Circumferential overturning type wheel and wing sharing mechanism for air-ground amphibious carrying platform

Abstract

The invention relates to the technical field of hovercars, in particular to a circumferential turnover type wheel and wing sharing mechanism for an air-ground amphibious carrying platform, which comprises a joint unit, a running unit, a duct unit and a rotating arm unit which are connected in sequence, the joint unit comprises a mode switching steering engine, a mode switching steering engine base, a mode switching steering engine support, a spring, a rotary lifting bearing, a joint wheel and a top column, the driving unit comprises a bearing support, a sliding bearing, a direct connection spoke, a hub, a tire, a hub supporting frame and a guide wheel, and the duct unit comprises a duct, a motor and paddles. The rotating arm unit comprises a rotating arm, a rotating arm fixing pair, a gear transmission unit, a rotating bearing fixing unit, a rotating arm steering engine and a rotating arm fixing seat; the integration degree of the wheels and the wings can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flying vehicles, and in particular to a circumferential flip-type wheel-wing common mechanism for a land-air amphibious transport platform. Background Art

[0002] With the rapid advancement of urbanization and the urgent need for efficient transportation, the development of amphibious platforms has become a forward-looking and transformative exploration in the transportation sector. These platforms aim to transcend the limitations of traditional ground transportation, integrating the advantages of land and air travel to create more flexible and efficient travel solutions. This technology not only has the potential to effectively alleviate increasingly severe urban traffic congestion but also plays a crucial role in specialized scenarios such as emergency rescue and transporting supplies to remote areas.

[0003] Currently, most amphibious transport platforms employ a separate wheel-wing design, meaning the wheels and wings are structurally independent, functioning independently when on land and in the air. Switching between modes requires specific mechanical adjustments. However, these amphibious transport platforms present a number of challenges in practical application. First, the separate wheel-wing design results in a low level of system integration, requiring separate wheel and wing systems for the vehicle, significantly increasing its complexity and overall weight. Second, the complex mechanical structure and cumbersome operational procedures required to switch between the wheels and wings during land-to-air mode transitions not only reduce switching efficiency but also increase the probability of failure, severely impacting the vehicle's reliability and stability. Furthermore, this separate design requires a significant amount of space for both parking and flight, placing high demands on the operating environment and thus limiting its potential for expansion. Summary of the Invention

[0004] In view of the above problems, the present invention provides a circumferentially flippable wheel-wing shared mechanism for an amphibious transport platform, which solves the technical problems of low integration, complex structure and high failure rate of wheels and wings of the amphibious transport platform in the prior art.

[0005] On the one hand, the present invention provides a circumferential flip-type wheel-wing common mechanism for a land-air amphibious transport platform, comprising a joint unit 1, a travel unit 2, a duct unit 3, and a rotating arm unit 4, wherein the joint unit 1, the travel unit 2, the duct unit 3, and the rotating arm unit 4 are connected in sequence;

[0006] The coupling unit 1 includes a mode switching servo 101, a mode switching servo seat 102, a mode switching servo bracket 103, a spring 104, a rotating lifting bearing 105, a coupling wheel 106, and a top column. The mode switching servo 101 is fixed to the mode switching servo seat 102, the output end of the mode switching servo 101 is connected to the spring 104, the two mode switching servo brackets 103 are respectively fixedly connected to the mode switching servo seat 102, one end of the spring 104 is connected to the rotating lifting bearing 105, the rotating lifting bearing 105 is fixedly connected to the coupling wheel 106, and one end of the coupling wheel 106 is connected to the top column;

[0007] The travel unit 2 includes a bearing bracket 201, a sliding bearing 202, a directly connected spoke 203, a wheel hub 204, a tire 205, a wheel hub support frame 206, and a guide wheel 207. The sliding bearing 202 is mounted on the bearing bracket 201. The directly connected spoke 203 is connected to the sliding bearing 202 and the wheel hub 204 respectively. The tire 205 is mounted on the outer side of the wheel hub 204. The wheel hub 204 is connected to the wheel hub support frame 206 via the guide wheel 207.

[0008] The duct unit 3 includes a duct 301, a motor 302, and a propeller 303. The outer surface of the duct 301 is fixedly connected to the hub support frame 206 and the bearing bracket 201, and the inner surface of the duct 301 is fixedly connected to the motor 302. The propeller 303 is located in the internal space formed by the duct 301, and the output end of the motor 302 is fixedly connected to the propeller 303.

[0009] The rotating arm unit 4 includes a rotating arm 401, a rotating arm fixing pair 402, a gear transmission unit, a rotating bearing fixing unit, a rotating arm servo 409, and a rotating arm fixing seat 410; the rotating arm 401 and the rotating arm fixing pair 402 are fixed to the outer surface of the duct 301, and the rotating arm 401 has a disc end, which is connected to the rotating arm fixing seat 410 through the gear transmission unit and the rotating bearing fixing unit. The rotating arm servo 409 drives the rotating arm 401 to flip through the gear transmission unit, so that the rotating axis of the traveling unit 2 is switched between parallel to the ground and perpendicular to the ground.

[0010] Preferably, the output end of the mode switching servo 101 reciprocates along the direction of the rotation axis of the traveling unit 2; one end of each mode switching servo bracket 103 is fixedly connected to the mode switching servo seat 102, and the other end is fixedly connected to the rotating arm 401 of the rotating arm unit 4; the coupling wheel 106 has a spline end, and when the mode switching servo 101 outputs thrust, the spline end of the coupling wheel 106 engages with the spline end of the direct-connected spoke 203; the rotation axis of the top column is colinear with the rotation axis of the traveling unit 2, and when the mode switching servo 101 outputs thrust, the motor 302 drives the top column and the coupling wheel 106 to rotate, and causes the engaged direct-connected spoke 203 to rotate accordingly.

[0011] Preferably, the bearing bracket 201 is fixedly connected to the rear end cover of the motor 302, the directly connected spoke 203 has an inner circle and an outer circle, the inner circle and the outer circle are supported by multiple brackets, the inner circle has a spline end, the inner circle spline end is fixed to the outside of the sliding bearing 202, and the outer circle is fixedly connected to the hub 204; a plurality of guide wheels 207 are provided between the hub 204 and the hub support frame 206, and the guide wheels 207 are in contact with the inner ring of the hub 204 and the outer ring of the hub support frame 206 respectively.

[0012] Preferably, the surface of the duct 301 is cylindrical, and a cylindrical space is formed inside. The rotational symmetry axis of the cylindrical space is collinear with the rotation axis of the travel unit 2, and the blades 303 are located in the cylindrical space formed by the duct 301; when the mode switching servo 101 outputs thrust, the rear end cover of the motor 302 is connected to the top column.

[0013] Preferably, the rotating arm fixing pair 402 is fixed to a mode switching servo bracket 103, the rotating arm 401 has a semicircular end and a disc end, the semicircular end is fixedly connected to the outer surface of the duct and is fixed to another mode switching servo bracket 103, and the angle between the plane where the disc end of the rotating arm 401 is located and the rotation axis of the travel unit 2 is 45°.

[0014] Preferably, the gear transmission unit includes a rotating arm large gear 407 and a rotating arm small gear 408, and the rotating bearing fixing unit includes a hollow screw 403, a hollow bolt nut 404, a pin 405 and a plane bearing 406; the disc end of the rotating arm 401 is installed on the hollow screw 403 and is coaxial with the hollow screw 403, and is fixedly connected with the rotating arm large gear 407 and is coaxial; the hollow bolt nut 404 is installed on the hollow screw 403 and clamps the disc end of the rotating arm 401, and the pin 405 passes through the hollow screw 403 to fix the hollow screw 403 to the disc end of the rotating arm 401; the rotating arm large gear 407 is placed on the outside of the plane bearing 406, and when the rotating arm servo 409 drives the rotating arm small gear 408 to rotate, the rotating arm small gear 408 meshes with the rotating arm large gear 407 and transmits, causing the rotating arm large gear 407 and the disc end of the rotating arm 401 to rotate.

[0015] In one aspect, the present invention provides a control method for a circumferentially flippable wheel-wing common mechanism for an amphibious transport platform, comprising the following steps:

[0016] Step S1: determining the operating state of the wheel-wing common mechanism, wherein the operating state includes a driving state and an airborne state; determining the state adjustment type of the wheel-wing common mechanism, wherein the state adjustment type includes: converting the driving state into the flying state and converting the flying state into the driving state;

[0017] Step S2, adjusting the operating state of the wing common mechanism according to the state adjustment type, includes:

[0018] If the state adjustment type is to convert the driving state to the flight state, the driving rotary arm servo 409 drives the rotary arm 401 to flip through the gear transmission unit, so that the rotation axis of the driving unit 2 is perpendicular to the ground; the driving mode switching servo 101 stops applying the force of the compression spring 104, and the spring 104 pulls the rotating lifting bearing 105 and the top column along the rotation axis direction of the driving unit 2, so that the spline end of the engaging wheel 106 is separated from the inner circle spline end of the directly connected spoke 203, and the motor 302 only drives the blade 303 to rotate around the central axis, providing lift for the flight state in the air;

[0019] If the state adjustment type is to convert the flight state into the driving state, the driving rotary arm servo 409 drives the rotary arm 401 to flip through the gear transmission unit, so that the rotation axis of the driving unit 2 is parallel to the ground; the driving mode switching servo 101 applies the force of the compression spring 104, and the spring 104 pushes the rotating lifting bearing 105 and the top column to make the spline end of the coupling wheel 106 engage with the inner circle spline end of the direct-connected spoke 203, so that the coupling wheel 106, the direct-connected spoke 203, the hub 204 and the tire 205 rotate around the rotation axis of the driving unit 2, and are in the ground driving state.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects:

[0021] (1) The coupling unit provided by the present invention is a coupling wheel that can be driven by a servo and a spring, and can be selectively coupled or separated with the directly connected spokes by spline engagement. This design enables the power transmission system to switch more efficiently when driving on land and flying in the air, so that torque can be better transmitted when driving on land and unnecessary power loss can be reduced when flying in the air.

[0022] (2) The multiple components in the wheel-wing common mechanism provided by the present invention adopt universal and standardized designs, such as the tires, bearings and other components of the running unit, and the drive motor in the duct unit. When a fault occurs, it is easier to find replacement parts for repair, thereby reducing maintenance costs and difficulty.

[0023] (3) The wheel-wing shared mechanism rotating arm unit provided by the present invention can realize circular flipping, thereby quickly realizing the mode switching between driving state and flying state, and the switching process is relatively simple, which greatly improves the mode conversion efficiency and enables the vehicle to adapt to different driving environments more quickly without relying on complex mechanical structures and cumbersome operating procedures to realize the switching between wheels and wings.

[0024] (4) The wheel-wing shared mechanism provided by the present invention reduces unnecessary components and eliminates the duplication of independent wheel systems and wing systems, thereby effectively reducing the overall weight of the land-air amphibious transport platform, reducing energy consumption during flight, and improving flight efficiency, endurance and other performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings are only for purposes of illustrating particular embodiments and are not to be considered limiting of the invention.

[0026] Figure 1 This is a front view of the circumferential flip wheel-wing common mechanism for the land-air amphibious transport platform provided by the present invention.

[0027] Figure 2 A front view of the circumferential flip wheel-wing common mechanism for a land-air amphibious transport platform provided by the present invention.

[0028] Figure 3 A cross-sectional view of the circumferential flip wheel-wing common mechanism for a land-air amphibious transport platform provided by the present invention.

[0029] Figure 4 A 45° view of the circumferential flip wheel-wing common mechanism for a land-air amphibious transport platform provided by the present invention.

[0030] Figure 5 Schematic diagram of the explosion of various parts of the circumferential flip wheel-wing common mechanism for the land-air amphibious transport platform provided by the present invention.

[0031] Figure 6 The present invention provides a flow chart of the method for operating the circumferential flip wheel-wing common mechanism for a land-air amphibious transport platform.

[0032] Figure numerals: 1-coupling unit, 2-travel unit, 3-duct unit, 4-rotating arm unit, 101-mode switching servo, 102-mode switching servo seat, 103-mode switching servo bracket, 104-spring, 105-rotating lifting bearing, 106-coupling wheel, 201-bearing bracket, 202-sliding bearing, 203-direct-connected spoke, 204-hub, 205-tire, 206-hub support frame, 207-guide wheel, 301-duct, 302-motor, 303-blade, 401-rotating arm, 402-rotating arm fixing pair, 403-hollow screw, 404-hollow bolt and nut, 405-pin, 406-plane bearing, 407-rotating arm large gear, 408-rotating arm small gear, 409-rotating arm servo, 410-rotating arm fixing seat. DETAILED DESCRIPTION

[0033] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, in the absence of 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 scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0034] This invention utilizes a novel shared wheel-wing design, providing a circumferentially flippable shared wheel-wing module that can be installed in any even number onto the body of an amphibious transport platform. The embodiment of the invention comprises a duct unit, a travel unit, a coupling unit, and a rotating arm unit. The coupling unit is mounted outside the duct unit and selectively engages with the travel unit, enabling selectable wheel and blade rotation. The rotating arm unit simultaneously connects the shared wheel-wing module to the entire vehicle and enables circular flipping, enabling mode switching between travel and flight. This provides an innovative structural design solution for amphibious transport platforms.

[0035] In order to illustrate the effectiveness of the method proposed in the present invention, the above technical solution of the present invention is described in detail below through a specific embodiment. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0037] Figure 1 It is a front view of a circumferential flip wheel-wing common mechanism for a land-air amphibious transport platform provided according to an embodiment of the present invention. Figure 2 A front view of a circumferentially flippable wheel-wing common mechanism for an amphibious transport platform provided in accordance with an embodiment of the present invention. Figure 3 A cross-sectional view of a circumferentially flippable wheel-wing common mechanism for an amphibious transport platform provided in accordance with an embodiment of the present invention. Figure 4 It is a 45° view of a circumferential flip-type wheel-wing common mechanism for a land-air amphibious transport platform provided according to an embodiment of the present invention. Figure 5 Schematic diagram of four exploded parts of a circumferential flip-type wheel-wing common mechanism for a land-air amphibious transport platform provided according to an embodiment of the present invention.

[0038] like Figure 1-Figure 5As shown, the circumferentially flippable wheel-wing shared mechanism for an amphibious transport platform provided according to an embodiment of the present invention is a wheel-wing shared mechanism that integrates a coupling unit, a wheel, a duct, and a rotating arm, and includes a coupling unit 1, a traveling unit 2, a duct unit 3, and a rotating arm unit 4. The coupling unit 1, traveling unit 2, duct unit 3, and rotating arm unit 4 are connected in sequence.

[0039] The sequential connection relationship of the above four units can realize flexible switching between driving mode and flying mode in a compact structure. The specific connection method is described in detail below.

[0040] The coupling unit 1 includes a mode switching servo 101, a mode switching servo base 102, a mode switching servo bracket 103, a spring 104, a rotating pull bearing 105, a coupling wheel 106, and a top column (not shown). The mode switching servo 101 is fixed to the mode switching servo base 102. The output end of the mode switching servo 101 is connected to the spring 104, which can provide power for reciprocating motion along the rotation axis of the travel unit 2. Two mode switching servo brackets 103 are respectively fixedly connected to the two ends of the mode switching servo base 102 and are symmetrically installed at both ends of the mode switching servo base 102. One end of each mode switching servo bracket 103 is fixedly connected to the mode switching servo base 102, and the other end is fixedly connected to the rotating arm 401 of the rotating arm unit 4. One end of spring 104 is connected to the output end of mode-switching servo 101, and the other end is connected to a rotating pull bearing 105. Rotating pull bearing 105 is fixedly connected to engagement wheel 106. Engagement wheel 106 has a splined end. When mode-switching servo 101 outputs thrust, the splined end of engagement wheel 106 engages with the splined end of direct-connection spoke 203. One end of engagement wheel 106 is connected to a top post. The rotation axis of the top post is colinear with the rotation axis of travel unit 2. When mode-switching servo 101 outputs thrust, the top post can be pushed to the rear end cover of motor 302 of duct unit 3. At this time, the top post contacts the rear end cover of motor 302, and the rotor of motor 302 drives the top post to rotate. Power can be output through the top post, causing the top post and engagement wheel 106 to rotate, thereby causing the engaged direct-connection spoke 203 to rotate accordingly.

[0041] The travel unit 2 includes a bearing bracket 201, a sliding bearing 202, a directly connected spoke 203, a hub 204, a tire 205, a hub support frame 206, and a guide wheel 207. The bearing bracket 201 is fixedly connected to the rear end cover of the motor 302 and the outer surface of the duct 301. The sliding bearing 202 is mounted on the bearing bracket 201. The directly connected spoke 203 has an inner circle and an outer circle, supported by multiple brackets between the inner and outer circles. The inner circle of the directly connected spoke 203 has a spline end, which is located outside the sliding bearing 202 to facilitate meshing and rotation with the spline end of the engagement wheel 106. The outer circle of the directly connected spoke 203 is fixedly connected to the hub 204, and the tire 205 is mounted outside the hub 204. The hub support frame 206 is fixedly connected to the outer surface of the duct 301. Eight guide wheels 207 are provided between the wheel hub 204 and the wheel hub support frame 206 . The guide wheels 207 are in contact with the inner ring of the wheel hub 204 and the outer ring of the wheel hub support frame 206 respectively, and can support and guide the relative rotation between the wheel hub 204 and the wheel hub support frame 206 .

[0042] The duct unit 3 includes a duct 301, a motor 302, and a paddle 303. The surface of the duct 301 is cylindrical, and a cylindrical space is formed inside. The rotational symmetry axis of the cylindrical space is collinear with the rotation axis of the travel unit 2. The outer surface of the duct 301 is fixedly connected to the semicircular end of the rotating arm 401, the semicircular end of the rotating arm fixed pair 402, the hub support frame 206, and the bearing bracket 201. The inner surface of the duct 301 is fixedly connected to the motor 302. The paddle 303 is located in the cylindrical space formed by the duct 301. The output end of the motor is fixedly connected to the paddle 303 and transmits power to rotate the paddle 303. When the rear end cover of the motor 302 is connected to the top column, the rotor of the motor 302 drives the top column to rotate.

[0043] In some embodiments, there may be multiple blades 303, and the number, airfoil shape, and material of the blades 303 may be selected based on the target lift, which is not limited in the present invention.

[0044] The rotating arm unit 4 comprises a rotating arm 401, a rotating arm fixing pair 402, a gear transmission unit, a rotating bearing fixing unit, a rotating arm servo 409, and a rotating arm fixing base 410. The gear transmission unit comprises a rotating arm large gear 407 and a rotating arm small gear 408, and the rotating bearing fixing unit comprises a hollow screw 403, a hollow bolt nut 404, a pin 405, and a plane bearing 406. The rotating arm fixing pair 402 is fixedly connected to the outer surface of the duct and secures the mode switching servo bracket 103. The rotating arm 401 has a semicircular end and a disc end. The semicircular end is fixedly connected to the outer surface of the duct and secures the other mode switching servo bracket 103. The plane of the disc end of the rotating arm 401 forms a 45° angle with the rotation axis of the travel unit 2. The disc end is installed on the hollow screw 403 and is coaxial with the hollow screw 403, and is fixedly connected to the rotating arm large gear 407 and is coaxial; the hollow bolt nut 404 is installed on the hollow screw 403 and clamps the disc end of the rotating arm 401, and the pin 405 passes through the hollow screw 403 to fix the hollow screw 403 to the disc end of the rotating arm 401; the rotating arm large gear 407 is placed on the outside of the plane bearing 406, when the rotating arm servo 409 drives the rotating arm small gear 408 to rotate, the rotating arm small gear 408 meshes with the rotating arm large gear 407 and transmits power, so that the rotating arm large gear 407 and the rotating arm disc end can rotate around the axis at the same time; the rotating arm servo 409 is fixed on the rotating arm fixing seat 410.

[0045] In some embodiments, one side of the rotating arm fixing base 410 can be fixedly connected to the body of the carrying platform.

[0046] The following describes the driving state and the flying state of the circumferential flip wheel-wing common mechanism used for the land-air amphibious transport platform.

[0047] When the mode switching servo 101 generates a force that compresses the spring 104, the spring 104 axially pushes the rotating bearing 105 and the internally located top post 107, causing the coupling wheel 106 to move axially, with its splined end engaging the inner splined end of the direct-connection spoke 203. At this point, the internal top post 107 contacts the rear cover of the motor 302, and the motor 302 outputs power to rotate the top post 107, causing the coupling wheel 106 and the direct-connection spoke 203 to rotate at the same angular velocity. The inner splined end of the direct-connection spoke 203 is positioned outside the sliding bearing 202 to reduce friction, and the inner side of the hub 204 is positioned outside the eight guide wheels 207 to reduce friction. The direct-connection spokes 203 are connected to the hub 204 and tire 205, causing the entire travel unit 2 to rotate about its axis, entering the ground travel state.

[0048] When the mode switch servo 101 stops applying force, the spring 104 pulls the rotating lifting bearing 105 and the internally located top post 107 in the opposite axial direction, separating the splined end of the coupling wheel 106 from the inner splined end of the directly connected spoke 203. At this point, the internal top post 107 separates from the rear cover of the motor 302, and the power supply from the motor 302 is interrupted. The coupling wheel 106, the directly connected spoke 203, the hub 204, and the tire 205 no longer rotate. Only the motor 302 drives the propeller blades 303, causing them to rotate around the central axis, providing lift in flight.

[0049] like Figure 6 As shown, the present invention also provides a control method for a circumferential flip wheel-wing common mechanism for an amphibious transport platform, comprising the following steps:

[0050] Step S1: determining the operating state of the wheel-wing common mechanism, wherein the operating state includes a driving state and an airborne state; determining the state adjustment type of the wheel-wing common mechanism, wherein the state adjustment type includes: converting the driving state into the flying state and converting the flying state into the driving state;

[0051] Step S2, adjusting the operating state of the wing common mechanism according to the state adjustment type, includes:

[0052] If the state adjustment type is to convert the driving state into the flight state, the driving rotary arm servo 409 drives the rotary arm 401 to flip through the gear transmission unit, so that the rotation axis of the driving unit 2 is perpendicular to the ground; the driving mode switching servo 101 stops applying the force of the compression spring 104, and the spring 104 pulls the rotating lifting bearing 105 and the top column along the rotation axis direction of the driving unit 2, so that the spline end of the coupling wheel 106 is separated from the inner circle spline end of the directly connected spoke 203, and the coupling wheel 106, the directly connected spoke 203, the hub 204 and the tire 205 no longer rotate, and the motor 302 only drives the blade 303 to rotate the blade 303 around the central axis, providing lift for the flight state in the air;

[0053] If the state adjustment type is to convert the flight state into the driving state, the driving rotary arm servo 409 drives the rotary arm 401 to flip through the gear transmission unit, so that the rotation axis of the traveling unit 2 is parallel to the ground; the driving mode switching servo 101 applies the force of the compression spring 104, and the spring 104 pushes the rotating lifting bearing 105 and the top column along the direction of the rotation axis of the traveling unit 2, so that the spline end of the coupling wheel 106 engages with the inner circle spline end of the direct-connected spoke 203, and the top column contacts the rear cover of the motor 302, and the motor 302 drives the top column to rotate, thereby causing the coupling wheel 106, the direct-connected spoke 203, the hub 204 and the tire 205 to rotate around the rotation axis of the traveling unit 2, and is in the ground driving state.

[0054] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0055] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0056] In the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more, unless otherwise clearly defined.

[0057] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A circumferentially flippable wheel-wing shared mechanism for an amphibious transport platform, characterized in that: include: A joining unit (1), a traveling unit (2), a duct unit (3) and a rotating arm unit (4), wherein the joining unit (1), the traveling unit (2), the duct unit (3) and the rotating arm unit (4) are connected in sequence; The coupling unit (1) comprises a mode switching servo (101), a mode switching servo seat (102), a mode switching servo bracket (103), a spring (104), a rotating lifting bearing (105), a coupling wheel (106), and a top column. The mode switching servo (101) is fixed on the mode switching servo seat (102). The output end of the mode switching servo (101) is connected to the spring (104). The two mode switching servo brackets (103) are respectively fixedly connected to the mode switching servo seat (102). One end of the spring (104) is connected to the rotating lifting bearing (105). The rotating lifting bearing (105) is fixedly connected to the coupling wheel (106). One end of the coupling wheel (106) is connected to the top column. The travel unit (2) comprises a bearing bracket (201), a sliding bearing (202), a directly connected spoke (203), a wheel hub (204), a tire (205), a wheel hub support frame (206), and a guide wheel (207); the sliding bearing (202) is mounted on the bearing bracket (201); the directly connected spoke (203) is connected to the sliding bearing (202) and the wheel hub (204) respectively; the tire (205) is mounted on the outside of the wheel hub (204); and the wheel hub (204) is connected to the wheel hub support frame (206) via the guide wheel (207); The duct unit (3) includes a duct (301), a motor (302), and a blade (303); the outer surface of the duct (301) is fixedly connected to the hub support frame (206) and the bearing bracket (201); the inner surface of the duct (301) is fixedly connected to the motor (302); the blade (303) is located in the inner space formed by the duct (301); and the output end of the motor (302) is fixedly connected to the blade (303); The rotating arm unit (4) comprises a rotating arm (401), a rotating arm fixing pair (402), a gear transmission unit, a rotating bearing fixing unit, a rotating arm steering gear (409), and a rotating arm fixing seat (410); the rotating arm (401) and the rotating arm fixing pair (402) are fixed to the outer surface of the duct (301); the rotating arm (401) has a disc end, and the disc end is connected to the rotating arm fixing seat (410) through the gear transmission unit and the rotating bearing fixing unit; the rotating arm steering gear (409) drives the rotating arm (401) to flip through the gear transmission unit, so that the rotating axis of the travel unit (2) is switched between being parallel to the ground and being perpendicular to the ground.

2. The circumferential flip wheel-wing common mechanism for an amphibious transport platform according to claim 1, characterized in that: For the joining unit (1): The output end of the mode switching servo (101) reciprocates along the direction of the rotation axis of the travel unit (2); one end of each mode switching servo bracket (103) is fixedly connected to the mode switching servo seat (102), and the other end is fixedly connected to the rotating arm (401) of the rotating arm unit (4); the engaging wheel (106) has a spline end, and when the mode switching servo (101) outputs thrust, the spline end of the engaging wheel (106) engages with the spline end of the directly connected spoke (203); the rotating axis of the top column is collinear with the rotating axis of the travel unit (2), and when the mode switching servo (101) outputs thrust, the motor (302) drives the top column and the engaging wheel (106) to rotate, and causes the engaged directly connected spoke (203) to rotate accordingly.

3. The circumferential flip wheel-wing common mechanism for an amphibious transport platform according to claim 2, characterized in that: For the travel unit (2): The bearing bracket (201) is fixedly connected to the rear end cover of the motor (302); the directly connected spoke (203) has an inner circle and an outer circle, and the inner circle and the outer circle are supported by multiple brackets. The inner circle has a spline end, and the inner circle spline end is fixed to the outer side of the sliding bearing (202); the outer circle is fixedly connected to the wheel hub (204); multiple guide wheels (207) are provided between the wheel hub (204) and the wheel hub support frame (206), and the guide wheels (207) are respectively in contact with the inner ring of the wheel hub (204) and the outer ring of the wheel hub support frame (206).

4. The circumferential flip wheel-wing common mechanism for an amphibious transport platform according to claim 3, characterized in that: For the duct unit (3): The surface of the duct (301) is cylindrical, and a cylindrical space is formed inside. The rotational symmetry axis of the cylindrical space is collinear with the rotation axis of the travel unit (2), and the blades (303) are located in the cylindrical space formed by the duct (301); when the mode switching servo (101) outputs thrust, the rear end cover of the motor (302) is connected to the top column.

5. The circumferential flip wheel-wing common mechanism for an amphibious transport platform according to claim 4, characterized in that: For the rotating arm unit (4): The rotating arm fixing pair (402) is fixed to a mode switching steering gear bracket (103), the rotating arm (401) has a semicircular end and a disc end, the semicircular end is fixedly connected to the outer surface of the duct and is fixed to the other mode switching steering gear bracket (103), and the angle between the plane where the disc end of the rotating arm (401) is located and the rotation axis of the travel unit (2) is 45 degrees.

6. The circumferential flip wheel-wing common mechanism for an amphibious transport platform according to claim 5, characterized in that: For the rotating arm unit (4): The gear transmission unit includes a rotating arm gear (407) and a rotating arm pinion (408), and the rotating bearing fixing unit includes a hollow screw (403), a hollow bolt nut (404), a pin (405) and a plane bearing (406); the disc end of the rotating arm (401) is mounted on the hollow screw (403) and is coaxial with the hollow screw (403), and is fixedly connected to the rotating arm gear (407) and is coaxial with the hollow screw (403); the hollow bolt nut (404) is mounted on the hollow screw (403) , and clamp the disc end of the rotating arm (401), the pin (405) passes through the hollow screw (403) to fix the hollow screw (403) and the disc end of the rotating arm (401); the rotating arm large gear (407) is placed outside the plane bearing (406), when the rotating arm steering engine (409) drives the rotating arm small gear (408) to rotate, the rotating arm small gear (408) and the rotating arm large gear (407) are meshed and transmitted, so that the rotating arm large gear (407) and the disc end of the rotating arm (401) rotate.

7. A control method for a circumferential flip-type wheel-wing common mechanism for an amphibious transport platform according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step S1, determining the operating state of the wheel-wing common mechanism, wherein the operating state includes a driving state and an airborne state; Determining a state adjustment type of the wheel-wing common mechanism, wherein the state adjustment type includes: converting a driving state into a flying state and converting a flying state into a driving state; Step S2, adjusting the operating state of the wing common mechanism according to the state adjustment type, includes: If the state adjustment type is the conversion from the driving state to the flight state, the driving arm servo (409) drives the servo (401) to flip through the gear transmission unit, so that the rotation axis of the driving unit (2) is perpendicular to the ground; the driving mode switching servo (101) stops applying the force of the compression spring (104), and the spring (104) pulls the rotating lifting bearing (105) and the top column along the rotation axis direction of the driving unit (2), so that the spline end of the engaging wheel (106) is separated from the inner circle spline end of the directly connected spoke (203), and the motor (302) only drives the blade (303), so that the blade (303) rotates around the central axis, providing lift for the flight state in the air; If the state adjustment type is a conversion from a flight state to a driving state, the driving rotary arm servo (409) drives the rotary arm (401) to flip through the gear transmission unit, so that the rotation axis of the driving unit (2) is parallel to the ground; the driving mode switching servo (101) applies the force of the compression spring (104), and the spring (104) pushes the rotating lifting bearing (105) and the top column to make the spline end of the engaging wheel (106) mesh with the inner circle spline end of the directly connected spoke (203), so that the engaging wheel (106), the directly connected spoke (203), the wheel hub (204) and the tire (205) rotate around the rotation axis of the driving unit (2), and the vehicle is in a ground driving state.

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