An air-water cross-domain aircraft

Abstract

The water-air cross-domain aircraft provided by the present application, the arm mounting mechanism 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 pincer arm and the second pincer arm approach or move away from each other, completing the action of grasping or releasing an object. When the aircraft is flying, actions such as clamping and grasping of an object can be achieved through the first pincer arm and the second pincer arm, avoiding the need to additionally set relevant auxiliary equipment on the aircraft, no longer adding load to the aircraft, saving energy, and improving the endurance of the aircraft.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles, and particularly to an aerial-aquatic cross-domain aircraft. Background Art

[0002] The development of the marine economy has boundless prospects. The marine economy has become one of the most dynamic and promising areas for economic growth in coastal countries and regions. Facing the vast marine area and complex water surface environment, single-medium unmanned aerial vehicles or vessels can no longer meet the current mission requirements. As a combination of a vessel and an unmanned aerial vehicle, the aerial-aquatic cross-domain aircraft can not only fly quickly in the air but also navigate stealthily on and under the water surface, and has gradually become the top choice in current civilian and military fields. The complex operation environment and diverse operation requirements have put forward higher demands on the performance and functions of cross-domain unmanned aerial vehicles. The research and development of reliable and functional cross-domain unmanned aerial vehicles are crucial for solving the challenges encountered in the actual use of cross-domain unmanned aerial vehicles.

[0003] Currently, the functions of aircraft are relatively single. Structurally, there is only a flying platform, and additional devices need to be added to the aircraft to complete functions such as clamping and grasping. This not only increases the load weight but also wastes energy and reduces the endurance. Summary of the Invention

[0004] The technical problem to be solved by this application is that currently, the functions of aircraft are relatively single. Structurally, there is only a flying platform, and additional devices need to be added to the aircraft to complete functions such as clamping and grasping. This not only increases the load weight but also wastes energy and reduces the endurance.

[0005] To solve the above problems, or at least partially solve the above technical problems, this application provides an aerial-aquatic cross-domain aircraft.

[0006] The present invention discloses an aerial-aquatic cross-domain aircraft, which includes a first arm mechanism, a second arm mechanism, and an arm mounting mechanism. The first end of the first arm mechanism is rotatably connected to the arm mounting mechanism, and the first end of the second arm mechanism is rotatably connected to the arm mounting mechanism;

[0007] The arm mounting mechanism includes an arm driving servo and a first housing; the arm driving servo is installed in the first housing, and the output shaft of the arm driving servo extends out of the first housing;

[0008] 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 clamping arm;

[0009] The first arm group, the driving gear rod, and the first rotating arm are arranged parallel to each other;

[0010] At the first end of the first arm mechanism, a driving gear is provided on the driving gear rod, and the driving gear, the first arm group, and the first rotating arm are mounted on the first housing.

[0011] The first motor support rod and the second motor support rod are provided 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.

[0012] 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 pincer arm.

[0013] The second arm group, the driven gear rod, and the second rotating arm are arranged in parallel with each other.

[0014] At the first end of the second arm mechanism, a driven gear is provided on the driven gear rod, and the driven gear meshes with the driving gear. The driven gear, the second arm group, and the second rotating arm are mounted on the first housing.

[0015] The third motor support rod and the fourth motor support rod are provided 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.

[0016] The arm mounting mechanism provides a driving force to drive the first arm mechanism to rotate about the first end of the first arm mechanism. The first arm mechanism drives the second arm mechanism, and the second arm mechanism rotates about the first end of the second arm mechanism, driving the second end of the first arm mechanism and the second end of the second arm mechanism to approach or move away from each other. A first pincer arm is provided at a position near the second end of the first arm mechanism, and a second pincer arm is provided at a position near the second end of the second arm mechanism. The first pincer arm and the second pincer arm approach or move away from each other relatively, and the first pincer arm and the second pincer arm adopt an arc-shaped outer shape.

[0017] Preferably, the arm mounting mechanism includes a camera, and the camera is mounted on the first housing.

[0018] Preferably, the first arm mechanism includes a first buoyancy block, and the first buoyancy block is connected to the first arm group.

[0019] The second arm mechanism includes a second buoyancy block, and the second buoyancy block is connected to the second arm group.

[0020] The first buoyancy block and the second buoyancy block are used for buoyancy trimming.

[0021] Preferably, there are two first boom arms in the first boom arm group. The two first boom arms are arranged on both sides of the first buoyancy block. The driving gear rod and one first boom arm are arranged on the same surface of the first buoyancy block, and the first rotating arm and the other first boom arm are arranged on the other surface of the first buoyancy block;

[0022] There are two second boom arms in the second boom arm group. The two second boom arms are respectively arranged on both sides of the second buoyancy block. The driven gear rod and the second rotating arm are also respectively arranged on both sides of the second buoyancy block. The driven gear rod and one second boom arm are installed on the same side surface of the second buoyancy block, and the second rotating arm and the other second boom arm are installed on the same side surface of the second buoyancy block.

[0023] 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 boom arm driving servo extend from the same surface of the first housing. The second rotating shaft and the third rotating shaft extend from the other surface of the first housing;

[0024] The driving gear rod is connected to the output shaft of the boom arm driving 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 boom arm group is connected to both ends of the first connecting shaft. The second boom arm group is connected to both ends of the second connecting shaft.

[0025] Preferably, it includes a first driving mechanism and a second driving mechanism. The first driving mechanism is connected to the first boom arm mechanism, and the second driving mechanism is connected to the second boom arm mechanism.

[0026] Preferably, 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;

[0027] The first driving fixed bracket is fixedly connected to the first motor support rod and the second motor support rod. The first driving bracket is fixedly connected to the first tilting servo. The output shaft of the first tilting servo passes through the first driving bracket and is connected to the first pull rod. The first motor rotating member is rotatably connected to the first driving 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. The first rotating motor is connected to the first propeller.

[0028] Preferably, 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;

[0029] The second driving fixed bracket is fixedly connected to the third motor support rod and the fourth motor support rod. The second driving bracket is fixedly connected to the second tilting servo. The output shaft of the second tilting servo passes through the second driving bracket and is connected to the second pull rod. The second motor rotating member is rotatably connected to the second driving 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. The second rotating motor is connected to the second propeller.

[0030] Preferably, it includes an electronic control mechanism and a landing gear assembly. The electronic control mechanism is connected to the arm mounting mechanism. The electronic control mechanism is connected to the landing gear assembly. The arm mounting mechanism and the landing gear assembly are respectively arranged on two opposite surfaces of the electronic control mechanism;

[0031] The electronic control mechanism includes a second housing and a control module. The control module is installed in the second housing. The second housing is connected to the first housing;

[0032] The landing gear assembly includes a support frame. The support frame is connected to the second housing.

[0033] Preferably, the landing gear assembly includes a thruster and a landing gear group. The landing gear group is arranged on the support frame. The thruster is connected to the support frame. The thruster is provided with a mounting member;

[0034] The thruster adopts a cylindrical shape. A spiral blade and a motor are arranged inside. A mounting interface is arranged at the bottom of the thruster. A mounting chute is arranged at the top of the thruster. The mounting interface is used to mount other loads.

[0035] The above technical solution provided by this application has the following advantages compared with the prior art:

[0036] For the water-air cross-domain aircraft provided by this application, the arm mounting mechanism 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. 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 clamping arm and the second clamping arm approach or move away from each other, completing the action of grasping or releasing an object. When the aircraft is flying, actions such as clamping and grasping an object can be realized through the first clamping arm and the second clamping arm, avoiding the need to additionally set relevant additional equipment on the aircraft, no longer adding load to the aircraft, saving energy, and improving the endurance of the aircraft.

[0037] Furthermore, through the clamping action of the first clamping arm and the second clamping arm, it can be suspended on objects such as tree branches and steel frame structures. After turning off the power supply, it can perch tightly on the tree branches and structures by its own gravity, achieving the purpose of energy conservation. In an underwater environment, the clamping arms of this drone demonstrate excellent operational flexibility and can precisely clamp or grasp objects. That is to say, the design of the clamping arms enhances the adaptability of the aircraft to diverse tasks. Whether it is hanging a sensor in the air for data collection or clamping a tool underwater for direct operation, this versatility provides greater flexibility and convenience for users. Additionally, it can safely perform tasks in harsh environments. Whether it is maintaining stability in strong winds or maintaining the grasping force in turbulent water flows, it reduces the accidental risks during task execution and improves the safety of operations.

[0038] Furthermore, the second ends of the first arm mechanism and the second arm mechanism approach or move away from each other, causing the shape of the aircraft to change and the overall body of the aircraft to become narrower, making it more convenient to pass through narrow channels and gaps and avoiding being blocked by objects at both ends. The deformable fuselage design is crucial for performing tasks in complex terrains, especially in restricted spaces such as urban canyons, forest canopies, or underwater caves. This enables the aircraft to achieve the ability to freely shuttle in narrow underwater areas like shrimps, significantly enhancing the environmental adaptability of the aircraft and enabling it to adapt to the space limitations and different functional requirements under different environmental conditions. The aircraft can adjust its structure according to task requirements and environmental conditions to achieve optimal performance and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention and, together with the specification, are used to explain the principles of the present invention.

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 It is a schematic structural diagram of an air-water cross-domain aircraft provided by the present application;

[0042] Figure 2 It is a schematic connection structure diagram of the first arm mechanism, the second arm mechanism, the first drive mechanism, the second drive mechanism, and the arm mounting mechanism of an air-water cross-domain aircraft provided by the present application Figure 1 ;

[0043] Figure 3 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 an air-water cross-domain aircraft provided by this application Figure 2 ;

[0044] Figure 4 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 an air-water cross-domain aircraft provided by this application Figure 3 ;

[0045] Figure 5 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 an air-water cross-domain aircraft provided by this application Figure 4 ;

[0046] Figure 6 Usage state diagram of an air-water cross-domain aircraft provided by this application;

[0047] Figure 7 Schematic diagram of the structure of the arm mounting mechanism of an air-water cross-domain aircraft provided by this application Figure 1 ;

[0048] Figure 8 Schematic diagram of the structure of the arm mounting mechanism of an air-water cross-domain aircraft provided by this application Figure 2 ;

[0049] Figure 9 Schematic diagram of the structure of the first drive mechanism and the second drive mechanism of an air-water cross-domain aircraft provided by this application;

[0050] Figure 10 Schematic diagram of the connection structure of the electronic control mechanism and the tripod assembly of an air-water cross-domain aircraft provided by this application;

[0051] Figure 11 Module diagram of the electronic control mechanism of an air-water cross-domain aircraft provided by this application;

[0052] Figure 12 Schematic diagram of the structure of the tripod assembly of an air-water cross-domain aircraft provided by this application;

[0053] Figure 13 Exploded structure diagram of the tripod assembly of an air-water cross-domain aircraft provided by this application;

[0054] Figure 14 Schematic diagram of the installation structure of the arm mounting mechanism, the electronic control mechanism and the tripod assembly of an air-water cross-domain aircraft provided by this application;

[0055] Figure 15Explosion structure schematic diagram of the arm mounting mechanism, electronic control mechanism and tripod assembly of a water-air cross-domain aircraft provided by this application.

[0056] Explanation of reference numerals:

[0057] 1. Water-air cross-domain aircraft;

[0058] 11. First arm mechanism;

[0059] 111. First clamping arm; 112. First 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;

[0060] 12. Second arm mechanism;

[0061] 121. Second clamping arm; 122. Second 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;

[0062] 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;

[0063] 14. First driving mechanism;

[0064] 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;

[0065] 15. Second driving mechanism;

[0066] 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;

[0067] 16. Electronic control mechanism; 161. Second housing; 1611. First chute; 1612. Second chute; 1613. Mounting hole; 162. Control module; 1621. Control unit; 1622. Electronic speed control unit; 1623. Wireless communication unit; 1624. Positioning unit;

[0068] 17. Tripod assembly; 171. Support frame; 1711. Second sliding member; 1712. Fixed mounting hole; 1713. Energy storage member; 172. Thruster; 1721. Mounting interface; 173. Tripod group; 1731. Tripod; 1732. Telescopic rod. Detailed implementation manner

[0069] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0070] Refer to Figures 1-15 , the present invention discloses an air-water cross-domain aircraft 1, which includes a first arm mechanism 11, a second arm mechanism 12 and an arm mounting mechanism 13. 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. The arm mounting mechanism 13 provides driving force to drive the first arm mechanism 11 to rotate around the first end of the first arm mechanism 11. The first arm mechanism 11 drives the second arm mechanism 12, and the second arm mechanism 12 rotates around the first end of the second arm mechanism 12, driving the second ends of the first arm mechanism 11 and the second arm mechanism 12 to approach or move away from each other. A first clamping arm 111 is provided at a position of the first arm mechanism 11 close to the second end, and a second clamping arm 121 is provided at a position of the second arm mechanism 12 close to the second end. The first clamping arm 111 and the second clamping arm 121 adopt an arc shape.

[0071] Specifically, a V-shaped structure is formed among the first arm mechanism 11, the second arm mechanism 12 and the arm mounting mechanism 13. The first ends of the first arm mechanism 11 and the second arm mechanism 12 are mounted on the arm mounting mechanism 13, and the second ends of the first arm mechanism 11 and the second arm mechanism 12 can be folded. Since the first clamping arm 111 is provided on the first arm mechanism 11 and the second clamping arm 121 is provided on the second arm mechanism 12, a grasping space that can be folded and expanded is formed by the first clamping arm 111, the second clamping arm 121, the first arm mechanism 11 and the second arm mechanism 12. By folding or opening the first arm mechanism 11 and the second arm mechanism 12, grasping and releasing of an object are completed. In this embodiment, the arm mounting mechanism 13 is arranged inside the arc of the clamping arm, which can better contact the surface of the object when grasping the object, making the force generated by the grasping action stronger.

[0072] The arm mounting mechanism 13 provides 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, and 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, causing the first pincer arm 111 and the second pincer arm 121 to approach or move away from each other, thereby completing the action of grasping or releasing an object. When the aircraft is flying, actions such as clamping and grasping an object can be achieved through the first pincer arm 111 and the second pincer arm 121, avoiding the need to additionally set relevant auxiliary equipment on the aircraft, no longer adding load to the aircraft, saving energy, and improving the endurance of the aircraft.

[0073] Furthermore, through the clamping action of the first pincer arm 111 and the second pincer arm 121, it is possible to hang on objects such as tree branches and steel frame structures. After turning off the power supply, it can perch tightly on tree branches and structures by its own gravity, achieving the purpose of energy conservation. In an underwater environment, the pincer arms of this UAV exhibit excellent operation flexibility and can precisely clamp or grasp objects. That is to say, the design of the pincer 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 greater flexibility and convenience for users. Additionally, it can safely perform tasks in harsh environments. Whether it is maintaining stability in strong winds or maintaining the grasping force in turbulent water flows, it reduces the accidental risks during task execution and improves the safety of operations.

[0074] Furthermore, 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, causing the shape of the aircraft to change, and the overall body of the aircraft becomes narrower, making it more convenient to pass through narrow channels and gaps and avoiding being blocked by objects at both ends. The deformable fuselage design is crucial for performing tasks in complex terrains, especially in restricted spaces such as urban canyons, forest canopy layers, or underwater caves. This enables the aircraft to achieve the ability to freely shuttle in narrow underwater areas like shrimps, significantly improving the environmental adaptability of the aircraft and enabling it to adapt to the space limitations and different functional requirements under different environmental conditions. The aircraft can adjust its structure according to task requirements and environmental conditions to achieve the best performance and efficiency. Additionally, in an underwater rapids and turbulent environment, the aircraft can use the two arm mechanisms and the pincer arms to grip underwater objects to avoid being washed away, lost, or damaged.

[0075] As an embodiment, in addition to being set in an arc shape, the outer shape of the clamping arm can also be in a tooth shape, a wave shape, a straight line shape, etc., so as to form a collapsible grasping space between the two clamping arms and the robotic arm mechanism, thereby grasping or clamping an object.

[0076] The robotic arm mounting mechanism 13 includes a camera 133, a robotic arm drive servo 131, and a first housing 132. The camera 133 is mounted on the first housing 132, and the camera 133 is disposed between the first end of the first robotic arm mechanism 11 and the first end of the second robotic arm mechanism 12.

[0077] The robotic arm drive servo 131 is mounted inside the first housing 132. The output shaft of the robotic arm drive servo 131 extends out of the first housing 132. The robotic arm drive servo 131 is connected to the first robotic arm mechanism 11. The robotic arm drive servo 131 drives the first robotic arm mechanism 11 to rotate. The camera 133 is used for precise observation and positioning of the capture object during operation. The camera 133 has a built-in vision algorithm and can quickly identify the captured content. It can be understood that the camera 133 can identify the current environment and surrounding objects, can take pictures and videos. At the same time, with the cooperation of the vision algorithm, it can identify surrounding objects and make corresponding actions according to the objects, such as avoiding protruding rocks, grasping branches, etc. A protective cover is provided at the position of the camera 133 to protect the camera 133.

[0078] The first robotic arm mechanism 11 includes a first robotic 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 robotic arm group 112, the driving gear rod 113, and the first rotating arm 114 are arranged in parallel. The first buoyancy block 117 is connected to the first robotic arm group 112. At the first end of the first robotic arm mechanism 11, a driving gear 1131 is provided on the driving gear rod 113. The driving gear 1131, the first robotic arm group 112, and the first rotating arm 114 are mounted on the first housing 132. The first motor support rod 115 and the second motor support rod 116 are disposed at the second end of the first robotic arm mechanism 11. The first motor support rod 115 is respectively connected to the first robotic arm group 112 and the driving gear rod 113. The second motor support rod 116 is respectively connected to the first robotic arm group 112 and the first rotating arm 114.

[0079] Specifically, one end of the driving gear rod 113 is provided with a driving gear 1131. The driving gear 1131 is correspondingly arranged at the first end of the first arm mechanism 11. The driving gear 1131 is connected to the arm driving servo 131. The arm driving servo 131 provides driving force for the driving gear 1131, enabling the driving gear rod 113 to rotate 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 at the second end of the first arm mechanism 11. There are two first arms in the first arm group 112. The two first arms are arranged on both sides of the first buoyancy block 117. The driving gear rod 113 and one first arm are arranged on the same surface of the first buoyancy block 117. The driving gear rod 113 and one first arm are arranged on one surface of the first buoyancy block 117. The first rotating arm 114 and the other first arm are arranged on the other surface of the first buoyancy block 117. The first buoyancy block 117 is fixedly connected to the first arm group 112. An installation groove is provided on the first buoyancy block 117. The first arm group 112 is correspondingly provided with an opening groove for the installation groove. The first arm group 112 and the first buoyancy block 117 can be fixed by fasteners. One end of the driving gear rod 113 away from the driving gear 1131 and one end of the first arm arranged on the same surface are installed on the first motor support rod 115 through different connecting rods. Moreover, the driving gear rod 113 can rotate relative to the connecting rod that can be connected to the first motor support rod 115, and the first arm can rotate relative to the connecting rod that can be connected to the first motor support rod 115. 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 all 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. The movement trajectories of the first motor support rod 115 and the second motor support rod 116 are the same.

[0080] The second robotic arm mechanism 12 includes a second robotic 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 robotic arm group 122, the driven gear rod 123, and the second rotating arm 124 are arranged in parallel. The second buoyancy block 127 is connected to the second robotic arm group 122. At the first end of the second robotic arm mechanism 12, a driven gear 1231 is provided on the driven gear rod 123. The driven gear 1231 meshes with the driving gear. The driven gear 1231, the second robotic 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 provided at the second end of the second robotic arm mechanism 12. The third motor support rod 125 is respectively connected to the second robotic arm group 122 and the driving gear rod 113. The fourth motor support rod 126 is respectively connected to the second robotic arm group 122 and the second rotating arm 124.

[0081] One end of the driven gear rod 123 is provided with a driven gear 1231. The driven gear 1231 is correspondingly arranged at the second end of the second robotic arm mechanism 12. The driven gear 1231 and the driving gear 1131 are arranged on the same surface of the first housing 132. The driven gear 1231 meshes with the driving gear 1131. The driving gear 1131 is driven by the robotic arm drive servo 131. The driving gear 1131 meshes with the driven gear 1231, which can drive the driven gear 1231 to rotate, thereby driving the driven gear rod 123 to rotate.

[0082] There are two second robotic arms inside the second robotic arm group 122. The two second robotic arms are respectively arranged on both sides of the second buoyancy block 127. The driven gear rod 123 and the second rotating arm 124 are also respectively arranged on both sides of the second buoyancy block 127. The driven gear rod 123 and one second robotic arm are installed on the same side surface of the second buoyancy block 127, and the second rotating arm 124 and the other second robotic 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 robotic arm group 122. An installation groove is provided on the second buoyancy block 127, and the second robotic arm group 122 is provided with an opening groove corresponding to the installation groove. The second robotic arm group 122 and the second buoyancy block 127 can be fixed through fasteners. When the driven gear rod 123 rotates, it can drive the second robotic 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 robotic arm arranged on the same side surface of the second buoyancy block 127. The fourth motor support rod 126 is respectively connected to the second rotating arm 124 and the second robotic arm arranged on the same side surface of the second buoyancy block 127. The installations of the driven gear rod 123, the second rotating arm 124 and the second robotic arm group 122 are all through connecting rods, so that the driven gear rod 123, the second robotic arm and the second rotating arm 124 can move, enabling the third motor support rod 125 and the fourth motor support rod 126 to rotate. The movement trajectories of the third motor support rod 125 and the fourth motor support rod 126 are the same.

[0083] Due to the rotation of the driving gear rod 113, it drives the first robotic arm group 112 and the first rotating arm 114 to rotate, causing the first motor support rod 115 and the second motor support rod 116 to also move accordingly. The rotation directions of the first motor support rod 115 and the second motor support rod 116 are opposite to the rotation direction of the driving gear rod 113. The first motor support rod 115 and the second motor support rod 116 move synchronously, and their movement trajectories are the same. Similarly, the driven gear rod 123 is driven by the driving gear rod 113, driving the second robotic arm group 122 and the second rotating arm 124 to rotate, causing the third motor support rod 125 and the fourth motor support rod 126 to also move accordingly. The rotation directions of the third motor support rod 125 and the fourth motor support rod 126 are opposite to the rotation direction of the driven gear rod 123. The third motor support rod 125 and the fourth motor support rod 126 move synchronously, and their movement trajectories are the same.

[0084] The first buoyancy block 117 and the second buoyancy block 127 are used for buoyancy trimming, enabling the fuselage of the aircraft to maintain a certain buoyancy after entering the water. The robotic arms will be in an upwardly lifted state due to buoyancy, which is beneficial to the movement of the aircraft in water.

[0085] As an embodiment, a driving motor is correspondingly arranged on the driven gear rod 123 to provide driving force for the driven gear rod 123, reducing the burden on the robotic arm driving servo 131. The dual-drive power can improve the convenience of robotic arm adjustment.

[0086] The first outer shell 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 out from two opposite surfaces of the first outer shell 132. The second connecting shaft 1322 extends out from two opposite surfaces of the first outer shell 132. The first rotating shaft 1323 and the output shaft of the arm driving servo 131 extend out from the same surface of the first outer shell 132. The second rotating shaft 1324 and the third rotating shaft 1325 extend out from the other surface of the first outer shell 132;

[0087] 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. The second arm group 122 is connected to both ends of the second connecting shaft 1322.

[0088] It can be understood that since one end of 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 is mounted on the first outer shell 132, and the connecting structure on the first outer shell 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.

[0089] It can be understood that the arm structure of the aircraft can be changed. The aircraft can use the arm driving servo 131 to drive the first arm mechanism 11 and the second arm mechanism 12 to fold up, which can meet its movement in narrow restricted areas underwater and in the air. Moreover, the variable arm mechanism can be suspended on branches, steel frame structures, etc. using the pincer-like arms, enhancing its adaptability and reliability in complex environments. After turning off the power supply, it can still tightly perch on branches and structures using its own gravity, achieving the purpose of energy conservation. This simple and deformable structural design of the aircraft realizes the development of a portable cross-domain UAV that integrates low cost, simple structure, energy conservation and high efficiency, and multi-purpose functions.

[0090] The water-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 power required for the aircraft to fly. At the same time, when the aircraft enters the water, the first driving mechanism 14 and the second driving mechanism 15 can provide the power for forward movement. 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.

[0091] Specifically, the first motor support rods 115 and the second motor support rods 116 are arranged on both sides of the first driving mechanism 14 to make the first motor support rods 115 and the second motor support rods 116 run synchronously. At the same time, the first driving mechanism 14 and the first motor support rods 115 and the second motor support rods 116 move synchronously. The third motor support rods 125 and the fourth motor support rods 126 are arranged on both sides of the second driving mechanism 15 to make the third motor support rods 125 and the fourth motor support rods 126 run synchronously. At the same time, the second driving mechanism 15 and the third motor support rods 125 and the fourth motor support rods 126 move synchronously. When the driving gear rod 113 is driven by the arm driving servo 131, the driving gear rod 113 and the driven gear rod 123 open or close relative to each other, and the first arm group 112 and the second arm group 122 also open or close accordingly. The first motor support rods 115 and the third motor support rods 125 close or open relative to each other. That is, the first driving mechanism 14 and the second driving mechanism 15 close or open relative to each other. The rotation directions of the first driving mechanism 14 and the second driving mechanism 15 are opposite to the rotation directions of the driving gear rod 113 and the driven gear rod 123. When the arms open or close, the first driving mechanism 14 and the second driving mechanism 15 can always face forward.

[0092] The first driving mechanism 14 includes a first driving fixed bracket 141, a first tilting servo 142, a first pull rod 143, a first rotating motor 144, a first propeller 145, and a first motor rotating part 146. The first driving fixed bracket 141 is fixedly connected to the first motor support rods 115 and the second motor support rods 116. The first driving bracket is fixedly connected to the first tilting servo 142. The output shaft of the first tilting servo 142 passes through the first driving bracket and is connected to the first pull rod 143. The first motor rotating part 146 is rotatably connected to the first driving bracket. The first motor rotating part 146 is connected to the first pull rod 143. The first motor rotating part 146 is connected to the first rotating motor 144. The first rotating motor 144 is connected to the first propeller 145.

[0093] Specifically, the first tilting servo 142 is fixedly installed on the first driving fixed bracket 141. A first rotating bar 1421 is provided on the output shaft of the first tilting servo 142. A first pull rod 143 is provided at each end of the first rotating bar 1421. The other end of the first pull rod 143 is installed 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. When the first rotating bar 1421 rotates, the first pull rods 143 on both sides can move up and down. When the two first pull rods 143 move simultaneously, their moving directions are opposite, so as to tilt the first motor rotating member 146. It can be understood that the first driving fixed bracket 141 is divided into two parts, and the two parts are integrally formed. The two parts are arranged along the direction of the first motor support rod 115. One part is connected to the first tilting 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, and the first rotating motor 144 can be tilted towards 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. By the rotation of the first propeller 145, the driving force for forward movement can be provided.

[0094] 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 bracket is fixedly connected to the second tilting servo 152. The output shaft of the second tilting servo 152 passes through the second driving bracket and is connected to the second pull rod 153. The second motor rotating member 156 is rotatably connected to the second driving 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.

[0095] 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 tilting servo 152 provides a tilting driving force on the second driving fixed bracket 151, driving the second rotating bar 1521 mounted on the second tilting servo 152 to rotate, causing the two second pull rods 153 mounted at both ends of the second rotating bar 1521 to move up and down. When the two second pull rods 153 move simultaneously, their moving directions are opposite, causing the second motor rotating member 156 to rotate towards the third motor support rod 125 or the fourth motor support rod 126. The second rotating motor 154 is mounted on the second motor rotating member 156, and the second propeller 155 is mounted on the second rotating motor 154. The tilting of the first motor rotating member 146 causes the second rotating motor 154 and the second propeller 155 to rotate along with the tilting of the first motor rotating member 146.

[0096] Particularly, the first rotating motor 144 and the second rotating motor 154 are brushless motors.

[0097] The water-air cross-domain aircraft 1 includes an electric control mechanism 16 and a landing gear assembly 17. The electric control mechanism 16 is connected to the arm mounting mechanism 13, and the electric control mechanism 16 is connected to the landing gear assembly 17. The arm mounting mechanism 13 and the landing gear assembly 17 are respectively arranged on two opposite surfaces of the electric control mechanism 16.

[0098] Specifically, the arm mounting mechanism 13 is mounted above the electric control mechanism 16, and the landing gear assembly 17 is mounted below. The electric control mechanism 16 can control the operation of various mechanisms of the aircraft, including the arm driving servo 131, the first rotating motor 144, the second rotating motor 154, the first tilting servo 142, the second tilting servo 152, and the camera 133. The electric control mechanism 16 realizes the start and stop of various mechanisms that require signal control and some action adjustments, such as the rotational speed of the motor, etc., through signal control. The landing gear assembly 17 can keep the aircraft standing vertically.

[0099] The electric control mechanism 16 includes a second housing 161 and a control module 162. The control module 162 is mounted inside the second housing 161. The second housing 161 is connected to the first housing 132. The control module 162 is subjected to waterproof and sealing treatment. The controller is used to control the variable structure water-air cross-domain aircraft 1 to perform the above functions.

[0100] The control module 162 is disposed within the second housing 161. Each motor and the control module 162 can transmit signals in a wired or wireless connection manner. As an embodiment, the second housing 161 is hermetically arranged, and the control module 162 is installed in the enclosed space of the second housing 161. The control module 162 is connected to other controlled mechanisms in a wired connection manner. The second housing 161 is provided with an outlet corresponding to the connecting wire. When the connecting wire extends from the second housing 161, waterproof materials can be applied to the outlet of the second housing 161 to prevent water from entering the interior of the second housing 161 and protect the internal circuit from damage.

[0101] The control module 162 includes a control unit 1621 and an electronic speed control unit 1622. The control unit 1621 is connected to the electronic speed control unit 1622. The control unit 1621 transmits control signals to the electronic speed control unit 1622. The control unit 1621 is electrically connected to each motor to control the operation and shutdown of the motor. The electronic speed control unit 1622 is electrically connected to each motor. The electronic speed control unit 1622 is provided with an electronic speed governor to adjust the speed of each motor through control signals.

[0102] As an embodiment, the control module 162 includes a wireless communication unit 1623. The wireless communication unit 1623 communicates with a wireless controller, an upper system, etc. to control the operation of the aircraft through signal transmission. Optionally, the wireless communication unit 1623 can adopt any one of Bluetooth, WIFI, infrared communication, cellular network, ZigBee or other wireless methods.

[0103] As an embodiment, the control module 162 includes a positioning unit 1624. The positioning unit 1624 can obtain the position of the aircraft, cooperate with the camera 133 and the vision algorithm inside the camera 133 to quickly determine the current position 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 position of the aircraft for subsequent recovery.

[0104] The tripod assembly 17 includes a support frame 171, a thruster 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 thruster 172 is connected to the support frame 171. The thruster 172 is provided with a mounting member. The thruster 172 is connected to the control module 162. The control unit 1621 can control the startup and shutdown of the thruster 172. The electronic speed control unit 1622 can control the speed of the thruster 172, thereby adjusting the driving power of the thruster 172 to meet the power requirements in different situations.

[0105] The thruster 172 has a cylindrical shape, with a spiral blade and a motor inside. The motor drives the spiral blade to rotate, and the orientation of the spiral blade is perpendicular to that of the propeller. The thruster 172 is used to control and maintain a stable pitch attitude when swimming underwater, and cooperate with the propellers of the two driving mechanisms to achieve reliable movement underwater. In addition, when flying in the air, the thruster 172 can also provide forward power and adjust the attitude of the aircraft itself.

[0106] A mounting interface 1721 is provided at the bottom of the thruster 172, and a mounting chute is provided at the top. The mounting interface 1721 can mount other loads, such as a camera or other objects, to achieve the mounting operation of additional objects and improve the practicality of the aircraft. The support frame 171 is provided with a mounting slider corresponding to the position of the mounting chute of the thruster 172. The outer shapes of the mounting chute and the mounting slider match. Through the sliding connection between the mounting slider and the mounting chute, the thruster 172 is fixedly installed on the support frame 171. In addition, in some embodiments, the thruster 172 is detachable from the support frame 171. When the weight of the aircraft is relatively high, the thruster 172 can be detached and the aircraft can fly through the two driving mechanisms.

[0107] It can be understood that when the first arm mechanism 11 and the second arm mechanism 12 are folded, an object can be grasped through the folded first clamping arm 111 and the second clamping arm 121, or an object can be mounted through the mounting interface 1721. The shape of the object determines the degree of folding of the first clamping arm 111 and the second clamping arm 121; when the first arm mechanism 11 and the second arm mechanism 12 are opened, the first clamping arm 111 and the second clamping arm 121 are opened, and an object can be mounted through the mounting interface 1721.

[0108] An energy storage component 1713 is provided inside the support frame 171. The energy storage component 1713 is connected to the electronic control mechanism 16 and is connected to each motor to supply power to the electronic control mechanism 16 and each motor. Among them, the energy storage component 1713 and the control module 162 are powered by a wired connection method. The connection line passes through the support frame 171, and the position where it passes can be filled with waterproof materials to prevent liquid from entering the support frame 171, thereby protecting the energy storage component 1713. As an embodiment, the support frame 171 is hermetically arranged, the energy storage component 1713 is arranged in the hermetic space of the support frame 171, and the support frame 171 is provided with an outlet for the connection line of the energy storage component 1713 to extend out, and then the outlet is sealed with waterproof materials to prevent the connection part of the energy storage component 1713 and the connection line from being exposed outside.

[0109] The second housing 161 includes a first sliding groove 1611 and a second sliding groove 1612. The first housing 132 is provided with a first sliding member 1326, and the support frame 171 is provided with a second sliding member 1711. The first sliding member 1326 is connected to the first sliding groove 1611, and the second sliding member 1711 is connected to the second sliding groove 1612.

[0110] Specifically, the first housing 132 and the second housing 161 are installed by connecting the first sliding member 1326 and the first sliding groove 1611. The support frame 171 and the second housing 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 integrally to form an aircraft.

[0111] Among them, mounting holes 1613 are provided on the first sliding groove 1611 and the second sliding groove 1612. The mounting holes 1613 of the first sliding groove 1611 correspond to the positions of the mounting holes 1613 of the second sliding 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 sliding groove 1611. When installing between the electric control mechanism 16 and the tripod assembly 17, the mounting holes 1613 of a first sliding groove 1611 and the mounting holes 1613 of a second sliding groove 1612 will correspond to the position of the fixed mounting hole 1712. During installation, insert a first fastener, sequentially pass through a mounting hole 1613 of a first sliding groove 1611, a mounting hole 1613 of a second sliding groove 1612, and the fixed mounting hole 1712 to make the installation between the second housing 161 and the support frame 171 stable; in addition, the installation of the first sliding member 1326 is within the range between the mounting holes 1613 in the first sliding groove 1611 on the same side, and the installation of the second sliding member 1711 is within the range between the mounting holes 1613 in the second sliding groove 1612 on the same side. After the first fastener is inserted, a second fastener can be inserted into the mounting holes 1613 between the first sliding groove 1611 and the second sliding groove 1612 on the same side. The second fastener can pass through the mounting holes 1613 of the first sliding groove 1611 and the second sliding groove 1612. Through the limitation of the first fastener and the second fastener, the installation between the first housing 132 and the second housing 161 is stable, and the installation between the arm mounting mechanism 13 and the electric control mechanism 16 is more stable.

[0112] The tripod group 173 includes at least two groups of tripods 1731 and at least two telescopic rods 1732. Each group of tripods 1731 is provided with two tripods 1731, and a telescopic rod 1732 is correspondingly arranged between each group of tripods 1731. One end of the tripod 1731 is provided on the support frame 171, and 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 thruster 172.

[0113] Specifically, the landing gear 1731 is used for support. When the aircraft lands, the landing gear 1731 can contact the ground to support the aircraft. Both ends of the telescopic rod 1732 are connected to the landing gear 1731. The length of the telescopic rod 1732 can be adjusted to increase the distance between the telescopic rods 1732, forming an angle between the landing gears 1731. When the aircraft lands, the support of the landing gears 1731 can be more stable, providing a good posture for subsequent takeoff and facilitating subsequent takeoff.

[0114] In this embodiment, four landing gears 1731 and two telescopic rods 1732 are provided. However, the number of landing gears 1731 and telescopic rods 1732 is not limited to this embodiment, and multiple landing gears 1731 and telescopic rods 1732 can be provided.

[0115] When the aircraft is flying in the air, power is provided by two propellers and two rotating motors. The tilting servos of the two drive mechanisms use tie rods to achieve the tilting of the rotating motors, thereby achieving the stability of the aerial attitude and the control of the direction. The first arm mechanism 11 and the second arm mechanism 12 can be retracted, and the two pincer-like arms can be closed to grasp an object and hang on a tree branch, a steel structure, etc. The camera 133 can be turned on or other payloads mounted on the mounting interface 1721 can be used to perform further long-term resident monitoring, surveillance and other tasks, which are energy-saving, reliable and highly concealed.

[0116] When the aircraft is swimming underwater, the fuselage is laid down for horizontal movement. Still, power in the forward direction is provided by the two propellers and two rotating motors during aerial movement. The tilting servos of the two drive mechanisms use tie rods to achieve the tilting of the rotating motors mounted on the motor rotating parts, thereby achieving underwater roll control. Underwater yaw movement is achieved by different rotational speeds of the two rotating motors. Since the installation position of the thruster 172 is at the end of the fuselage, not at the center of gravity of the fuselage, the pitch attitude is controlled by the thruster 172. In an underwater rapids and turbulent environment, the first arm mechanism 11 and the second arm mechanism 12 are retracted to firmly grasp underwater objects to avoid being washed away, lost or damaged.

[0117] In the above embodiments, the descriptions of each embodiment have their own focuses. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0118] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention.

[0119] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0120] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it can be a connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0121] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0122] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0123] 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, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these changes and modifications therein.

[0124] As described above, the above is the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to 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 comprises an arm driving servo and a first housing; the arm driving servo is mounted in the first housing, and an output shaft of the arm driving servo extends out of the first housing; 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 clamp-shaped arm; The first machine arm assembly, the driving gear rod, and the first rotating arm are arranged parallel to each other; 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; The second arm mechanism comprises a second arm assembly, a driven gear rod, a second rotating arm, a third motor support rod, a fourth motor support rod, and a second clamp-shaped arm; The second machine arm assembly, the driven gear rod, and the second rotating arm are arranged parallel to each other; 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; 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 transmits the second arm mechanism, the second arm mechanism rotates around the first end of the second arm mechanism, driving the second end of the first arm mechanism and the second end of the second arm mechanism to approach or move away from each other, a first clamp arm is arranged at a position close to the second end of the first arm mechanism, a second clamp arm is arranged at a position close to the second end of the second arm mechanism, the first clamp arm and the second clamp arm are relatively close to or away from each other, and the first clamp arm and the second clamp arm have an arc-shaped shape.

2. The water-air cross-domain aircraft according to claim 1 is characterized in that: The arm mounting mechanism includes a camera, and the camera is mounted on the first housing.

3. The water-air cross-domain aircraft according to claim 1, characterized in that: The first arm mechanism comprises a first buoyancy block, and the first buoyancy block is connected to the first arm assembly; The second arm mechanism comprises a second buoyancy block, and the second buoyancy block is connected to the second arm assembly; The first buoyancy block and the second buoyancy block are used for buoyancy balancing.

4. The water-air cross-domain aircraft according to claim 1, characterized in that: There are two first arms in the first arm group, the two first arms are arranged on both sides of the first buoyancy block, the driving gear rod and one first arm are arranged on the same surface of the first buoyancy block, and the first rotating arm and the other first arm are arranged on the other surface of the first buoyancy block; There are two second arms in the second arm group, and the two second arms are respectively arranged on both sides of the second buoyancy block. The driven gear rod and the second rotating arm are also respectively arranged on both sides of the second buoyancy block. The driven gear rod and one second arm are installed on the same side surface of the second buoyancy block, and the second rotating arm and the other second arm are installed on the same side surface of the second buoyancy block.

5. The water-air cross-domain aircraft according to claim 1, 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 includes 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; The thruster has a cylindrical shape, with spiral blades and a motor arranged inside. A mounting interface is arranged at the bottom of the thruster, and a mounting slot is arranged at the top of the thruster. The mounting interface is used to mount other loads.

Images