the cruising ability of the aircraft is improved.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a water-air cross-domain aircraft. Background Art

[0002] The development of the marine economy has a promising future, and the marine economy has become one of the most dynamic and promising areas for economic growth in coastal countries and regions. Faced with the vast ocean and complex water surface environment, single-medium unmanned aerial vehicles or aircraft can no longer meet the current mission requirements. As a combination of aircraft and drones, water-air cross-domain aircraft can not only fly quickly in the air, but also sail covertly on the surface and underwater, and gradually become the first choice in the current civil and military fields. Complex operating environments and diverse operating requirements have put forward higher requirements on the performance and functions of cross-domain drones. The research and development of cross-domain drones with reliable performance and complete functions is crucial to solving the challenges encountered by cross-domain drones in actual use.

[0003] At present, the functions of aircraft are relatively simple. The structure only has one flying platform. In order to complete functions such as clamping and grabbing, additional equipment needs to be added to the aircraft. This not only increases the load weight, but also wastes energy and reduces endurance. Summary of the invention

[0004] The technical problem to be solved by this application is that the current aircraft has relatively single functions and has only one flying platform in structure. In order to complete functions such as clamping and grabbing, additional equipment needs to be added to the aircraft, which not only increases the load weight, but also wastes energy and reduces endurance.

[0005] In order to solve the above problems, in order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a water-to-air cross-domain aircraft.

[0006] The present invention discloses a water-air cross-domain aircraft, which comprises a first arm mechanism, a second arm mechanism and an arm mounting mechanism, wherein a first end of the first arm mechanism is rotatably connected to the arm mounting mechanism, and a first end of the second arm mechanism is rotatably connected to the arm mounting mechanism; The arm mounting mechanism provides a driving force to drive the first arm mechanism to rotate around the first end of the first arm mechanism, the first arm mechanism drives the second arm mechanism, the second arm mechanism rotates around the first end of the second arm mechanism, and the second end of the first arm mechanism and the second end of the second arm mechanism are driven to move closer to or farther from each other; A first clamp-shaped arm is arranged at a position of the first arm mechanism close to the second end, and a second clamp-shaped arm is arranged at a position of the second arm mechanism close to the second end. The first clamp-shaped arm and the second clamp-shaped arm have arc-shaped shapes.

[0007] Preferably, the arm mounting mechanism comprises a camera, an arm driving servo, and a first housing; The arm-driven servo is installed in the first housing, the output shaft of the arm-driven servo extends out of the first housing, and the camera is installed on the first housing.

[0008] Preferably, the first arm mechanism comprises a first arm group, a driving gear rod, a first rotating arm, a first motor support rod, a second motor support rod, and a first buoyancy block; The first arm assembly, the driving gear rod, and the first rotating arm are arranged parallel to each other, and the first buoyancy block is connected to the first arm assembly; At the first end of the first arm mechanism, the driving gear rod is provided with a driving gear, and the driving gear, the first arm assembly, and the first rotating arm are mounted on the first housing; The first motor support rod and the second motor support rod are arranged at the second end of the first arm mechanism, the first motor support rod is respectively connected to the first arm group and the driving gear rod, and the second motor support rod is respectively connected to the first arm group and the first rotating arm.

[0009] Preferably, the second arm mechanism comprises a second arm group, a driven gear rod, a second rotating arm, a third motor support rod, a fourth motor support rod, and a second buoyancy block; The second arm assembly, the driven gear rod, and the second rotating arm are arranged parallel to each other, and the second buoyancy block is connected to the second arm assembly; At the first end of the second arm mechanism, the driven gear rod is provided with a driven gear, the driven gear is meshed with the driving gear, and the driven gear, the second arm assembly, and the second rotating arm are mounted on the first housing; The third motor support rod and the fourth motor support rod are arranged at the second end of the second arm mechanism, the third motor support rod is respectively connected to the second arm group and the driving gear rod, and the fourth motor support rod is respectively connected to the second arm group and the second rotating arm.

[0010] Preferably, the first housing is provided with a first connecting shaft, a second connecting shaft, a first rotating shaft, a second rotating shaft, and a third rotating shaft, the first connecting shaft extends from two opposite surfaces of the first housing, the second connecting shaft extends from two opposite surfaces of the first housing, the first rotating shaft and the output shaft of the arm driving the steering gear extend from the same surface of the first housing, and the second rotating shaft and the third rotating shaft extend from the other surface of the first housing; The driving gear rod is connected to the output shaft of the arm driving the servo, the driven gear rod is connected to the first rotating shaft, the first rotating arm is connected to the second rotating shaft, the second rotating arm is connected to the third rotating shaft, the first arm group is connected to both ends of the first connecting shaft, and the second arm group is connected to both ends of the second connecting shaft.

[0011] Preferably, it comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is connected to the first arm mechanism, and the second driving mechanism is connected to the second arm mechanism.

[0012] Preferably, the first driving mechanism comprises a first driving fixed bracket, a first tilting servo, a first pull rod, a first rotating motor, a first propeller, and a first motor rotating member; The first drive fixed bracket is fixedly connected to the first motor support rod and the second motor support rod, the first drive fixed bracket is fixedly connected to the first tilting servo, the output shaft of the first tilting servo passes through the first drive fixed bracket and is connected to the first pull rod, the first motor rotating member is rotatably connected to the first drive fixed bracket, the first motor rotating member is connected to the first pull rod, the first motor rotating member is connected to the first rotating motor, and the first rotating motor is connected to the first propeller.

[0013] Preferably, the second driving mechanism comprises a second driving fixed bracket, a second tilting servo, a second pull rod, a second rotating motor, a second propeller, and a second motor rotating member; The second drive fixed bracket is fixedly connected to the third motor support rod and the fourth motor support rod, the second drive fixed bracket is fixedly connected to the second tilting servo, the output shaft of the second tilting servo passes through the second drive fixed bracket and is connected to the second pull rod, the second motor rotating member is rotatably connected to the second drive fixed bracket, the second motor rotating member is connected to the second pull rod, the second motor rotating member is connected to the second rotating motor, and the second rotating motor is connected to the second propeller.

[0014] Preferably, it comprises an electric control mechanism and a tripod assembly, wherein the electric control mechanism is connected to the machine arm mounting mechanism, the electric control mechanism is connected to the tripod assembly, and the machine arm mounting mechanism and the tripod assembly are respectively arranged on two opposite surfaces of the electric control mechanism; The electric control mechanism comprises a second housing and a control module, wherein the control module is installed in the second housing, and the second housing is connected to the first housing; The stand assembly includes a support frame connected to the second shell.

[0015] Preferably, the tripod assembly comprises a propeller and a tripod group, the tripod group is arranged on the support frame, the propeller is connected to the support frame, and the propeller is provided with a mounting part.

[0016] The above technical solution provided by this application has the following advantages compared with the prior art: The water-to-air cross-domain aircraft provided in the present application has an arm mounting mechanism that provides driving force to drive the first arm mechanism and the second arm mechanism to operate. The first arm mechanism rotates around the first end of the first arm mechanism, and the second arm mechanism rotates around the first end of the second arm mechanism. The second end of the first arm mechanism and the second end of the second arm mechanism approach or move away from each other, so that the first clamp arm and the second clamp arm approach or move away from each other to complete the action of grasping or releasing the object. When the aircraft is flying, the first clamp arm and the second clamp arm can achieve actions such as clamping and grasping the object, avoiding the need to set up additional equipment on the aircraft, no longer adding load to the aircraft, saving energy, and improving the aircraft's endurance.

[0017] Furthermore, through the clamping action of the first clamp-like arm and the second clamp-like arm, the drone can be suspended on objects such as tree branches and steel structures. After the power supply is turned off, the drone can use its own gravity to tightly perch on tree branches and structures to achieve the purpose of energy saving. In underwater environments, the clamp-like arms of the drone show excellent operational flexibility and can accurately clamp or grab objects. That is, the design of the clamp-like arms enhances the adaptability of the aircraft to diverse tasks. Whether it is mounting sensors in the air for data collection or clamping tools underwater for direct operation, this versatility provides users with greater flexibility and convenience. In addition, it can safely perform tasks in harsh environments. Whether it is maintaining stability in strong winds or maintaining grip in turbulent water, it reduces the risk of accidents during task execution and improves the safety of operations.

[0018] Furthermore, the second end of the first arm mechanism and the second end of the second arm mechanism move closer to or farther away from each other, so that the shape of the aircraft changes, the overall size of the aircraft becomes narrower, and it is more convenient to pass through narrow passages and gaps to avoid being blocked by objects at both ends. The structurally deformable fuselage design is crucial for performing tasks in complex terrain, especially in confined spaces such as urban canyons, forest canopies or underwater caves, so that the aircraft can achieve the ability to freely shuttle in narrow underwater areas like shrimps, which significantly improves the environmental adaptability of the aircraft, enabling it to adapt to spatial limitations and different functional requirements under different environmental conditions. The aircraft can adjust its structure according to mission requirements and environmental conditions to achieve optimal performance and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A schematic diagram of the structure of a water-air cross-domain aircraft provided for this application; Figure 2 A schematic diagram of the connection structure of the first arm mechanism, the second arm mechanism, the first drive mechanism, the second drive mechanism and the arm mounting mechanism of a water-air cross-domain aircraft provided in this application Figure 1 ; Figure 3 A schematic diagram of the connection structure of the first arm mechanism, the second arm mechanism, the first drive mechanism, the second drive mechanism and the arm mounting mechanism of a water-air cross-domain aircraft provided in this application Figure 2 ; Figure 4 A schematic diagram of the connection structure of the first arm mechanism, the second arm mechanism, the first drive mechanism, the second drive mechanism and the arm mounting mechanism of a water-air cross-domain aircraft provided in this application Figure 3 ; Figure 5 A schematic diagram of the connection structure of the first arm mechanism, the second arm mechanism, the first drive mechanism, the second drive mechanism and the arm mounting mechanism of a water-air cross-domain aircraft provided in this application Figure 4 ; Figure 6 A usage status diagram of a water-air cross-domain aircraft provided for this application; Figure 7 A schematic diagram of the structure of the arm mounting mechanism of a water-air cross-domain aircraft provided in this application Figure 1 ; Figure 8 A schematic diagram of the structure of the arm mounting mechanism of a water-air cross-domain aircraft provided in this application Figure 2 ; Fig. 9 A schematic diagram of the structure of a first driving mechanism and a second driving mechanism of a water-air cross-domain aircraft provided in this application; Fig.10 A schematic diagram of the connection structure between the electric control mechanism and the tripod assembly of a water-air cross-domain aircraft provided in this application; Fig.11 A module diagram of an electric control mechanism of a water-air cross-domain aircraft provided in this application; Fig.12 A schematic diagram of the structure of a tripod assembly for a water-air cross-domain aircraft provided in this application; Fig.13 A schematic diagram of the exploded structure of a tripod assembly of a water-air cross-domain aircraft provided in this application; Fig.14 A schematic diagram of the installation structure of the arm mounting mechanism, the electric control mechanism and the tripod assembly of a water-air cross-domain aircraft provided in this application; Fig.15 A schematic diagram of the exploded structure of the arm mounting mechanism, electrical control mechanism and tripod assembly of a water-air cross-domain aircraft provided in this application.

[0022] Description of reference numerals: 1. Water-air cross-domain aircraft; 11. The first arm mechanism; 111, first clamp-shaped arm; 112, first machine arm group; 113, driving gear rod; 1131, driving gear; 114, first rotating arm; 115, first motor support rod; 116, second motor support rod; 117, first buoyancy block; 12. Second arm mechanism; 121, second clamp-shaped arm; 122, second machine arm group; 123, driven gear rod; 1231, driven gear; 124, second rotating arm; 125, third motor support rod; 126, fourth motor support rod; 127, second buoyancy block; 13. Arm mounting mechanism; 131. Arm driving servo; 132. First housing; 1321. First connecting shaft; 1322. Second connecting shaft; 1323. First rotating shaft; 1324. Second rotating shaft; 1325. Third rotating shaft; 1326. First sliding member; 133. Camera; 14. A first driving mechanism; 141, first driving fixed bracket; 142, first tilting servo; 1421, first rotating bar; 143, first pull rod; 144, first rotating motor; 145, first propeller; 146, first motor rotating member; 15. A second driving mechanism; 151, second driving fixed bracket; 152, second tilting servo; 1521, second rotating bar; 153, second pull rod; 154, second rotating motor; 155, second propeller; 156, second motor rotating member; 16. Electric control mechanism; 161. Second housing; 1611. First slide slot; 1612. Second slide slot; 1613. Mounting hole; 162. Control module; 1621. Control unit; 1622. Electric adjustment unit; 1623. Wireless communication unit; 1624. Positioning unit; 17. Tripod assembly; 171. Support frame; 1711. Second sliding member; 1712. Fixed mounting hole; 1713. Energy storage member; 172. Propeller; 1721. Mounting interface; 173. Tripod group; 1731. Tripod; 1732. Telescopic rod. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0024] See also Figure 1-15 The present invention discloses a water-air cross-domain aircraft 1, which includes a first arm mechanism 11, a second arm mechanism 12 and an arm mounting mechanism 13, wherein the first end of the first arm mechanism 11 is rotatably connected to the arm mounting mechanism 13, and the first end of the second arm mechanism 12 is rotatably connected to the arm mounting mechanism 13, and the arm mounting mechanism 13 provides a driving force to drive the first arm mechanism 11 to rotate around the first end of the first arm mechanism 11 as the center, the first arm mechanism 11 transmits the second arm mechanism 12, and the second arm mechanism 12 rotates around the first end of the second arm mechanism 12 as the center, driving the second end of the first arm mechanism 11 and the second end of the second arm mechanism 12 to approach or move away from each other, a first clamp arm 111 is arranged at a position close to the second end of the first arm mechanism 11, and a second clamp arm 121 is arranged at a position close to the second end of the second arm mechanism 12, and the first clamp arm 111 and the second clamp arm 121 adopt an arc shape.

[0025] Specifically, the first arm mechanism 11, the second arm mechanism 12, and the arm mounting mechanism 13 form a V-shaped structure, the first end of the first arm mechanism 11 and the first end of the second arm mechanism 12 are mounted on the arm mounting mechanism 13, and the second end of the first arm mechanism 11 and the second end of the second arm mechanism 12 can be folded together. Since the first arm mechanism 11 is provided with a first clamp arm 111, and the second arm mechanism 12 is provided with a second clamp arm 121, the first clamp arm 111, the second clamp arm 121, the first arm mechanism 11, and the second arm mechanism 12 form a grasping space that can be folded and expanded, and the grasping and releasing of the object are completed by the folding or opening of the first arm mechanism 11 and the second arm mechanism 12. In this embodiment, the arm mounting mechanism 13 is arranged in the arc of the clamp arm, which can better contact with the surface of the object when grasping the object, so that the force generated by the grasping action is stronger.

[0026] The arm mounting mechanism 13 provides a driving force to drive the first arm mechanism 11 and the second arm mechanism 12 to operate, the first arm mechanism 11 rotates around the first end of the first arm mechanism 11, the second arm mechanism 12 rotates around the first end of the second arm mechanism 12, the second end of the first arm mechanism 11 and the second end of the second arm mechanism 12 approach or move away from each other, so that the first clamp arm 111 and the second clamp arm 121 approach or move away from each other, completing the action of grasping or releasing the object. When the aircraft is flying, the first clamp arm 111 and the second clamp arm 121 can achieve actions such as clamping and grasping of the object, avoiding the need to set up additional equipment on the aircraft, no longer adding load to the aircraft, saving energy, and improving the aircraft's endurance.

[0027] Furthermore, through the clamping action of the first clamp-like arm 111 and the second clamp-like arm 121, it can be suspended on objects such as tree branches and steel frame structures. After the power supply is turned off, it can use its own gravity to tightly perch on tree branches and structures to achieve the purpose of energy saving. In the underwater environment, the clamp-like arm of the drone shows excellent operational flexibility and can accurately clamp or grab objects. That is, the design of the clamp-like arm enhances the adaptability of the aircraft to diversified tasks. Whether it is mounting sensors in the air for data collection or clamping tools underwater for direct operation, this versatility provides users with greater flexibility and convenience. In addition, it can safely perform tasks in harsh environments. Whether it is maintaining stability in strong winds or maintaining gripping power in turbulent water, it reduces the risk of accidents during task execution and improves the safety of operations.

[0028] Furthermore, the second end of the first arm mechanism 11 and the second end of the second arm mechanism 12 move closer to or farther from each other, changing the shape of the aircraft. The overall size of the aircraft becomes narrower, making it easier to pass through narrow passages and gaps, and avoiding being blocked by objects at both ends. The deformable fuselage design is essential for performing tasks in complex terrains, especially in confined spaces such as urban canyons, forest canopies, or underwater caves, so that the aircraft can freely shuttle through narrow underwater areas like shrimps, significantly improving the environmental adaptability of the aircraft, enabling it to adapt to space restrictions and different functional requirements under different environmental conditions. The aircraft can adjust its structure according to mission requirements and environmental conditions to achieve optimal performance and efficiency. In addition, in an underwater turbulent environment, the aircraft can use two arm mechanisms and a clamp-like arm to grasp underwater objects to avoid being washed away, missing, and damaged.

[0029] As an embodiment, in addition to being set as an arc shape, the shape of the clamp-like arm can also adopt a toothed, wavy, straight or other shape, so that a retractable grasping space is formed between the two clamp-like arms and the arm mechanism, thereby grasping or clamping objects.

[0030] The arm mounting mechanism 13 includes a camera 133 , an arm driving servo 131 , and a first housing 132 . The camera 133 is mounted on the first housing 132 , and the camera 133 is disposed between a first end of the first arm mechanism 11 and a first end of the second arm mechanism 12 .

[0031] The arm-driven servo 131 is installed in the first shell 132, and the output shaft of the arm-driven servo 131 extends out of the first shell 132. The arm-driven servo 131 is connected to the first arm mechanism 11, and the arm-driven servo 131 drives the first arm mechanism 11 to rotate. The camera 133 is used for accurate observation and positioning of the captured object during operation. The camera 133 has a built-in visual algorithm, which can quickly identify the captured content. It can be understood that the camera 133 can recognize the current environment and surrounding objects, and can take pictures and videos. At the same time, with the cooperation of the visual algorithm, it can recognize surrounding objects and make corresponding actions for the corresponding objects, such as avoiding protruding rocks, grabbing branches, etc. A protective cover is set at the position of the camera 133 to protect the camera 133.

[0032] The first arm mechanism 11 includes a first arm group 112, a driving gear rod 113, a first rotating arm 114, a first motor support rod 115, a second motor support rod 116, and a first buoyancy block 117. The first arm group 112, the driving gear rod 113, and the first rotating arm 114 are arranged in parallel with each other. The first buoyancy block 117 is connected to the first arm group 112. At the first end of the first arm mechanism 11, the driving gear rod 113 is provided with a driving gear 1131. The driving gear 1131, the first arm group 112, and the first rotating arm 114 are installed on the first housing 132. The first motor support rod 115 and the second motor support rod 116 are arranged at the second end of the first arm mechanism 11. The first motor support rod 115 is respectively connected to the first arm group 112 and the driving gear rod 113. The second motor support rod 116 is respectively connected to the first arm group 112 and the first rotating arm 114.

[0033] Specifically, a driving gear 1131 is provided at one end of the driving gear rod 113, and the driving gear 1131 is correspondingly arranged at the first end of the first arm mechanism 11, and the driving gear 1131 is connected to the arm driving servo 131, and the arm driving servo 131 provides driving force for the driving gear 1131, so that the driving gear rod 113 rotates around the output shaft of the arm driving servo 131, the first motor support rod 115 and the second motor support rod 116 are arranged on the second end of the first arm mechanism 11, and there are two first arms in the first arm group 112, and the two first arms are arranged on both sides of the first buoyancy block 117, the driving gear rod 113 and a first arm are arranged on the same surface of the first buoyancy block 117, the driving gear rod 113 and a first arm are arranged on one surface of the first buoyancy block 117, the first rotating arm 114 and another first arm are arranged on the other surface of the first buoyancy block 117, and the first buoyancy block 117 and the first arm group 112 is fixedly connected, a mounting groove is provided on the first buoyancy block 117, and an opening groove is provided on the first arm group 112 corresponding to the mounting groove, and the first arm group 112 can be fixed to the first buoyancy block 117 by fasteners; the driving gear rod 113 is installed on the first motor support rod 115 through different connecting rods at one end away from the driving gear 1131 and one end of the first arm arranged on the same surface, and the driving gear rod 113 and the first motor support rod 115 can rotate relative to the connected connecting rod, and the first arm and the first motor support rod 115 can rotate relative to the connected connecting rod. In addition, one end of the first rotating arm 114 and one end of the first arm arranged on the same surface of the first buoyancy block 117 are installed on the second motor support rod 116, and both are installed through different connecting rods, the first rotating arm 114 and the first arm can rotate relative to the second motor support rod 116, and the first motor support rod 115 has the same motion trajectory as the second motor support rod 116.

[0034] The second arm mechanism 12 includes a second arm group 122, a driven gear rod 123, a second rotating arm 124, a third motor support rod 125, a fourth motor support rod 126, and a second buoyancy block 127. The second arm group 122, the driven gear rod 123, and the second rotating arm 124 are arranged parallel to each other. The second buoyancy block 127 is connected to the second arm group 122. At the first end of the second arm mechanism 12, the driven gear rod 123 is provided with a driven gear 1231. The driven gear 123 is provided with a driven gear 1232. 231 is meshed with the driving gear, the driven gear 1231, the second arm group 122, and the second rotating arm 124 are installed on the first housing 132, the third motor support rod 125 and the fourth motor support rod 126 are arranged at the second end of the second arm mechanism 12, the third motor support rod 125 is respectively connected to the second arm group 122 and the driving gear rod 113, and the fourth motor support rod 126 is respectively connected to the second arm group 122 and the second rotating arm 124.

[0035] A driven gear 1231 is provided at one end of the driven gear rod 123, and the driven gear 1231 is correspondingly provided at the second end of the second arm mechanism 12. The driven gear 1231 and the driving gear 1131 are provided on the same surface of the first housing 132, and the driven gear 1231 is meshed with the driving gear 1131. The driving gear 1131 is driven by the arm driving servo 131, and the driving gear 1131 is meshed with the driven gear 1231, which can drive the driven gear 1231 to rotate, thereby driving the driven gear rod 123 to rotate.

[0036] There are two second arms in the second arm group 122, and the two second arms are respectively set on both sides of the second buoyancy block 127, and the driven gear rod 123 and the second rotating arm 124 are also respectively set on both sides of the second buoyancy block 127, the driven gear rod 123 and one second arm are installed on the same side surface of the second buoyancy block 127, and the second rotating arm 124 and the other second arm are installed on the same side surface of the second buoyancy block 127, the second buoyancy block 127 is fixedly connected to the second arm group 122, and an installation groove is set on the second buoyancy block 127, and the second arm group 122 is set with an opening groove corresponding to the installation groove, and the second arm group 122 and the second buoyancy block 127 can be fixed by fasteners, and the driven gear rod 123 rotates to drive the second arm and the second rotating arm 124 to move. The third motor support rod 125 is respectively connected to the driven gear rod 123 and the second arm arranged on the same side surface of the second buoyancy block 127, and the fourth motor support rod 126 is respectively connected to the second rotating arm 124 and the second arm arranged on the same side surface of the second buoyancy block 127. The driven gear rod 123, the second rotating arm 124 and the second arm group 122 are installed through the connecting rod, so that the driven gear rod 123, the second arm and the second rotating arm 124 can move, and the third motor support rod 125 and the fourth motor support rod 126 can rotate, and the movement trajectories of the third motor support rod 125 and the fourth motor support rod 126 are the same.

[0037] As the active gear rod 113 rotates, the first arm group 112 and the first rotating arm 114 are driven to rotate, so that the first motor support rod 115 and the second motor support rod 116 also move, and the rotation direction of the first motor support rod 115 and the second motor support rod 116 is opposite to the rotation direction of the active gear rod 113, and the first motor support rod 115 and the second motor support rod 116 move synchronously, and have the same motion trajectory; similarly, the driven gear rod 123 is driven by the active gear rod 113, driving the second arm group 122 and the second rotating arm 124 to rotate, so that the third motor support rod 125 and the fourth motor support rod 126 also move, and the rotation direction of the third motor support rod 125 and the fourth motor support rod 126 is opposite to the rotation direction of the driven gear rod 123, and the third motor support rod 125 and the fourth motor support rod 126 move synchronously, and have the same motion trajectory.

[0038] The first buoyancy block 117 and the second buoyancy block 127 are used for buoyancy balance, so that the fuselage of the aircraft can maintain a certain buoyancy after entering the water. The arms will be lifted upward due to the buoyancy, which is beneficial to the movement of the aircraft in the water.

[0039] As an embodiment, a driving motor is provided corresponding to the driven gear rod 123 to provide driving force for the driven gear rod 123, thereby reducing the burden of the arm driving servo 131, and the dual driving power can improve the convenience of adjusting the arm.

[0040] The first housing 132 is provided with a first connecting shaft 1321, a second connecting shaft 1322, a first rotating shaft 1323, a second rotating shaft 1324, and a third rotating shaft 1325. The first connecting shaft 1321 extends from two opposite surfaces of the first housing 132, the second connecting shaft 1322 extends from two opposite surfaces of the first housing 132, the first rotating shaft 1323 and the output shaft of the arm driving servo 131 extend from the same surface of the first housing 132, and the second rotating shaft 1324 and the third rotating shaft 1325 extend from the other surface of the first housing 132; The driving gear rod 113 is connected to the output shaft of the arm driving servo 131, the driven gear rod 123 is connected to the first rotating shaft 1323, the first rotating arm 114 is connected to the second rotating shaft 1324, the second rotating arm 124 is connected to the third rotating shaft 1325, the first arm group 112 is connected to both ends of the first connecting shaft 1321, and the second arm group 122 is connected to both ends of the second connecting shaft 1322.

[0041] It can be understood that since the driving gear rod 113, the driven gear rod 123, the first rotating arm 114, the second rotating arm 124, the first arm group 112, and the second arm group 122 all have one end mounted on the first housing 132, and the connecting structure on the first housing 132 is rotatable, the driving gear rod 113, the driven gear rod 123, the first rotating arm 114, the second rotating arm 124, the first arm group 112, and the second arm group 122 have flexible mobility, and the first motor support rod 115, the second motor support rod 116, the third motor support rod 125, and the fourth motor support rod 126 also move accordingly.

[0042] It can be understood that the arm structure of the aircraft is changeable, and the aircraft can use the arm-driven servo 131 to drive the first arm mechanism 11 and the second arm mechanism 12 to retract, which can meet its movement in narrow and restricted areas underwater and in the air, and the changeable arm mechanism can use the clamp-like arm to hang on tree branches, steel frame structures and other scenes, thereby enhancing its adaptability and reliability in complex environments. After turning off the power supply, it can still use its own gravity to tightly perch on tree branches and structures to achieve the purpose of energy saving. This simple and deformable structural design of the aircraft has realized the development of a portable cross-domain UAV that integrates low cost, simple structure, energy saving and high efficiency, and multi-purpose.

[0043] The water-to-air cross-domain aircraft 1 includes a first driving mechanism 14 and a second driving mechanism 15. The first driving mechanism 14 is connected to the first arm mechanism 11, and the second driving mechanism 15 is connected to the second arm mechanism 12. Specifically, the first driving mechanism 14 and the second driving mechanism 15 provide the aircraft with the power required for flight. At the same time, when the aircraft enters the water, the first driving mechanism 14 and the second driving mechanism 15 can provide forward power. The first driving mechanism 14 is arranged at the second end of the first arm mechanism 11, and the second driving mechanism 15 is arranged at the second end of the second arm mechanism 12.

[0044] Specifically, a first motor support rod 115 and a second motor support rod 116 are arranged on both sides of the first driving mechanism 14, so that the first motor support rod 115 and the second motor support rod 116 operate synchronously. At the same time, the first driving mechanism 14 moves synchronously with the first motor support rod 115 and the second motor support rod 116. A third motor support rod 125 and a fourth motor support rod 126 are arranged on both sides of the second driving mechanism 15, so that the third motor support rod 125 and the fourth motor support rod 126 operate synchronously. At the same time, the second driving mechanism 15 moves synchronously with the third motor support rod 125 and the fourth motor support rod 126. When the driving gear rod 1 13 is driven by the arm driving servo 131, the driving gear rod 113 and the driven gear rod 123 are relatively opened or retracted, the first arm group 112 and the second arm group 122 are also opened or retracted accordingly, the first motor support rod 115 and the third motor support rod 125 are relatively retracted or opened, that is, the first driving mechanism 14 and the second driving mechanism 15 are relatively retracted or opened, and the rotation direction of the first driving mechanism 14 and the second driving mechanism 15 is opposite to the rotation direction of the driving gear rod 113 and the driven gear rod 123, so that the arms are opened or retracted, and the first driving mechanism 14 and the second driving mechanism 15 are always facing forward.

[0045] The first driving mechanism 14 includes a first driving fixed bracket 141, a first tilting servo 142, a first pulling rod 143, a first rotating motor 144, a first propeller 145, and a first motor rotating member 146. The first driving fixed bracket 141 is fixedly connected to the first motor support rod 115 and the second motor support rod 116. The first driving fixed bracket is fixedly connected to the first tilting servo 142. The output shaft of the first tilting servo 142 passes through the first driving fixed bracket and is connected to the first pulling rod 143. The first motor rotating member 146 is rotationally connected to the first driving fixed bracket. The first motor rotating member 146 is connected to the first pulling rod 143. The first motor rotating member 146 is connected to the first rotating motor 144. The first rotating motor 144 is connected to the first propeller 145.

[0046] Specifically, the first tilt servo 142 is fixedly mounted on the first driving fixed bracket 141, and a first rotating bar 1421 is arranged on the output shaft of the first tilt servo 142. A first pull rod 143 is respectively arranged at both ends of the first rotating bar 1421, and the other end of the first pull rod 143 is mounted on the first motor rotating member 146. The two first pull rods 143 are respectively arranged on two opposite surfaces of the first motor rotating member 146. The first rotating bar 1421 rotates to allow the first pull rods 143 on both sides to move up and down. When the two first pull rods 143 move at the same time, their movement directions are opposite, thereby allowing the first motor rotating member 146 to tilt. It can be understood that the first driving fixed bracket 141 is divided into two parts, the two parts are integrally formed, and the two parts are arranged along the direction of the first motor support rod 115, one part is connected to the first tilt servo 142, and the other part is connected to the first motor rotating member 146. The part connected to the first motor rotating member 146 is installed through a connecting shaft, so that the first motor rotating member 146 can rotate between the first motor support rod 115 and the second motor support rod 116, so that the first rotating motor 144 can be inclined to the first motor support rod 115 or the second motor support rod 116. The first rotating motor 144 is installed on the first motor rotating member 146, and the output shaft of the first rotating motor 144 is installed with the first propeller 145, and the rotation of the first propeller 145 can provide driving force for forward movement.

[0047] The second driving mechanism 15 includes a second driving fixed bracket 151, a second tilting servo 152, a second pull rod 153, a second rotating motor 154, a second propeller 155, and a second motor rotating member 156. The second driving fixed bracket 151 is fixedly connected to the third motor support rod 125 and the fourth motor support rod 126. The second driving fixed bracket is fixedly connected to the second tilting servo 152. The output shaft of the second tilting servo 152 passes through the second driving fixed bracket and is connected to the second pull rod 153. The second motor rotating member 156 is rotationally connected to the second driving fixed bracket. The second motor rotating member 156 is connected to the second pull rod 153. The second motor rotating member 156 is connected to the second rotating motor 154. The second rotating motor 154 is connected to the second propeller 155.

[0048] Specifically, the structure of the second driving mechanism 15 is the same as that of the first driving mechanism 14. The second driving fixed bracket 151 moves synchronously with the third motor support rod 125 and the fourth motor support rod 126. The second tilt servo 152 provides a tilt driving force on the second driving fixed bracket 151, driving the second rotating bar 1521 installed on the second tilt servo 152 to rotate, so that the two second pull rods 153 installed at both ends of the second rotating bar 1521 move up and down. When the two second pull rods 153 move at the same time, the movement directions of the two are opposite, so that the second motor rotating member 156 rotates toward the third motor support rod 125 or the fourth motor support rod 126. The second rotating motor 154 is installed on the second motor rotating member 156, and the second propeller 155 is installed on the second rotating motor 154. The tilting of the first motor rotating member 146 allows the second rotating motor 154 and the second propeller 155 to rotate along with the tilting of the first motor rotating member 146.

[0049] In particular, the first rotating motor 144 and the second rotating motor 154 are brushless motors.

[0050] The water-air cross-domain aircraft 1 includes an electric control mechanism 16 and a tripod assembly 17, the electric control mechanism 16 is connected to the arm mounting mechanism 13, the electric control mechanism 16 is connected to the tripod assembly 17, and the arm mounting mechanism 13 and the tripod assembly 17 are respectively arranged on two opposite surfaces of the electric control mechanism 16.

[0051] Specifically, the arm mounting mechanism 13 is installed above the electric control mechanism 16, and the tripod assembly 17 is installed below. The electric control mechanism 16 can control the operation of various mechanisms of the aircraft, including the arm drive servo 131, the first rotary motor 144, the second rotary motor 154, the first tilt servo 142, the second tilt servo 152, and the camera 133. The electric control mechanism 16 controls the start and stop of various mechanisms that require signal control through signal control, and there are some action adjustments, such as the speed of the motor, etc. The tripod assembly 17 allows the aircraft to stand upright.

[0052] The electric control mechanism 16 includes a second shell 161 and a control module 162. The control module 162 is installed in the second shell 161. The second shell 161 is connected to the first shell 132. The control module 162 is waterproof and sealed. The controller is used to control the variable structure water-to-air cross-domain aircraft 1 to perform the above functions.

[0053] The control module 162 is arranged in the second shell 161, and each motor and the control module 162 can transmit signals by wired connection or wireless connection. As an embodiment, the second shell 161 is sealed, and the control module 162 is installed in the closed space of the second shell 161. The control module 162 is connected to other controlled mechanisms by wired connection. The second shell 161 is provided with an outlet corresponding to the connecting line. When the connecting line extends from the second shell 161, the outlet of the second shell 161 can be filled with waterproof material to prevent water from entering the interior of the second shell 161 and prevent the internal circuit from being damaged.

[0054] The control module 162 includes a control unit 1621 and an electronic adjustment unit 1622. The control unit 1621 is connected to the electronic adjustment unit 1622. The control unit 1621 transmits a control signal to the electronic adjustment unit 1622. The control unit 1621 is electrically connected to each motor to control the operation and shutdown of the motor. The electronic adjustment unit 1622 is electrically connected to each motor. The electronic adjustment unit 1622 is set with an electronic speed regulator to adjust the speed of each motor through the control signal.

[0055] As an embodiment, the control module 162 includes a wireless communication unit 1623, which communicates signals with a wireless controller, a host system, etc., and can control the operation of the aircraft through signal transmission. Optionally, the wireless communication unit 1623 can use Bluetooth, WIFI, infrared communication, cellular network, ZigBee or other wireless methods.

[0056] As an embodiment, the control module 162 includes a positioning unit 1624, which can obtain the location of the aircraft, cooperate with the camera 133 and the visual algorithm inside the camera 133, quickly determine the current location of the aircraft, and send it to the upper system via the wireless communication unit 1623 of the control module 162. The operator can quickly know the location of the aircraft for subsequent retrieval.

[0057] The tripod assembly 17 includes a support frame 171, a propeller 172 and a tripod group 173. The support frame 171 is connected to the second housing 161, the tripod group 173 is arranged on the support frame 171, the propeller 172 is connected to the support frame 171, and the propeller 172 is provided with a mounting. The propeller 172 is connected to the control module 162, the control unit 1621 can control the start and stop of the propeller 172, and the electric adjustment unit 1622 can control the speed of the propeller 172, thereby adjusting the driving power of the propeller 172 to adapt to the power requirements in different situations.

[0058] The propeller 172 is cylindrical in shape, and has spiral blades and a motor inside. The motor drives the spiral blades to rotate, and the direction of the spiral blades is perpendicular to the direction of the propeller. The propeller 172 is used to control and maintain a stable pitch attitude when swimming underwater, and cooperates with the propellers of the two driving mechanisms to achieve reliable movement underwater. In addition, when flying in the air, the propeller 172 can also provide forward power and adjust the attitude of the aircraft itself.

[0059] A mounting interface 1721 is provided at the bottom of the propeller 172, and a mounting slot is provided at the top. The mounting interface 1721 can mount other loads, such as cameras and other objects, to achieve the mounting operation of additional objects and improve the practicality of the aircraft. A mounting slider is provided at the position of the mounting slot of the propeller 172 corresponding to the support frame 171. The mounting slot matches the shape of the mounting slider. The fixed installation between the propeller 172 and the support frame 171 is achieved through the sliding connection between the mounting slider and the mounting slot. In addition, in some embodiments, the propeller 172 and the support frame 171 are detachable. When the aircraft is heavy, the propeller 172 can be detached to achieve flight through two driving mechanisms.

[0060] It can be understood that when the first arm mechanism 11 and the second arm mechanism 12 are retracted, the object is grasped by the retracted first clamp arm 111 and the second clamp arm 121, or the object is mounted through the mounting interface 1721, and the shape of the object determines the degree of retraction of the first clamp arm 111 and the second clamp arm 121; when the first arm mechanism 11 and the second arm mechanism 12 are opened, the first clamp arm 111 and the second clamp arm 121 are opened, and the object can be mounted through the mounting interface 1721.

[0061] An energy storage component 1713 is arranged in the support frame 171, and the energy storage component 1713 is connected to the electric control mechanism 16, and the energy storage component 1713 is connected to each motor to supply power to the electric control mechanism 16 and each motor. The energy storage component 1713 and the control module 162 are powered by a wired connection, and the connecting wire passes through the support frame 171. The position where the wire passes through can be filled with waterproof material to prevent liquid from entering the support frame 171, thereby protecting the energy storage component 1713. As an embodiment, the support frame 171 adopts a closed setting, and the energy storage component 1713 is arranged in the closed space of the support frame 171. The support frame 171 is provided with an outlet for the connecting wire of the energy storage component 1713 to extend out, and then the outlet is sealed with a waterproof material to prevent the connection between the energy storage component 1713 and the connecting wire from being exposed to the outside.

[0062] The second housing 161 includes a first slide groove 1611 and a second slide groove 1612 . The first housing 132 is provided with a first sliding member 1326 . The support frame 171 is provided with a second sliding member 1711 . The first sliding member 1326 is connected to the first slide groove 1611 , and the second sliding member 1711 is connected to the second slide groove 1612 .

[0063] Specifically, the first shell 132 and the second shell 161 are installed by connecting the first sliding member 1326 and the first sliding groove 1611, and the support frame 171 and the second shell 161 are installed by connecting the second sliding member 1711 and the second sliding groove 1612, so that the electric control mechanism 16, the arm mounting mechanism 13, and the tripod assembly 17 are installed in one body to form an aircraft.

[0064] Among them, the first slide groove 1611 and the second slide groove 1612 are provided with mounting holes 1613, and the mounting holes 1613 of the first slide groove 1611 correspond to the mounting holes 1613 of the second slide groove 1612. A fixed mounting hole 1712 is provided on the support frame 171, and the position of the fixed mounting hole 1712 corresponds to the position of a mounting hole 1613 of the first slide groove 1611. The installation between the electric control mechanism 16 and the tripod assembly 17 will make the mounting hole 1613 of the first slide groove 1611 and the mounting hole 1613 of the second slide groove 1612 correspond to the position of the fixed mounting hole 1712. During installation, a first fastener is inserted, and sequentially passes through the mounting holes 1613 of the first slide groove 1611, the mounting holes 1613 of the second slide groove 1612, and the fixed mounting hole 1712. 712, so that the installation between the second shell 161 and the support frame 171 is stable; in addition, the installation of the first sliding member 1326 will be within the range between the mounting holes 1613 in the first slide groove 1611 on the same side, and the installation of the second sliding member 1711 will be within the range between the mounting holes 1613 in the second slide groove 1612 on the same side. After the first fastener is inserted, the second fastener can be inserted into the mounting hole 1613 between the first slide groove 1611 and the second slide groove 1612 on the same side, and the second fastener can pass through the mounting holes 1613 of the first slide groove 1611 and the second slide groove 1612. Through the limiting of the first fastener and the second fastener, the installation between the first shell 132 and the second shell 161 is stable, and the installation between the arm mounting mechanism 13 and the electric control mechanism 16 is more stable.

[0065] The tripod set 173 includes at least two sets of tripods 1731 and at least two telescopic rods 1732. Each set of tripods 1731 is provided with two tripods 1731. A telescopic rod 1732 is correspondingly provided between each set of tripods 1731. One end of the tripod 1731 is provided on the support frame 171. The telescopic rod 1732 is installed on the support frame 171. In particular, the length of the tripod 1731 is greater than the diameter of the propeller 172.

[0066] Specifically, the tripod 1731 is used for supporting. When the aircraft lands, the tripod 1731 can contact the ground to support the aircraft. Both ends of the telescopic rod 1732 are connected to the tripod 1731. The telescopic rod 1732 is long and can push the distance between the telescopic rods 1732 to form an angle between the tripods 1731. When the aircraft lands, the support of the tripod 1731 can be more stable, providing a good posture for subsequent take-off, which is conducive to subsequent take-off.

[0067] In this embodiment, four tripods 1731 are provided and two telescopic rods 1732 are provided, but the number of the tripods 1731 and the telescopic rods 1732 is not limited to this embodiment, and a plurality of tripods 1731 and telescopic rods 1732 may be provided.

[0068] The aircraft flies in the air, powered by two propellers and two rotating motors, and the tilting servos of the two driving mechanisms use pull rods to realize the tilting of the rotating motors, thereby achieving stability of the aerial attitude and direction control. The first arm mechanism 11 and the second arm mechanism 12 can be retracted, and the two clamp-like arms can be closed to grab objects, and the aircraft can be hung on tree branches, steel structures and other scenes, and the camera 133 or other loads mounted on the mounting interface 1721 can be turned on to perform further long-term resident duty, monitoring and other tasks, which is energy-saving, reliable, and highly concealed.

[0069] The aircraft swims underwater, and the fuselage is laid down to move horizontally. The two propellers and two rotating motors in the air still provide power for the forward direction, and the tilting servos of the two driving mechanisms use pull rods to realize the tilting of the rotating motors installed on the motor rotating parts, thereby realizing underwater roll control, and realizing underwater yaw movement through the different speeds of the two rotating motors. Since the installation position of the propeller 172 is at the end of the fuselage, not at the center of gravity of the fuselage, the pitch attitude is controlled by the propeller 172. In the underwater turbulent environment, the first arm mechanism 11 and the second arm mechanism 12 are used to gather and grasp underwater objects to prevent them from being washed away, missing, and damaged.

[0070] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0073] 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 connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0076] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0077] The above is a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A water-air cross-domain aircraft, characterized in that: It comprises a first arm mechanism, a second arm mechanism and an arm mounting mechanism, wherein a first end of the first arm mechanism is rotatably connected to the arm mounting mechanism, and a first end of the second arm mechanism is rotatably connected to the arm mounting mechanism; The arm mounting mechanism provides a driving force to drive the first arm mechanism to rotate around the first end of the first arm mechanism, the first arm mechanism drives the second arm mechanism, the second arm mechanism rotates around the first end of the second arm mechanism, and the second end of the first arm mechanism and the second end of the second arm mechanism are driven to move closer to or farther from each other; A first clamp-shaped arm is arranged at a position of the first arm mechanism close to the second end, and a second clamp-shaped arm is arranged at a position of the second arm mechanism close to the second end. The first clamp-shaped arm and the second clamp-shaped arm have arc-shaped shapes.

2. The water-air cross-domain aircraft according to claim 1 is characterized in that: The arm mounting mechanism includes a camera, an arm driving servo, and a first housing; The arm-driven servo is installed in the first housing, the output shaft of the arm-driven servo extends out of the first housing, and the camera is installed on the first housing.

3. The water-air cross-domain aircraft according to claim 2 is characterized in that: The first arm mechanism includes a first arm group, a driving gear rod, a first rotating arm, a first motor support rod, a second motor support rod, and a first buoyancy block; The first arm assembly, the driving gear rod, and the first rotating arm are arranged parallel to each other, and the first buoyancy block is connected to the first arm assembly; At the first end of the first arm mechanism, the driving gear rod is provided with a driving gear, and the driving gear, the first arm assembly, and the first rotating arm are mounted on the first housing; The first motor support rod and the second motor support rod are arranged at the second end of the first arm mechanism, the first motor support rod is respectively connected to the first arm group and the driving gear rod, and the second motor support rod is respectively connected to the first arm group and the first rotating arm.

4. The water-air cross-domain aircraft according to claim 3 is characterized in that: The second arm mechanism includes a second arm group, a driven gear rod, a second rotating arm, a third motor support rod, a fourth motor support rod, and a second buoyancy block; The second arm assembly, the driven gear rod, and the second rotating arm are arranged parallel to each other, and the second buoyancy block is connected to the second arm assembly; At the first end of the second arm mechanism, the driven gear rod is provided with a driven gear, the driven gear is meshed with the driving gear, and the driven gear, the second arm assembly, and the second rotating arm are mounted on the first housing; The third motor support rod and the fourth motor support rod are arranged at the second end of the second arm mechanism, the third motor support rod is respectively connected to the second arm group and the driving gear rod, and the fourth motor support rod is respectively connected to the second arm group and the second rotating arm.

5. The water-air cross-domain aircraft according to claim 4 is characterized in that: The first housing is provided with a first connecting shaft, a second connecting shaft, a first rotating shaft, a second rotating shaft, and a third rotating shaft, the first connecting shaft extends from two opposite surfaces of the first housing, the second connecting shaft extends from two opposite surfaces of the first housing, the first rotating shaft and the output shaft of the arm driving the steering gear extend from the same surface of the first housing, and the second rotating shaft and the third rotating shaft extend from the other surface of the first housing; The driving gear rod is connected to the output shaft of the arm driving the servo, the driven gear rod is connected to the first rotating shaft, the first rotating arm is connected to the second rotating shaft, the second rotating arm is connected to the third rotating shaft, the first arm group is connected to both ends of the first connecting shaft, and the second arm group is connected to both ends of the second connecting shaft.

6. The water-air cross-domain aircraft according to claim 1, characterized in that: It comprises a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is connected to the first arm mechanism, and the second driving mechanism is connected to the second arm mechanism.

7. The water-air cross-domain aircraft according to claim 6, characterized in that: The first driving mechanism includes a first driving fixed bracket, a first tilting servo, a first pull rod, a first rotating motor, a first propeller, and a first motor rotating member; The first drive fixed bracket is fixedly connected to the first motor support rod and the second motor support rod, the first drive fixed bracket is fixedly connected to the first tilting servo, the output shaft of the first tilting servo passes through the first drive fixed bracket and is connected to the first pull rod, the first motor rotating member is rotatably connected to the first drive fixed bracket, the first motor rotating member is connected to the first pull rod, the first motor rotating member is connected to the first rotating motor, and the first rotating motor is connected to the first propeller.

8. The water-air cross-domain aircraft according to claim 7 is characterized in that: The second driving mechanism includes a second driving fixed bracket, a second tilting servo, a second pull rod, a second rotating motor, a second propeller, and a second motor rotating member; The second drive fixed bracket is fixedly connected to the third motor support rod and the fourth motor support rod, the second drive fixed bracket is fixedly connected to the second tilting servo, the output shaft of the second tilting servo passes through the second drive fixed bracket and is connected to the second pull rod, the second motor rotating member is rotatably connected to the second drive fixed bracket, the second motor rotating member is connected to the second pull rod, the second motor rotating member is connected to the second rotating motor, and the second rotating motor is connected to the second propeller.

9. The water-air cross-domain aircraft according to claim 1, characterized in that: It comprises an electric control mechanism and a tripod assembly, wherein the electric control mechanism is connected to the machine arm mounting mechanism, the electric control mechanism is connected to the tripod assembly, and the machine arm mounting mechanism and the tripod assembly are respectively arranged on two opposite surfaces of the electric control mechanism; The electric control mechanism comprises a second housing and a control module, wherein the control module is installed in the second housing, and the second housing is connected to the first housing; The stand assembly includes a support frame connected to the second shell.

10. The water-air cross-domain aircraft according to claim 9, characterized in that: The tripod assembly comprises a propeller and a tripod group, the tripod group is arranged on the support frame, the propeller is connected to the support frame, and the propeller is provided with a mounting part.

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