Circumferential overturning type land-air amphibious carrying platform shared by wheels and wings

Abstract

The invention relates to the technical field of intelligent carrying equipment, in particular to a circumferential turnover type wheel and wing shared air-ground amphibious carrying platform which comprises a machine body, a plurality of lifting mechanisms, circumferential turnover type wheel and wing shared mechanisms, a flight control module, a battery and a power distribution plate. The plurality of circumferential turnover type wheel wing sharing mechanisms are respectively connected to the fuselage through the lifting mechanisms; the circumferential overturning type wheel and wing sharing mechanism comprises a joint mechanism, a wheel assembly, a duct assembly and a rotating arm assembly which are connected in sequence. The lifting mechanism comprises a lifting steering engine, a lifting arm, a vertical lifting movable seat and a vertical lifting fixed seat; the fuselage is provided with a cabin, and the flight control module, the battery and the distribution plate are mounted in the cabin; the integration level of the air-ground amphibious carrying platform can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation equipment, and particularly relates to a circumferential flipping type wheel-wing shared land-air amphibious transportation platform. Background Art

[0002] Current land-air amphibious platforms aim to break through the limitations of traditional ground transportation, integrate the advantages of land travel and air flight, and provide users with a more flexible and efficient travel solution. It not only has the potential to relieve urban traffic congestion but also plays an important role in special scenarios such as emergency rescue and material transportation in remote areas. However, the current land-air amphibious technology is still in the initial stage of research and development, with a scattered technical route and the failure to effectively integrate the key technologies in the automotive and aviation fields.

[0003] Existing land-air amphibious systems mostly adopt a wheel-wing separation structure, that is, they are equipped with independent wheel drive systems and rotor drive systems. Although this design realizes the land-air amphibious function, it also causes problems such as complex systems, large volume, and increased weight, seriously restricting the passability and mobility of land-air amphibious platforms in complex environments. In addition, land-air amphibious transportation platforms with a wheel-wing separation configuration also face the problem of low space utilization. Since the wheel system and the wing system are independent of each other, whether parked on land or flying in the air, they require a large amount of space. This space occupation restricts the application of land-air amphibious vehicles in urban environments and complex terrains, poses higher requirements for their docking and use, and restricts their flexibility in meeting diverse mission requirements. Summary of the Invention

[0004] In view of the above problems, the present invention provides a circumferential flipping type wheel-wing shared land-air amphibious transportation platform, which solves the technical problems of low integration, large weight, and large size of amphibious transportation platforms in the prior art.

[0005] The present invention provides a circumferential flipping type wheel-wing shared land-air amphibious transportation platform, comprising: a fuselage 2, a lifting mechanism 3, a circumferential flipping type wheel-wing shared mechanism 100, a flight control module, a battery, and a power distribution board;

[0006] A plurality of lifting mechanisms 3 are provided on both sides of the fuselage 2, and a plurality of circumferential flipping type wheel-wing shared mechanisms 100 are respectively connected to the fuselage 2 through the lifting mechanisms;

[0007] The circumferential flipping type wheel-wing shared mechanism 100 includes a joint mechanism 110, a wheel assembly 120, a duct assembly 130, and a rotating arm assembly 140 that are connected in sequence. The rotation center lines of the joint mechanism 110, the wheel assembly 120, and the duct assembly 130 are collinear. The rotating arm assembly 140 controls the joint mechanism 110, the wheel assembly 120, and the duct assembly 130 to flip, so that the rotation center lines of the joint mechanism 110, the wheel assembly 120, and the duct assembly 130 are switched between being parallel to the ground and perpendicular to the ground;

[0008] The lifting mechanism 3 includes a lifting servo 311, a lifting arm 312, a vertical lifting moving seat 313, and a vertical lifting fixed seat 314; the output end of the lifting servo 311 is connected to the lifting arm 312, the lifting arm 312 is connected to the vertical lifting moving seat 313 and the vertical lifting fixed seat 314, the vertical lifting fixed seat 314 is connected to the rotating arm assembly 140, and the vertical lifting fixed seat 314 can drive the rotating arm assembly 140 to lift the distance between the circumferential flipping type wheel-wing shared mechanism 100 and the ground;

[0009] The fuselage 2 has a cabin, and the flight control module, the battery, and the power distribution board are installed in the cabin.

[0010] Preferably, the joint mechanism 110 includes a mode switching servo 111, a mode switching servo seat 112, a mode switching servo bracket 113, a spring 114, a rotating lifting bearing, a joint wheel 116, and a top column 117; the mode switching servo 111 is fixed on the mode switching servo seat 112, the output end of the mode switching servo 111 is connected to the spring 114, two mode switching servo brackets 113 are respectively fixedly connected to the mode switching servo seat 112, one end of the spring 114 is connected to the rotating lifting bearing, the rotating lifting bearing is fixedly connected to the joint wheel 116, and one end of the joint wheel 116 is connected with a top column 117.

[0011] Preferably, the wheel assembly 120 includes: a bearing bracket, a sliding bearing, a direct-connected wheel spoke 123, a wheel hub, a tire 125, a wheel hub support frame 126, and a guide wheel 127. The sliding bearing is installed on the bearing bracket, the direct-connected wheel spoke 123 is respectively connected to the sliding bearing and the wheel hub, the tire 125 is installed on the outer side of the wheel hub, and the wheel hub is connected through the guide wheel 127 and the wheel hub support frame 126.

[0012] Preferably, the duct assembly 130 includes a duct, a motor, and a propeller. The outer surface of the duct is fixedly connected to the wheel hub support frame 126 and the bearing bracket, the inner surface of the duct is fixedly connected to the motor, the propeller is located in the internal space formed by the duct, and the output end of the motor is fixedly connected to the propeller.

[0013] Preferably, the rotating arm assembly 140 includes a rotating arm 141, a rotating arm fixing pair 142, a gear transmission unit, a rotating bearing fixing unit, a rotating arm servo 148, and a rotating arm fixing seat 149. The rotating arm 141 and the rotating arm fixing pair 142 are fixed on the outer surface of the duct. The rotating arm 141 has a disc end, and the disc end is connected to the rotating arm fixing seat 149 through the gear transmission unit and the rotating bearing fixing unit. The rotating arm servo 148 drives the rotating arm 141 to turn through the gear transmission unit.

[0014] Preferably, the gear transmission unit includes a rotating arm large gear 146 and a rotating arm small gear 147. The rotating bearing fixing unit includes a hollow screw 143, a hollow bolt nut 144, and a plain bearing. The disc end of the rotating arm 141 is mounted on the hollow screw 143 and is coaxial with the hollow screw 143, and is fixedly connected to the rotating arm large gear 147 and is coaxial with it. The hollow bolt nut 144 is mounted on the hollow screw 143 and clamps the disc end of the rotating arm 141. A pin passes through the hollow screw 143 to fix the hollow screw 143 and the disc end of the rotating arm 141. The rotating arm large gear 146 is placed outside the plain bearing. When the rotating arm servo 148 drives the rotating arm small gear 147 to rotate, the rotating arm small gear 147 meshes with and drives the rotating arm large gear 146, causing the disc end of the rotating arm large gear 146 and the rotating arm 141 to rotate.

[0015] Preferably, the output end of the mode switching servo 111 of the engagement mechanism 110 reciprocates along the rotation axis direction of the wheel assembly 120. One end of each mode switching servo bracket 113 is fixedly connected to the mode switching servo base 102, and the other end is fixedly connected to the rotating arm 141 of the rotating arm assembly 140. The engagement wheel 116 has a spline end. When the mode switching servo 111 outputs a thrust, the spline end of the engagement wheel 116 meshes with the spline end of the direct connection wheel spoke 123. The rotation axis of the top column is collinear with the rotation axis of the wheel assembly 120. When the mode switching servo 111 outputs a thrust, the motor drives the top column and the engagement wheel 116 to rotate, and the engaged direct connection wheel spoke 123 follows the rotation.

[0016] Preferably, the output shaft of the lifting servo 311 is fixedly connected to one end of the lifting arm 312. The other end of the lifting arm 312 is provided with a guide groove. A slide bar is provided on the vertical lifting moving seat 313, and the slide bar slides in the guide groove. The vertical lifting moving seat 313 and the vertical lifting fixing seat 314 are slidably connected through a chute.

[0017] When the output shaft of the lifting servo 311 rotates, it drives the lifting arm 312 to rotate around the axis of the output shaft. The lifting arm 312 guides the movement of the slide rod of the vertical lifting moving seat 313, causing the vertical lifting moving seat 313 to move relative to the vertical lifting fixed seat 314, so that the vertical lifting moving seat 313 can vertically lift the circumferential flipping type wheel-wing common mechanism 100 by a certain stroke with respect to the ground.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects:

[0019] (1) The duct assembly provided by the present invention adopts a blade and duct integrated driving device with a driving motor, reducing the number of components and the assembly complexity, lowering the production and manufacturing costs, and at the same time improving the reliability of the system.

[0020] (2) The wheel-wing common mechanism provided by the present invention integrates two components of a wheel and a wing. The high integration makes the overall structure compact. It can not only achieve functional integration, but also when the flight function is not used, the wheel-wing mechanism can be neatly stored on both sides of the fuselage, reducing the overall floor area and space requirements, and facilitating parking and use in places with limited space such as urban environments.

[0021] (3) The lifting mechanism provided by the present invention can vertically lift the wheel-wing common mechanism before flipping, effectively avoiding interference with the ground, making the conversion process from the land driving mode to the air flight mode smoother and safer. Description of the Drawings

[0022] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation of the present invention.

[0023] Figure 1 It is a schematic diagram of the circumferential flipping type wheel-wing common land-air amphibious transport platform provided by the present invention.

[0024] Figure 2 It is a schematic diagram of the circumferential flipping type wheel-wing common mechanism provided by the present invention.

[0025] Figure 3 It is a schematic diagram of the lifting mechanism provided by the present invention.

[0026] Reference numerals: the amphibious land-air carrier platform 1, the circumferential flipping wheel-wing shared mechanism 100, the fuselage 2, the lifting mechanism 3, the engagement mechanism 110, the wheel assembly 120, the ducted fan assembly 130, the rotating arm assembly 140, the mode switching servo 111, the mode switching servo base 112, the mode switching servo bracket 113, the spring 114, the engagement wheel 116, the top column 117, the direct connection wheel spoke 123, the tire 125, the wheel hub support frame 126, the guide wheel 127, the rotating arm 141, the rotating arm fixed pair 142, the hollow screw 143, the hollow bolt nut 144, the rotating arm large gear 146, the rotating arm small gear 147, the rotating arm servo 148, the rotating arm fixed seat 149, the lifting servo 311, the lifting arm 312, the vertical lifting moving seat 313, the vertical lifting fixed seat 314. Detailed implementation manners

[0027] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In addition, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0028] In order to illustrate the effectiveness of the method proposed by the present invention, the above-mentioned technical solutions of the present invention will be described in detail below through a specific embodiment.

[0029] Figure 1 It is a schematic diagram of an amphibious land-air carrier platform with a circumferential flipping wheel-wing shared mechanism according to an embodiment of the present invention. Figure 2 It is a schematic diagram of the circumferential flipping wheel-wing shared mechanism according to an embodiment of the present invention.

[0030] The following combines Figure 1 and Figure 2 to illustrate the structure of an amphibious land-air carrier platform with a circumferential flipping wheel-wing shared mechanism according to an embodiment of the present invention.

[0031] As Figure 1 shown, the present invention provides an amphibious land-air carrier platform 1 with a circumferential flipping wheel-wing shared mechanism, including: a fuselage 2, the two sides of the fuselage 2 are symmetric to each other, the fuselage 2 has a cabin, a plurality of lifting mechanisms 3 are provided on both sides of the fuselage 2, the lifting mechanisms 3 on both sides are symmetric to each other along the axis of the fuselage 2, and the circumferential flipping wheel-wing shared mechanism 100 is connected to the fuselage 2 through the lifting mechanism 3.

[0032] Inside the cabin of the fuselage 2, there is a flight control module which is used to obtain external environment and instruction information and provide control information to control the operation of the carrier platform, the attitude conversion of the lifting mechanism, and the flipping of the circumferential flipping type wheel-wing shared mechanism 100. Inside the cabin of the fuselage 2, there are a battery and a power distribution board which can distribute power to each component and regulate the voltage.

[0033] In some embodiments, four lifting mechanisms 3 are evenly and dispersedly arranged on each side of the fuselage 2.

[0034] The following refers to Figure 1 and Figure 2 to describe the circumferential flipping type wheel-wing shared mechanism 100 according to the present invention. The circumferential flipping type wheel-wing shared mechanism 100 includes a joint mechanism 110, a wheel assembly 120, a ducted fan assembly 130, and a rotating arm assembly 140 which are connected in sequence.

[0035] Referring to Figure 2 , in some embodiments, the joint mechanism 110 of the circumferential flipping type wheel-wing shared mechanism 100 includes a mode switching servo 111, a mode switching servo seat 112, a mode switching servo bracket 113, a spring 114, a rotating and lifting bearing, a joint wheel 116, and a top column 117. The output end of the mode switching servo 111 is connected to the mode switching servo seat 112 to provide the power for reciprocating motion; one end of the spring 113 is connected to the mode switching servo seat 112, and the other end is connected to the rotating and lifting bearing which is fixedly connected to the joint wheel 116; when the mode switching servo 111 outputs a thrust, the spline end of the joint wheel 116 can be engaged with the spline end of the direct connection wheel spoke 123, and the other end extends out a section of the top column 117. When the top column 117 is pushed to the hole of the rear end cover of the motor in the ducted fan assembly 130, the motor can output power through the top column 117 to make the top column 117 and the joint wheel 116 rotate, so that the engaged direct connection wheel spoke 123 rotates accordingly; there are two mode switching servo brackets 113 in total and they are symmetrically installed. One end of each mode switching servo bracket 113 is fixedly connected to the mode switching servo seat 112, and the other end is fixedly connected to the rotating arm 141 of the rotating arm assembly 140.

[0036] In some embodiments, the wheel assembly 120 of the circumferential flipping wheel vane sharing mechanism 100 includes a bearing bracket, a sliding bearing, a direct connection wheel spoke 123, a wheel hub, a tire 125, a wheel hub support frame 126, and a guide wheel 127. The bearing bracket is fixedly connected to the rear end cover of the motor and the outer surface of the duct. The sliding bearing is placed above the bearing bracket. The inner spline end of the direct connection wheel spoke 123 is placed outside the bearing for meshing and rotating with the engagement wheel 116. The outer circle of the direct connection wheel spoke 123 is fixedly connected to the wheel hub. The tire 125 is installed on the outside of the wheel hub. The wheel hub support frame 126 is fixedly connected to the outer surface of the duct. There are 8 guide wheels 127 between the wheel hub 125 and the wheel hub support frame 126. The guide wheels 127 are respectively in contact with the inner ring of the wheel hub 125 and the outer ring of the wheel hub support frame 126, and can support and guide the relative rotation between the wheel hub 125 and the wheel hub support frame 126.

[0037] In some embodiments, the duct assembly 130 of the circumferential flipping wheel vane sharing mechanism 100 includes a duct, a motor, and a propeller blade. The outer surface of the duct is fixedly connected to the semi-circular end of the rotating arm 141, the semi-circular end of the rotating arm fixing pair 142, the wheel hub support frame 126, and the bearing bracket. The inner part of the duct is fixedly connected to the outer rotor motor. The output end of the motor is fixedly connected to the propeller blade and transmits power to rotate the propeller blade. The rear end cover of the motor transmits power to the top column 117 when connected to the top column 117.

[0038] In some embodiments, the rotating arm assembly 140 of the circumferential flipping wheel-wing sharing mechanism 100 includes a rotating arm 141, a rotating arm fixing pair 142, a gear transmission unit, a rotating bearing fixing unit, a rotating arm servo 148, and a rotating arm fixing seat 149. The gear transmission unit includes a rotating arm large gear 146 and a rotating arm small gear 147. The rotating bearing fixing unit includes a hollow screw 143, a hollow bolt nut 144, and a plain bearing. The rotating arm fixing pair 142 is fixedly connected to the outer surface of the duct and is fixed to the mode switching servo bracket 113. The rotating arm 141 has a semi-circular end and a disc end. The semi-circular end of the rotating arm 141 is fixedly connected to the outer surface of the duct and is fixed to another mode switching servo bracket 113. The angle between the plane where the disc end of the rotating arm 141 is located and the rotation axis of the wheel assembly 120 is 45°. The disc end is mounted on the hollow screw 143 and is coaxial with the hollow screw 143, and is fixedly connected to the rotating arm large gear 146 and is coaxial therewith. The hollow bolt nut 144 is mounted on the hollow screw 143 and clamps the disc end of the rotating arm 141. A pin passes through the hollow screw 143 to fix the hollow screw 143 and the disc end of the rotating arm 141. The rotating arm large gear 146 is placed outside the plain bearing. When the rotating arm servo 148 drives the rotating arm small gear 147 to rotate, the rotating arm small gear 147 meshes with the rotating arm large gear 146 and transmits power, so that the rotating arm large gear 146 and the disc end of the rotating arm 141 can rotate around the axis simultaneously. Another hollow bolt nut 144 clamps the rotating arm fixing seat 149, and at the same time, the rotating arm servo 148 is fixed to the rotating arm fixing seat 149. One side of the rotating arm fixing seat 149 is fixedly connected to the lifting mechanism 3.

[0039] In some embodiments, the rotating arm servo 148 drives the rotating arm 141 to flip through the gear transmission unit. The rotation axis of the wheel assembly 120 can be switched between two states, including changing from being parallel to the ground to being perpendicular to the ground and changing from being perpendicular to the ground to being parallel to the ground. When the rotation axis is parallel to the ground, the wheel assembly 120 acts as a wheel to enable the carrying platform to travel on the ground. When the rotation axis is perpendicular to the ground, the circumferential flipping wheel-wing sharing mechanism 100 provides lift to enable the carrying platform to fly, realizing the switching between the two states of being perpendicular and parallel to the ground.

[0040] Figure 3 Schematic diagram of the lifting mechanism provided by the present invention.

[0041] Reference Figure 3, the lifting mechanism 3 includes a lifting servo 311, a lifting arm 312, a vertically lifting moving seat 313, and a vertically lifting fixed seat 314. The output shaft of the lifting servo 311 is fixedly connected to one end of the lifting arm 312. A guiding groove is provided at the other end of the lifting arm 312, and a sliding rod is provided on the vertically lifting moving seat 313. The sliding rod slides in the guiding groove. The vertically lifting moving seat 313 is provided with a sliding groove, and the vertically lifting fixed seat 314 is provided with a sliding block. The sliding block of the vertically lifting fixed seat 314 is embedded in the sliding groove of the vertically lifting moving seat 313, so that the vertically lifting moving seat 313 and the vertically lifting fixed seat 314 are slidably connected. The vertically lifting fixed seat 314 is fixedly connected to the fuselage 2

[0042] When the output shaft of the lifting servo 311 rotates, it drives the lifting arm 312 to rotate around the axis of the output shaft. The lifting arm 312 guides the movement of the sliding rod of the vertically lifting moving seat 313, so that the vertically lifting moving seat 313 moves relative to the vertically lifting fixed seat 314, thereby enabling the vertically lifting moving seat 313 to vertically lift the circumferential flipping type wing sharing mechanism 100 by a preset distance

[0043] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be 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 components or the interaction relationship between two components. 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 situations

[0044] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" 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 other features between them. Moreover, the first feature being "above", "above" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature is at a lower horizontal height than the second feature

[0045] In the present invention, the terms "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The term "plurality" means two or more, unless otherwise clearly defined

[0046] As described above, it is only the preferred specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A circumferential flipping type wheel-wing shared land-air amphibious carrier platform, characterized in that Including: A fuselage (2), a lifting mechanism (3), a circumferential flipping wheel-wing shared mechanism (100), a flight control module, a battery, and a power distribution board; A plurality of lifting mechanisms (3) are provided on both sides of the fuselage (2), and a plurality of circumferential flipping wheel-wing shared mechanisms (100) are respectively connected to the fuselage (2) through the lifting mechanisms; The circumferential flipping wheel-wing shared mechanism (100) includes a joint mechanism (110), a wheel assembly (120), a duct assembly (130), and a rotating arm assembly (140) connected in sequence. The rotation center lines of the joint mechanism (110), the wheel assembly (120), and the duct assembly (130) are collinear. The rotating arm assembly (140) controls the joint mechanism (110), the wheel assembly (120), and the duct assembly (130) to flip, so that the rotation center lines of the joint mechanism (110), the wheel assembly (120), and the duct assembly (130) are switched between being parallel to the ground and perpendicular to the ground; The lifting mechanism (3) includes a lifting servo (311), a lifting arm (312), a vertical lifting moving seat (313), and a vertical lifting fixed seat (314); the output end of the lifting servo (311) is connected to the lifting arm (312), the lifting arm (312) is connected to the vertical lifting moving seat (313) and the vertical lifting fixed seat (314), the vertical lifting fixed seat (314) is connected to the rotating arm assembly (140), and the vertical lifting fixed seat (314) can drive the rotating arm assembly (140) to increase the distance between the circumferential flipping wheel-wing shared mechanism (100) and the ground; The fuselage (2) has a cabin, and the flight control module, the battery, and the power distribution board are installed in the cabin.

2. The circumferential flipping type wheel wing shared land-air amphibious carrier platform according to claim 1, characterized in that, The joint mechanism (110) includes a mode switching servo (111), a mode switching servo seat (112), a mode switching servo bracket (113), a spring (114), a rotating lifting bearing, a joint wheel (116), and a top column (117); the mode switching servo (111) is fixed on the mode switching servo seat (112), the output end of the mode switching servo (111) is connected to the spring (114), two mode switching servo brackets (113) are respectively fixedly connected to the mode switching servo seat (112), one end of the spring (114) is connected to the rotating lifting bearing, the rotating lifting bearing is fixedly connected to the joint wheel (116), and one end of the joint wheel (116) is connected with a top column (117).

3. The circumferential flipping type wheel wing shared land-air amphibious carrier platform according to claim 2, characterized in that, The wheel assembly (120) includes: a bearing bracket, a sliding bearing, a direct-connected wheel spoke (123), a wheel hub, a tire (125), a wheel hub support frame (126), and a guide wheel (127). The sliding bearing is installed on the bearing bracket, the direct-connected wheel spoke (123) is respectively connected to the sliding bearing and the wheel hub, the tire (125) is installed on the outer side of the wheel hub, and the wheel hub is connected through the guide wheel (127) and the wheel hub support frame (126).

4. The circumferential flipping type wheel wing shared land-air amphibious carrier platform according to claim 3, characterized in that, The duct assembly (130) includes a duct, a motor, and blades. The outer surface of the duct is fixedly connected to the hub support frame (126) and the bearing support. The inner surface of the duct is fixedly connected to the motor. The blades are located in the internal space formed by the duct, and the output end of the motor is fixedly connected to the blades.

5. The circumferential flipping type wheel wing shared land-air amphibious carrier platform according to claim 4, characterized in that, The rotating arm assembly (140) includes a rotating arm (141), a rotating arm fixing pair (142), a gear transmission unit, a rotating bearing fixing unit, a rotating arm servo (148), and a rotating arm fixing seat (149). The rotating arm (141) and the rotating arm fixing pair (142) are fixed on the outer surface of the duct. The rotating arm (141) has a disc end, and the disc end is connected to the rotating arm fixing seat (149) through the gear transmission unit and the rotating bearing fixing unit. The rotating arm servo (148) drives the rotating arm (141) to flip through the gear transmission unit.

6. The circumferential flipping type wheel wing shared land-air amphibious carrier platform according to claim 5, characterized in that, The gear transmission unit includes a large rotating arm gear (146) and a small rotating arm gear (147). The rotating bearing fixing unit includes a hollow screw (143), a hollow bolt nut (144), and a plain bearing. The disc end of the rotating arm (141) is mounted on the hollow screw (143) and is coaxial with the hollow screw (143), and is fixedly connected to the large rotating arm gear (147) and is coaxial. The hollow bolt nut (144) is mounted on the hollow screw (143) and clamps the disc end of the rotating arm (141). A pin passes through the hollow screw (143) to fix the hollow screw (143) to the disc end of the rotating arm (141). The large rotating arm gear (146) is placed outside the plain bearing. When the rotating arm servo (148) drives the small rotating arm gear (147) to rotate, the small rotating arm gear (147) meshes with and drives the large rotating arm gear (146), causing the large rotating arm gear (146) and the disc end of the rotating arm (141) to rotate.

7. The circumferential flipping type wheel wing shared land-air amphibious carrier platform according to claim 6, characterized in that, The output end of the mode switching servo (111) of the engagement mechanism (110) reciprocates along the rotation axis direction of the wheel assembly (120). One end of each mode switching servo bracket (113) is fixedly connected to the mode switching servo base (102), and the other end is fixedly connected to the rotating arm (141) of the rotating arm assembly (140). The engagement wheel (116) has a spline end. When the mode switching servo (111) outputs a thrust, the spline end of the engagement wheel (116) meshes with the spline end of the direct connection wheel spoke (123). The rotation axis of the top column is collinear with the rotation axis of the wheel assembly (120). When the mode switching servo (111) outputs a thrust, the motor drives the top column and the engagement wheel (116) to rotate, and the engaged direct connection wheel spoke (123) follows to rotate.

8. The circumferential flipping type wheel wing shared land-air amphibious carrier platform according to claim 7, characterized in that, The output shaft of the lifting servo (311) is fixedly connected to one end of the lifting arm (312). The other end of the lifting arm (312) is provided with a guiding groove. A sliding rod is provided on the vertically lifting moving seat (313), and the sliding rod slides in the guiding groove. The vertically lifting moving seat (313) and the vertically lifting fixing seat (314) are slidably connected through a sliding groove; When the output shaft of the lifting servo (311) rotates, it drives the lifting arm (312) to rotate around the axis of the output shaft. The lifting arm (312) guides the sliding rod of the vertically lifting moving seat (313), causing the vertically lifting moving seat (313) to move relative to the vertically lifting fixed seat (314), so that the vertically lifting moving seat (313) can lift the circumferential flipping wing common mechanism (100) vertically by a preset distance from the ground.

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