Complex multi-habitat cross-domain aircraft based on multi-connecting-rod self-locking and speed reducing device

Abstract

The invention discloses a complex multi-habitat cross-domain aircraft based on multi-connecting-rod self-locking and a speed reducer, and relates to the technical field of multi-habitat cross-domain aircrafts. The problems that an existing aircraft is poor in adaptability, low in operation efficiency and poor in stability in different environments of underwater, land and air are solved. A multi-connecting-rod self-locking mechanism is arranged at the lower end of a lower base, four execution ends of the multi-connecting-rod self-locking mechanism penetrate through four connecting rod mounting holes correspondingly and are connected with a left wheel paddle assembly, a right wheel paddle assembly, a front universal auxiliary wheel and a rear universal auxiliary wheel, and then the two wheel paddle assemblies are driven to rotate around the Z axis by 0-90 degrees in the XOZ plane; the two universal auxiliary wheels rotate around the Z axis by 0-90 degrees in the YOZ plane, so that rapid switching between the land mode and the underwater mode of the aircraft is achieved. The unmanned aerial vehicle is used for various application scenes such as military reconnaissance, resource exploration and disaster rescue, has high adaptability and flexibility, and can meet high maneuverability task requirements under three different environments of underwater, land and air.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-habitat cross-domain vehicles, and in particular to a reconfigured multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device. Background Art

[0002] With the advancement of technology, the application areas of multi-habitat vehicles are constantly expanding, from single-environment operations to multi-environment adaptive operations. Traditional robots have limited adaptability in complex environments such as military, resource exploration, and disaster relief.

[0003] In the military field, traditional robots have the following problems: (1) Single-mode robots are not well adapted to complex terrain battlefield environments, and it is difficult to ensure concealment and rapid transition in various environments. (2) In environments with high vertical mobility requirements such as cities and mountains, land-based robots are difficult to maneuver, and rotorcraft have low payloads and short endurance. (3) When faced with "natural dangers" such as rivers and straits, traditional infiltration and reconnaissance methods are severely restricted. Robots without submarine crossing capabilities are difficult to deploy covertly when faced with multiple detection methods. (4) On flat and open plain battlefields, vehicles that make good use of sunken rivers, pools and other terrain to conceal themselves and penetrate, and to cross exposed areas as quickly as possible, cannot be achieved in a single-mode movement mode.

[0004] In the field of resource exploration, traditional robots have the following problems: (1) Traditional exploration equipment mostly operates in a single environment, making it difficult to cover land, water, and air areas simultaneously, resulting in low operating efficiency and poor adaptability. (2) In complex terrains such as the wild, deep mountains, deserts, or islands, conventional detection tools are difficult to reach or have blind spots, which restricts the comprehensiveness and accuracy of resource surveys. (3) Although aerial drones have wide-area coverage capabilities, they cannot perform underwater or underground sampling; underwater equipment is limited by the boundaries of water bodies and cannot perform large-scale survey tasks.

[0005] In the field of disaster relief, traditional robots have the following problems: (1) The terrain at the disaster site is complex and changeable, such as earthquakes causing road damage, floods inundating urban areas, and landslides forming barrier lakes. Traditional single-mode robots are unable to cope with such changing environments. (2) Roads are interrupted and communications are poor after the disaster, making it difficult for rescue forces to enter the core area in time to carry out search and rescue and supply delivery. (3) Air rescue equipment is limited by the take-off and landing environment, water equipment is limited by land obstacles, and land equipment cannot be used in flooded areas, forming a blank operation zone.

[0006] The patent with publication number CN221605579U and publication date August 27, 2024, discloses a variable-posture cross-medium multi-habitat robot. The robot has the following problems: (1) Limited efficiency of the drive system: the same set of drive motors is used to adapt to multi-medium motion scenarios, and no differentiated transmission ratio adjustment mechanism is configured. It is difficult to take into account the high speed requirements in the air medium and the high torque output characteristics of the underwater environment, resulting in reduced energy conversion efficiency during cross-medium operations and the inability to dynamically optimize power output parameters. (2) Inadequate fluid dynamics design: the symmetrical support structure and rigid motion component layout do not adopt a streamlined shell design, especially when traveling in water, the turbulent resistance increases significantly. Compared with the streamlined shell (cylindrical body + hemispherical dome) of the invention patent described in the document, the underwater propulsion energy consumption will increase, affecting the endurance. (3) Insufficient structural redundancy: The purely mechanical speed change system consisting of a planetary gear reduction unit and a special-shaped drive shaft is not integrated, and the one-way bearing reverse locking function is lacking. As a result, the drive component needs to rely on electronic speed regulation compensation when the medium suddenly changes, which increases the complexity of the control system and may cause power interruption under extreme working conditions.

[0007] The patent with publication number CN119116605A and publication date December 13, 2024 discloses a wheel-paddle-leg integrated amphibious and airborne multi-robot. The robot has the following problems: (1) Insufficient adaptability of the power system: The wheel-paddle drive mechanism adopts a single motor direct transmission design and lacks a medium-adaptive speed change mechanism. During cross-domain movement, the fixed transmission ratio cannot take into account the high torque requirements in water and the high-speed operation requirements in the air, resulting in a significant decrease in propulsion efficiency. Especially when switching between air and water modes, the power output and the medium resistance characteristics are mismatched, resulting in energy waste and limited endurance. (2) The land-air mode conversion relies on the synchronous deployment of four worm-type arms, but lacks a mechanical self-locking redundant design. Experiments show that under turbulent or impact loads, the connecting rod mechanism driven by a single servo has an deployment angle deviation, which may cause flight attitude instability and increase the cross-domain switching failure rate (compared to the patent using a double-threaded block synchronization mechanism to suppress deviation). (3) Structural redundancy: The four-limb wheel-leg system requires independent drive units (each wheel-propeller contains at least one drive motor), resulting in a heavy machine and a low power-to-weight ratio. Excessive actuators not only increase system complexity but also cause spatial layout conflicts and affect the structural integrity of the streamlined shell.

[0008] In summary, existing aircraft have poor adaptability, low operational efficiency, and poor stability in different environments such as underwater, land, and air. Therefore, the development of multi-route aircraft that can operate in three environments, water, land, and air, has become an important research direction. Summary of the Invention

[0009] The purpose of the present invention is to solve the problems of poor adaptability, low operating efficiency and poor stability of existing aircraft in different environments such as underwater, land and air, and to provide a complex multi-domain cross-domain aircraft based on multi-link self-locking and deceleration device.

[0010] The technical solution of the present invention is:

[0011] A complex multi-domain cross-domain vehicle based on a multi-link self-locking and deceleration device, which includes an arm folding mechanism 1, a watertight compartment 2, an upper base 3 and a lower base 4. The upper base 3 and the lower base 4 are respectively installed at the upper and lower ends of the watertight compartment 2, and the arm folding mechanism 1 is installed in the middle of the top of the upper base 3. The arm folding drive mechanism 1-1 in the arm folding mechanism 1 drives four arms 1-2 and four propeller assemblies 1-3 connected to the ends of the four arms 1-2 to achieve folding or unfolding actions; it also includes a streamlined shell 5, a multi-link self-locking mechanism 6, two wheel-propeller assemblies 7 and two universal auxiliary wheels 8. The arm folding drive mechanism 1-1, the watertight compartment 2, the upper base 3 and the lower base 4 are all located inside the streamlined shell 5. Four arm mounting holes 5-1 are evenly distributed along the circumference of the upper side surface of the streamlined housing 5. The four arms 1-2 respectively pass through the four arm mounting holes 5-1 and extend to the outside of the streamlined housing 5. A multi-link self-locking mechanism 6 is provided in the middle of the lower end of the lower base 4. Four connecting rod mounting holes 5-2 are evenly distributed along the circumference of the lower side surface of the streamlined housing 5. The four actuator ends of the multi-link self-locking mechanism 6 respectively pass through the four connecting rod mounting holes 5-2 and extend to the outside of the streamlined housing 5 and connect with the left and right wheel-paddle assemblies 7 and the front and rear universal auxiliary wheels 8. This in turn drives the two wheel-paddle assemblies 7 to rotate 0-90 degrees around the Z axis in the XOZ plane and the two universal auxiliary wheels 8 to rotate 0-90 degrees around the Z axis in the YOZ plane, thereby realizing rapid switching between the land mode and underwater mode of the vehicle.

[0012] Furthermore, the multi-link self-locking mechanism 6 includes a cross-shaped cross bar 6-1, a connecting rod drive assembly 6-2, two auxiliary wheel connecting rods 6-3, two paddle connecting rods 6-4, four base connecting rods 6-5 and two central axis connecting rods 6-6. A horizontally arranged cross-shaped cross bar 6-1 is provided below the lower base 4. Four connecting rod connecting blocks 6-1-1 are respectively provided on the upper parts of the four rod ends of the cross-shaped cross bar 6-1. The auxiliary wheel connecting rod 6-3 and the paddle connecting rod 6-4 have a U-shaped groove at the head end. The four connecting rod connecting blocks 6-1-1 are respectively hinged to the middle part of the U-shaped groove at the head end of the corresponding auxiliary wheel connecting rod 6-3 and / or the paddle connecting rod 6-4 through four pins. Four support ears 4-1 are evenly arranged on the lower surface of the lower base 4 in the circumferential direction. The head ends of the four base connecting rods 6-5 are respectively hinged to the four support ears 4-1 through four pins. The ends of the four base links 6-5 are hinged to the ends of the corresponding U-shaped grooves at the head ends of the auxiliary wheel links 6-3 and / or the paddle links 6-4 through four pins, and the two middle axis links 6-6 correspond to the two paddle links 6-4 one by one. The ends of the two middle axis links 6-6 are hinged to the pins connecting the base link 6-5 and the paddle links 6-4, and the head ends of the two middle axis links 6-6 are hinged to the output ends of the link drive assembly 6-2 through two pins. The link drive assembly 6-2 is installed on the lower base 4 and connected to the cross-shaped cross bar 6-1. The link drive assembly 6-2 controls the up and down movement of the cross-shaped cross bar 6-1, thereby realizing that the two auxiliary wheel links 6-3 and the two paddle links 6-4 are closed and / or unfolded at the same time as the cross-shaped cross bar 6-1 rises and / or falls.

[0013] Furthermore, the connecting rod drive assembly 6-2 includes a connecting rod servo 6-2-1, a central axis stud 6-2-2, a transmission nut 6-2-3 and four limit columns 6-2-4. The connecting rod servo 6-2-1 is installed in the middle of the top of the lower base 4. A central axis stud mounting hole is opened in the center of the upper surface of the lower base 4. The central axis stud 6-2-2 is vertically arranged directly below the lower base 4. The top of the central axis stud 6-2-2 passes through the central axis stud mounting hole and is connected to the rotating shaft of the connecting rod servo 6-2-1 through a coupling. The transmission nut 6-2-3 is threadedly connected to the central axis stud 6-2-2. Two symmetrically arranged middle axis connecting rod connecting seats are set on the side of the transmission nut 6-2-3. The two middle axis connecting rod connecting seats are hinged to the head end of the middle axis connecting rod 6-6 through two pin shafts respectively. Four vertically arranged limit column mounting holes 6-1-1 are respectively provided on the upper surfaces of the four rod ends of the cross-shaped cross bar 6-1. Four circumferentially evenly distributed and vertical limit columns 6-2-4 are set on the outer side below the lower base 4. The top ends of the four limit columns 6-2-4 are fixedly connected to the lower surface of the lower base 4, and the lower ends of the four limit columns 6-2-4 can be slidably inserted into the four limit column mounting holes 6-1-1.

[0014] Furthermore, the streamlined shell 5 includes a shell main body part and a shell dome part. The shell main body part is a cylindrical structure, and the shell dome part is a hemispherical structure. A coaxially arranged shell dome part is provided on the top of the shell main body part, and the shell dome part is smoothly transitioned to the shell main body part.

[0015] Furthermore, the streamlined shell 5 also includes a guide tail cover 5-3 and four guide fins 5-4. The guide tail cover 5-3 is set at the bottom of the shell main body, and four guide fins 5-4 are evenly arranged along the circumferential direction on the outside of the guide tail cover 5-3. The ends of the four guide fins 5-4 are all installed at the bottom of the shell main body.

[0016] Furthermore, the watertight compartment 2 includes a cylindrical bulkhead 2-1, an upper hatch cover 2-2, a lower hatch cover 2-3, a limit bracket 2-4 and two O-rings. The upper hatch cover 2-2 and the lower hatch cover 2-3 are both annular plate structures. The upper hatch cover 2-2 and the lower hatch cover 2-3 are respectively installed at the upper and lower ends of the cylindrical bulkhead 2-1. Two watertight ring grooves 2-5 are respectively provided on the upper surface of the upper hatch cover 2-2 and the lower surface of the lower hatch cover 2-3. The two O-rings are respectively embedded in the two watertight ring grooves 2-5. In the figure, the upper hatch 2-2 and the lower hatch 2-3 are detachably connected to the upper base 3 and the lower base 4 respectively. The interior of the cylindrical bulkhead 2-1 is a cabin 2-6. A limit bracket 2-4 is arranged in the cabin 2-6. The limit bracket 2-4 is installed on the inner wall of the cylindrical bulkhead 2-1. The limit bracket 2-4 includes a horizontal plate, an upper vertical plate and two lower vertical plates. The upper vertical plate is arranged at the top of the horizontal plate to form a battery compartment 2-7 and a circuit board compartment 2-8. Two lower vertical plates are arranged at both ends of the bottom of the horizontal plate to form a flight control compartment 2-9.

[0017] Furthermore, the arm folding mechanism 1 includes a bracket 1-4, an arm folding driving mechanism 1-1, four arms 1-2 and four propeller assemblies 1-3. The arm folding driving mechanism 1-1 is installed in the middle of the bracket 1-4, and the four arms 1-2 are evenly arranged along the circumferential direction on the outside of the bracket 1-4. The head ends of the four arms 1-2 are connected to the bracket 1-4 for up and down rotation, and four propeller assemblies 1-3 are respectively installed at the ends of the four arms 1-2. The arm folding driving mechanism 1-1 is connected to the head ends of the four arms 1-2 at the same time to drive the four arms 1-2 to swing upward and / or downward.

[0018] Furthermore, the arm folding drive mechanism 1-1 includes a central axis steering gear, a worm 1-1-1 and a turbine 1-1-2. The central axis steering gear is installed inside the watertight compartment 2. The upper surface of the upper base 3 is provided with a central axis steering gear shaft mounting hole. The bracket 1-4 is a circular sleeve structure. Four groups of U-shaped frames are evenly distributed along the circumference on the outside of the bracket 1-4. The lower optical axis part of the worm 1-1-1 is rotatably connected to the inner hole of the bracket 1-4 through a connecting bearing. The central axis steering gear shaft is connected to the lower end of the worm 1-1-1 through a coupling. The turbine 1-1-2 includes a toothed worm gear body and a rectangular rod-shaped structure integrally formed with the toothed worm gear body. A worm gear connecting pin hole is processed at the center of the toothed worm gear body. The toothed worm gear body is hinged to the corresponding U-shaped frame on the bracket 1-4 through a pin shaft. The upper threaded section of the worm 1-1-1 is simultaneously engaged with the toothed worm gear bodies of the four turbines 1-1-2.

[0019] Furthermore, each propeller assembly 1-3 includes a brushless motor base 1-3-1, a water-air multiplexing reduction module 1-3-2, a propeller base 1-3-3 and a three-blade propeller 1-3-4. The brushless motor base 1-3-1 is installed at the end of the machine arm 1-2, the water-air multiplexing reduction module 1-3-2 is installed on the brushless motor base 1-3-1, the output execution end of the upper end of the water-air multiplexing reduction module 1-3-2 is connected to the propeller base 1-3-3, and the three-blade propeller 1-3-4 is installed at the upper end of the propeller base 1-3-3.

[0020] Furthermore, the water-air multiplexing reduction module 1-3-2 includes a brushless motor 1-3-5, a reducer housing 1-3-6, a transmission shaft 1-3-7, a forward bearing 1-3-8, a connecting bearing 1-3-9, a reverse bearing 1-3-10, a propeller fixing seat 1-3-11, a sun gear 1-3-12, a ring gear 1-3-13, a plurality of planetary gears 1-3-14 and a plurality of planetary gear shafts 1-3-15. The reducer housing 1-3-6 is vertically mounted on the upper surface of the brushless motor base 1-3-1. The brushless motor 1-3-5 is vertically installed inside the reducer housing 1-3-6, the transmission shaft 1-3-7 is vertically set above the brushless motor 1-3-5, the lower end of the transmission shaft 1-3-7 is connected to the rotating shaft of the brushless motor 1-3-5 through a coupling, the forward bearing 1-3-8 is installed at the lower part of the transmission shaft 1-3-7, the sun gear 1-3-12 is installed on the forward bearing 1-3-8, the gear ring 1-3-13 is coaxially installed on the upper part of the inner wall of the reducer housing 1-3-6, and the gear ring 1-3-13 is coaxial with the sun gear 1 -3-12 are evenly arranged along the circumferential direction of multiple planetary gears 1-3-14, and the planetary gears 1-3-14 are meshed with the ring gear 1-3-13 and the sun gear 1-3-12 at the same time. A plurality of coaxially arranged planetary gear shafts 1-3-15 are installed in the middle of the upper surface of the planetary gear 1-3-14, and a vertically arranged transmission shaft mounting hole is opened in the center of the upper surface of the propeller fixing seat 1-3-11. The connecting bearing 1-3-9 is embedded in the transmission shaft mounting hole, and the upper part of the transmission shaft 1-3-7 passes through the transmission shaft mounting hole and is connected to the connecting bearing 1-3-9. The connecting bearing 1-3-9 is rotationally connected to the propeller fixing seat 1-3-11, the lower surface of the propeller fixing seat 1-3-11 is fixedly connected to the upper ends of multiple planetary gear shafts 1-3-15, the upper end of the propeller fixing seat 1-3-11 is fixedly connected to the lower end of the propeller base 1-3-3, a bearing mounting hole is opened in the bottom center of the propeller base 1-3-3, the reverse bearing 1-3-10 is embedded in the bearing mounting hole of the propeller base 1-3-3, and the top end of the transmission shaft 1-3-7 is connected to the reverse bearing 1-3-10.

[0021] Compared with the prior art, the present invention has the following effects:

[0022] 1. This invention utilizes an integrated design, enabling both aerial and terrestrial propulsion for underwater propulsion. The robot features a unique multi-link self-locking mechanism, a reduction module, and a streamlined housing, enabling flexible deployment in space-constrained environments. Measuring only 30cm*30cm*50cm and weighing 2.1kg, the vehicle is a highly maneuverable, lightweight craft. Designed for a variety of applications, including military reconnaissance, resource exploration, and disaster relief, it exhibits high adaptability and flexibility.

[0023] 2. The robot of the present invention, which has the ability to cross land, water and air, can automatically switch modes according to the terrain, realize vertical crossing, diving and crawling on the ground, and quickly reach the core area of the disaster area to carry out life detection, environmental monitoring and material transportation, effectively improving the rescue response speed and success rate.

[0024] 3. The multi-purpose vehicle of the present invention can conduct terrain scanning, sample collection, and data transmission across water, land, and air environments, greatly improving the continuity and breadth of resource exploration. It is suitable for scenarios such as coastline resource surveys, reservoir sediment analysis, and remote mineral assessment.

[0025] 4. The present invention effectively solves the adaptability problem of the aircraft in different environments such as underwater, land and air through a high-composite ratio structural design, improves the operating efficiency and stability of the aircraft, and realizes efficient multi-domain operation.

[0026] 5. This invention discloses a multi-rod self-locking, multi-functional, cross-domain vehicle based on a multi-link, self-locking, and speed-reducing mechanism. It can achieve three modes of motion: aerial, underwater, and intelligent. This relates to the field of multi-functional, cross-domain vehicle technology. Each main motor and servo are connected to the robot's main body. The servos drive the upper and lower struts to change the direction of the propellers and arms, controlling the robot's switching and movement between air, land, and underwater modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the internal structure of the watertight compartment of a complex multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device according to the present invention;

[0028] Figure 2 This is a schematic diagram of the internal structure of a deceleration module in a complex multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device according to the present invention;

[0029] Figure 3 This is a schematic diagram of a streamlined shell of a complex multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device according to the present invention;

[0030] Figure 4 This is a schematic diagram of a multi-link self-locking mechanism in a complex multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device according to the present invention;

[0031] Figure 5 This is a schematic three-dimensional diagram of the internal structure of a complex multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device according to the present invention;

[0032] Figure 6 Schematic diagram of a multi-rod self-locking and decelerating device-based multi-domain multi-rod vehicle in underwater vehicle mode according to the present invention;

[0033] Figure 7 Schematic diagram of a multi-rod self-locking and deceleration-based reconfigured multi-habitat cross-domain vehicle in aircraft mode according to the present invention;

[0034] Figure 8 This is a schematic diagram of a multi-rod self-locking and decelerating device-based multi-habitat cross-domain vehicle in unmanned vehicle mode according to the present invention;

[0035] Figure 9 This is an operation flow chart of a complex multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device of the present invention.

[0036] In the picture:

[0037] 1. Arm folding mechanism; 2. Watertight compartment; 3. Upper base; 4. Lower base; 5. Streamlined shell; 6. Multi-link self-locking mechanism; 7. Wheel-paddle assembly; 8. Universal auxiliary wheel;

[0038] 1-1, aircraft arm folding drive mechanism; 1-2, aircraft arm; 1-3, propeller assembly; 1-4, bracket;

[0039] 1-1-1, worm gear; 1-1-2, turbine gear;

[0040] 1-3-1, brushless motor base; 1-3-2, water-air multiplex reduction module; 1-3-3, propeller base; 1-3-4, three-blade propeller; 1-3-5, brushless motor; 1-3-6, reducer housing; 1-3-7, transmission shaft; 1-3-8, forward bearing; 1-3-9, connecting bearing; 1-3-10, reverse bearing; 1-3-11, propeller fixing seat; 1-3-12, sun gear; 1-3-13, ring gear; 1-3-14, planetary gear; 1-3-15, planetary gear shaft;

[0041] 2-1, cylindrical bulkhead; 2-2, upper hatch; 2-3, lower hatch; 2-4, limit bracket; 2-5, water seal groove; 2-6, cabin; 2-7, battery compartment; 2-8, circuit board compartment; 2-9, flight control compartment;

[0042] 5-1, Arm mounting hole; 5-2, Connecting rod mounting hole; 5-3, Tail deflector; 5-4, Deflector fin;

[0043] 6-1, cross bar; 6-2, connecting rod drive assembly; 6-3, auxiliary wheel connecting rod; 6-4, paddle connecting rod; 6-5, base connecting rod; 6-6, center shaft connecting rod;

[0044] Connecting rod connection block 6-1-1;

[0045] 6-2-1, connecting rod servo; 6-2-2, center shaft stud; 6-2-3, transmission nut; 6-2-4, limit column;

[0046] 7-1, propeller motor; 7-2, propeller shaft; 7-3, propeller. DETAILED DESCRIPTION

[0047] Specific implementation method 1: Combination Figures 1 to 9 Describe this embodiment. This embodiment is a complex multi-domain cross-domain vehicle based on a multi-link self-locking and deceleration device. It includes an arm folding mechanism 1, a watertight compartment 2, an upper base 3 and a lower base 4. The upper base 3 and the lower base 4 are respectively installed at the upper and lower ends of the watertight compartment 2. The arm folding mechanism 1 is installed in the middle of the top of the upper base 3. The arm folding drive mechanism 1-1 in the arm folding mechanism 1 drives the four arms 1-2 and the four propeller assemblies 1-3 connected to the ends of the four arms 1-2 to achieve folding or unfolding actions; it also includes a streamlined shell 5, a multi-link self-locking mechanism 6, two wheel-propeller assemblies 7 and two universal auxiliary wheels 8. The arm folding drive mechanism 1-1, the watertight compartment 2, the upper base 3 and the lower base 4 are all located in the streamlined shell 5 The streamlined shell 5 has four arm mounting holes 5-1 evenly distributed along the circumferential direction on the upper side surface, and the four arms 1-2 pass through the four arm mounting holes 5-1 respectively and extend to the outside of the streamlined shell 5. A multi-link self-locking mechanism 6 is provided in the middle of the lower end of the lower base 4, and the streamlined shell 5 has four connecting rod mounting holes 5-2 evenly distributed along the circumferential direction on the lower side surface, and the four execution ends of the multi-link self-locking mechanism 6 pass through the four connecting rod mounting holes 5-2 respectively and extend to the outside of the streamlined shell 5 and the left and right propeller assemblies 7 and the front and rear two universal auxiliary wheels 8, thereby driving the two propeller assemblies 7 to rotate 0-90° around the Z axis in the XOZ plane, and the two universal auxiliary wheels 8 to rotate 0-90° around the Z axis in the YOZ plane, so as to realize the rapid switching between the land mode and the underwater mode of the vehicle.

[0048] The above-mentioned servo and propeller structures are controlled by a PID controller in the watertight compartment. The servo controls the rotation of the worm gear to close / expand the connecting rod as the crossbar rises / falls, thereby realizing the rotation of the two propeller structures around the Z axis 0-90° in the XOZ plane and the rotation of the two auxiliary wheel motors around the Z axis 0-90° in the YOZ plane, so as to achieve rapid switching between the land mode and underwater mode of the vehicle.

[0049] Specific implementation method 2: Combination Figures 1 to 9Describing this embodiment, the multi-link self-locking mechanism 6 of this embodiment includes a cross-shaped cross bar 6-1, a connecting rod drive assembly 6-2, two auxiliary wheel connecting rods 6-3, two paddle connecting rods 6-4, four base connecting rods 6-5 and two central axis connecting rods 6-6. A horizontally arranged cross-shaped cross bar 6-1 is provided under the lower base 4. Four connecting rod connecting blocks 6-1-1 are respectively provided on the upper parts of the four rod ends of the cross-shaped cross bar 6-1. The auxiliary wheel connecting rod 6-3 and the paddle connecting rod 6-4 are provided with a U-shaped groove at the head end. The four connecting rod connecting blocks 6-1-1 are respectively hinged to the middle part of the U-shaped groove at the head end of the corresponding auxiliary wheel connecting rod 6-3 and / or the paddle connecting rod 6-4 through four pins. Four support ears 4-1 are evenly arranged on the lower surface of the lower base 4 in the circumferential direction. The head ends of the four base connecting rods 6-5 are respectively connected to the four support ears through four pins. 4-1 is hinged, the ends of the four base links 6-5 are hinged to the ends of the corresponding U-shaped grooves at the head ends of the auxiliary wheel links 6-3 and / or the paddle links 6-4 through four pins, the two middle axis links 6-6 correspond to the two paddle links 6-4 one by one, the ends of the two middle axis links 6-6 are hinged to the pins connecting the base link 6-5 and the paddle links 6-4, the head ends of the two middle axis links 6-6 are hinged to the output ends of the link drive assembly 6-2 through two pins, the link drive assembly 6-2 is installed on the lower base 4 and connected to the cross-shaped cross bar 6-1, the link drive assembly 6-2 controls the up and down movement of the cross-shaped cross bar 6-1, thereby realizing that the two auxiliary wheel links 6-3 and the two paddle links 6-4 are closed and / or unfolded at the same time as the cross-shaped cross bar 6-1 rises and / or falls. With such an arrangement, the self-locking connecting rod mechanism can realize the azimuth change of the two amphibious propellers and two universal wheels through the crank-connecting rod mechanism with only one servo, which greatly reduces the use of actuators. The connecting rod servo drives the central axis stud to rotate, and the transmission nut on the central axis stud is connected to the central axis connecting rod. The transmission nut moves up and down along the stud through the thread, driving the central axis connecting rod and the base connecting rod mechanism below to fold or unfold. The central axis connecting rod and the base connecting rod are connected by screws on multiple connecting rods. When the central axis connecting rod moves downward, the base connecting rod mechanism is constrained by the limiting column and is continuously folded until it is in a horizontal line with the fuselage. When the transmission nut moves upward along the central axis stud, the central axis connecting rod also moves upward, driving the base connecting rod mechanism below to unfold under the constraint of the limiting column until it is roughly perpendicular to the fuselage. The other components and connection relationships are the same as those in the first specific embodiment.

[0050] Among them, a universal auxiliary wheel 8 is provided at the end of the auxiliary wheel connecting rod 6-3. A wheel-paddle assembly 7 is provided at the end of the wheel-paddle connecting rod 6-4. The wheel-paddle assembly 7 includes a wheel-paddle motor 7-1, a wheel-paddle shaft 7-2 and a wheel-paddle 7-3. The housing of the wheel-paddle motor 7-1 is fixedly connected to the end of the wheel-paddle connecting rod 6-4, the rotating shaft of the wheel-paddle motor 7-1 is fixedly connected to the wheel-paddle shaft 7-2, and the wheel-paddle 7-3 is installed at the end of the wheel-paddle shaft 7-2.

[0051] Specific implementation method three: Combination Figures 1 to 9 The present embodiment is described. The connecting rod drive assembly 6-2 of the present embodiment includes a connecting rod servo 6-2-1, a central axis stud 6-2-2, a transmission nut 6-2-3 and four limit columns 6-2-4. The connecting rod servo 6-2-1 is installed in the middle of the top of the lower base 4. The center of the upper surface of the lower base 4 is provided with a central axis stud mounting hole. The central axis stud 6-2-2 is vertically arranged directly below the lower base 4. The top of the central axis stud 6-2-2 passes through the central axis stud mounting hole and is connected to the rotating shaft of the connecting rod servo 6-2-1 through a coupling. The central axis stud 6-2-2 is threadedly connected with a transmission nut 6-2 -3, two symmetrically arranged central axis connecting rod connection seats are set on the side of the transmission nut 6-2-3. The two central axis connecting rod connection seats are respectively hinged to the head end of the central axis connecting rod 6-6 through two pins. Four vertically arranged limit column mounting holes 6-1-1 are respectively opened on the upper surface of the four rod ends of the cross-shaped cross bar 6-1. Four circumferentially evenly distributed and vertical limit columns 6-2-4 are set on the outer side below the lower base 4. The top ends of the four limit columns 6-2-4 are fixedly connected to the lower surface of the lower base 4, and the lower ends of the four limit columns 6-2-4 can be slidably inserted into the four limit column mounting holes 6-1-1. Other components and connection relationships are the same as those of specific embodiments one or two.

[0052] Specific implementation method four: Combination Figures 1 to 9 To explain this embodiment, the streamlined housing 5 comprises a main housing portion and a dome portion. The main housing portion is cylindrical, while the dome portion is hemispherical. A coaxial dome portion is positioned atop the main housing portion, smoothly transitioning to the main housing portion. This arrangement creates a unique housing design for the aircraft described herein, with the entire housing consisting of the main housing portion and the dome portion. The main housing portion is cylindrical and has a regular geometric shape, which facilitates standardized manufacturing. Furthermore, it effectively reduces air or fluid flow resistance and improves operational efficiency in various operating environments. The dome portion is hemispherical, seamlessly transitioning to the main housing portion. This hemispherical design not only creates a streamlined appearance and further optimizes aerodynamic or fluid dynamic performance, but also provides an ideal spatial layout for the installation of internal sensors, communication equipment, and the like. Other components and connections are the same as those in Specific Embodiments 1, 2, or 3.

[0053] Furthermore, the outer shell design fully considers the robot's multi-habitat needs. When operating on land, its smooth exterior surface and rational geometry help reduce the risk of scraping and collision with ground obstacles. When operating underwater, its hydrodynamic shape reduces water resistance and improves propulsion efficiency. When operating in the air, its streamlined shell reduces air resistance, lowers flight energy consumption, and improves flight stability and endurance.

[0054] Specific implementation method five: Combination Figures 1 to 9 This embodiment describes a streamlined housing 5 that further includes a tail deflector 5-3 and four deflector fins 5-4. The tail deflector 5-3 is disposed at the bottom of the housing body, and four deflector fins 5-4 are evenly arranged along the circumference of the outer side of the tail deflector 5-3. The ends of the four deflector fins 5-4 are all mounted on the bottom of the housing body. Other components and connections are the same as those in the first, second, third, or fourth embodiments.

[0055] Specific implementation method six: combination Figures 1 to 9 The present embodiment is described. The watertight compartment 2 of the present embodiment comprises a cylindrical bulkhead 2-1, an upper hatch cover 2-2, a lower hatch cover 2-3, a limit bracket 2-4 and two O-rings. The upper hatch cover 2-2 and the lower hatch cover 2-3 are both annular plate structures. The upper hatch cover 2-2 and the lower hatch cover 2-3 are respectively mounted on the upper and lower ends of the cylindrical bulkhead 2-1. Two watertight ring grooves 2-5 are respectively provided on the upper surface of the upper hatch cover 2-2 and the lower surface of the lower hatch cover 2-3. The two O-rings are respectively embedded in the two watertight ring grooves. In slot 2-5, the upper hatch 2-2 and lower hatch 2-3 are detachably connected to the upper base 3 and lower base 4, respectively. The interior of the cylindrical bulkhead 2-1 is a compartment 2-6, within which is disposed a limit bracket 2-4. The limit bracket 2-4 is mounted on the inner wall of the cylindrical bulkhead 2-1. The limit bracket 2-4 comprises a transverse plate, an upper vertical plate, and two lower vertical plates. The upper vertical plate is disposed at the top of the transverse plate to form a battery compartment 2-7 and a circuit board compartment 2-8. Two lower vertical plates are disposed at each end of the bottom of the transverse plate to form a flight control compartment 2-9. With this arrangement, the watertight compartment is specifically designed based on the overall operational requirements of the aircraft, aiming to provide reliable waterproof protection for key internal components and to fit well with other key structures of the aircraft. The shape and size of the watertight compartment have been carefully planned. Its shape is carefully considered, taking into account the multi-link self-locking mechanism and streamlined hull of the vehicle. Precise spatial planning ensures that the watertight compartment seamlessly integrates into the overall structure of the vehicle, without compromising the flexibility of the multi-link self-locking mechanism while perfectly aligning with the streamlined hull. This ensures the overall hydrodynamic performance and mechanical stability of the vehicle when operating underwater, on land, and in the air. Its dimensions are determined by the specifications and quantity of the components housed within, to ensure the installation and waterproofing of components such as the power supply battery and control circuit board. Other components and connections are identical to those in Specific Embodiments 1, 2, 3, 4, or 5.

[0056] The watertight compartment integrates a variety of key modules: a 12V aircraft model battery, with its high energy density and stable output characteristics, powers the aircraft in all operating modes; the control module contains an STM32 microcontroller and a Pixhawk flight control system. The former collects and processes sensor data and controls the motion state, while the latter is responsible for flight attitude calculation and control in aerial mode; the electronic speed controller adjusts the motor speed in real time to adapt to the power requirements of different environments; the wireless communication module realizes reliable wireless data transmission in all motion modes, facilitating remote control of the aircraft and receiving feedback information, ensuring its safe and stable operation.

[0057] Specific implementation method seven: combination Figures 1 to 9 To describe this embodiment, the arm folding mechanism 1 of this embodiment includes a bracket 1-4, an arm folding drive mechanism 1-1, four arms 1-2, and four propeller assemblies 1-3. The arm folding drive mechanism 1-1 is mounted in the middle of the bracket 1-4. Four arms 1-2 are evenly arranged along the circumference of the outer side of the bracket 1-4. The head ends of the four arms 1-2 are connected to the bracket 1-4 for vertical rotation. Four propeller assemblies 1-3 are respectively mounted at the ends of the four arms 1-2. The arm folding drive mechanism 1-1 is simultaneously connected to the head ends of the four arms 1-2 to drive the four arms 1-2 to swing upward and / or downward. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, or sixth embodiments.

[0058] Specific implementation method eight: combination Figures 1 to 9 Describing this embodiment, the arm folding drive mechanism 1-1 of this embodiment includes a central axis steering gear, a worm 1-1-1 and a turbine 1-1-2. The central axis steering gear is installed inside the watertight compartment 2. The upper surface of the upper base 3 is provided with a central axis steering gear shaft mounting hole. The bracket 1-4 is a circular sleeve structure. Four groups of U-shaped frames are evenly distributed along the circumference on the outside of the bracket 1-4. The lower optical axis part of the worm 1-1-1 is rotatably connected to the inner hole of the bracket 1-4 through a connecting bearing. The central axis steering gear shaft is connected to the lower end of the worm 1-1-1 through a coupling. The turbine 1-1-2 includes a toothed worm gear body and a rectangular rod-shaped structure integrally formed with the toothed worm gear body. A worm gear connecting pin hole is processed at the center of the toothed worm gear body. The toothed worm gear body is hinged to the corresponding U-shaped frame on the bracket 1-4 through a pin. The upper threaded section of the worm 1-1-1 is simultaneously engaged with the toothed worm gear bodies of the four turbines 1-1-2. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth or seventh embodiment.

[0059] Specific implementation method nine: Combination Figures 1 to 9To describe this embodiment, each propeller assembly 1-3 of this embodiment includes a brushless motor base 1-3-1, a water-air multiplexing reduction module 1-3-2, a propeller base 1-3-3, and a three-blade propeller 1-3-4. The brushless motor base 1-3-1 is mounted on the end of the machine arm 1-2, the water-air multiplexing reduction module 1-3-2 is mounted on the brushless motor base 1-3-1, the output execution end of the water-air multiplexing reduction module 1-3-2 is connected to the propeller base 1-3-3, and the three-blade propeller 1-3-4 is mounted on the upper end of the propeller base 1-3-3. With this arrangement, the reduction module mechanism optimizes the propeller thrust according to the high viscosity and low compression characteristics of the medium faced by the aerial propeller when operating in water, so that the propeller can maintain good propulsion performance in water. Other components and connection relationships are the same as those of specific embodiments one, two, three, four, five, six, seven, or eight.

[0060] Specific implementation method ten: Combination Figures 1 to 9The water-air reuse reduction module 1-3-2 of the present embodiment includes a brushless motor 1-3-5, a reducer housing 1-3-6, a transmission shaft 1-3-7, a forward bearing 1-3-8, a connecting bearing 1-3-9, a reverse bearing 1-3-10, a propeller fixing seat 1-3-11, a sun gear 1-3-12, a ring gear 1-3-13, a plurality of planetary gears 1-3-14 and a plurality of planetary gear shafts 1-3-15. The reducer housing 1-3-6 is vertically mounted on the brushless motor base 1-3-5. On the upper surface of 3-1, the brushless motor 1-3-5 is vertically installed inside the reducer housing 1-3-6, the transmission shaft 1-3-7 is vertically set directly above the brushless motor 1-3-5, the lower end of the transmission shaft 1-3-7 is connected to the rotating shaft of the brushless motor 1-3-5 through a coupling, the forward bearing 1-3-8 is installed at the lower part of the transmission shaft 1-3-7, the sun gear 1-3-12 is installed on the forward bearing 1-3-8, the gear ring 1-3-13 is coaxially installed on the upper part of the inner wall of the reducer housing 1-3-6, and the gear ring 1-3-13 is connected to the reducer housing 1-3-6. A plurality of planetary gears 1-3-14 are evenly arranged along the circumferential direction between the sun gear 1-3-12. The planetary gears 1-3-14 are meshed with the ring gear 1-3-13 and the sun gear 1-3-12 at the same time. A plurality of coaxially arranged planetary gear shafts 1-3-15 are installed in the middle of the upper surface of the planetary gear 1-3-14. A vertically arranged transmission shaft mounting hole is opened in the center of the upper surface of the propeller fixing seat 1-3-11. The connecting bearing 1-3-9 is embedded in the transmission shaft mounting hole. The upper part of the transmission shaft 1-3-7 passes through the transmission shaft mounting hole and passes through The propeller mount 1-3-11 is rotationally connected via connecting bearing 1-3-9. The lower surface of propeller mount 1-3-11 is fixedly connected to the upper ends of multiple planetary gear shafts 1-3-15. The upper end of propeller mount 1-3-11 is fixedly connected to the lower end of propeller base 1-3-3. A bearing mounting hole is located at the bottom center of propeller base 1-3-3. Counter bearing 1-3-10 is inserted into the bearing mounting hole of propeller base 1-3-3. The top end of drive shaft 1-3-7 is connected to counter bearing 1-3-10. This arrangement creates a two-speed transmission chain in the reduction module. The primary speed chain drives at the original motor speed. The primary speed bearing connects the motor output shaft to the main output shaft. The reverse locking function of the one-way bearing transmits high speeds to meet the requirements of driving in air. The reduction chain, combined with the special-shaped output shaft and one-way bearing, mechanically achieves speed control and direction limitation, providing stable and powerful propulsion in underwater environments, better adapting to the high viscosity and low compression characteristics of water media. Furthermore, the two transmission chains coexist by placing one-way bearings in opposite directions. This saves space while achieving a purely mechanical speed change, improving cross-domain navigation stability and simplifying the operating system. The remaining components and connections are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth embodiments.

[0061] The reduction module uses the forward and reverse rotation of the brushless motor to drive two independent transmission chains, achieving dynamic switching of power output. When the motor rotates in the forward direction, the primary speed chain activates: the motor output shaft transmits its original speed directly to the cup-shaped structure via a fixed rod-shaped primary speed drive shaft. The outer ring teeth of the cup-shaped structure mesh with the outer ring of the one-way bearing. This unlocks the one-way bearing in the forward direction, transmitting the original speed power to the main output shaft. Simultaneously, the reduction chain, due to the motor's rotation direction being opposite to the locking direction of the one-way bearing in the reduction chain, idles the planetary gear set. When the motor rotates in the reverse direction, the cup-shaped structure of the primary speed chain disengages the one-way bearing, and power is transferred to the reduction chain. The motor output shaft drives the planetary gear reduction set, whose internal gear is fixed to the frustum-shaped transmission element, transmitting the reduced speed to the special-shaped drive shaft. The teeth at the end of the planetary gear mesh with the outer ring of the other one-way bearing. This one-way bearing is now unlocked due to reverse rotation, ultimately outputting the reduced speed power to the main output shaft. Through the selective forward and reverse engagement of the one-way bearing, the system can automatically switch between the original speed and reduction mode relying solely on the mechanical structure. The compact layout of the planetary gear set and the spatially optimized design of the cone transmission ensure that the components do not interfere with each other, and the modular architecture enables it to adapt to different reduction mechanisms to meet diverse power requirements.

[0062] How it works

[0063] Combine Figures 1 to 9 The working principle of the complex multi-habitat cross-domain vehicle based on multi-link self-locking and deceleration device of the present invention is described: the robot includes three working modes, namely: underwater vehicle mode, aircraft mode and unmanned vehicle mode.

[0064] Unmanned vehicle mode

[0065] When in unmanned vehicle mode, the two paddles and front and rear wheels are on the ground, and the base connecting rod is not in contact with the ground. The vehicle can move flexibly on the ground by controlling the rotation of the paddles. At this time, the four worm-type arms rotate to 0 degrees, that is, they are located in the vertical plane.

[0066] Land-air switch

[0067] The process of switching from unmanned vehicle mode to aircraft mode is as follows: the four worm-type arms 10 are adjusted to the horizontal plane, and the three-blade propeller is driven to rotate off the ground by the brushless motor. During the lift-off process, the connecting rod servo is started to rotate the propeller and the front and rear wheels 90 degrees from the horizontal plane to the vertical plane, completing the switch to aircraft mode.

[0068] Air-water cross-domain

[0069] The process of switching from underwater vehicle mode to aircraft mode is as follows: activating the central axis servo, adjusting the four worm-type arms to the horizontal plane, activating the brushless motor and the propeller motor, and using the combined thrust of the three-blade propeller and the propeller to push the robot out of the water, and then fly from underwater into the air, completing the cross-domain mode switch from water to air;

[0070] Water-land cross-domain

[0071] The process of switching from underwater vehicle mode to aircraft mode is as follows:

[0072] When the robot approaches land from water, it starts the connecting rod servo to rotate the propeller to the horizontal plane, and at the same time starts the central axis servo to rotate the arm to the vertical plane, completing the water-to-land cross-domain mode switch.

[0073] Other modes and the reverse cross-domain switching process are obvious and will not be described in detail.

[0074] Operation process of the arm-folding propeller multi-route vehicle of the present invention Figure 9 As shown, the initial mode on land is the unmanned vehicle mode. After switching to the aircraft mode, the land-air cross-domain is realized; at the air-water interface, the aircraft mode is switched to the underwater vehicle mode, the air-water cross-domain is realized, and the underwater vehicle mode is entered; at the water-air interface, the underwater vehicle mode is switched to the drone mode, and the water-air cross-domain is realized.

[0075] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multi-rod self-locking and decelerating device-based multi-domain multi-route vehicle, comprising an arm folding mechanism (1), a watertight compartment (2), an upper base (3) and a lower base (4), wherein the upper base (3) and the lower base (4) are respectively mounted at the upper and lower ends of the watertight compartment (2), the arm folding mechanism (1) is mounted at the top middle portion of the upper base (3), and an arm folding drive mechanism (1-1) in the arm folding mechanism (1) drives four arms (1-2) and four propeller assemblies (1-3) connected to the ends of the four arms (1-2) to achieve folding or unfolding actions; and is characterized in that: It also includes a streamlined shell (5), a multi-link self-locking mechanism (6), two wheel-paddle assemblies (7) and two universal auxiliary wheels (8). The arm folding drive mechanism (1-1), the watertight compartment (2), the upper base (3) and the lower base (4) are all located inside the streamlined shell (5). Four arm mounting holes (5-1) are evenly distributed along the circumferential direction on the upper side of the streamlined shell (5). The four arms (1-2) respectively pass through the four arm mounting holes (5-1) and extend to the outside of the streamlined shell (5). The middle part of the lower end of the lower base (4) is provided with a multi-link self-locking mechanism (6). ), four connecting rod mounting holes (5-2) are evenly distributed along the circumferential direction on the lower side surface of the streamlined shell (5), and four execution ends of the multi-link self-locking mechanism (6) respectively pass through the four connecting rod mounting holes (5-2) and extend to the outside of the streamlined shell (5) and the left and right wheel-paddle assemblies (7) and the front and rear universal auxiliary wheels (8), thereby driving the two wheel-paddle assemblies (7) to rotate 0-90 degrees around the Z axis in the XOZ plane, and the two universal auxiliary wheels (8) to rotate 0-90 degrees around the Z axis in the YOZ plane, so as to realize the rapid switching between the land mode and the underwater mode of the vehicle.

2. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 1, characterized in that: The multi-link self-locking mechanism (6) comprises a cross-shaped crossbar (6-1), a connecting rod driving assembly (6-2), two auxiliary wheel connecting rods (6-3), two wheel-paddle connecting rods (6-4), four base connecting rods (6-5) and two central axis connecting rods (6-6). A horizontally arranged cross-shaped crossbar (6-1) is provided below the lower base (4). Four connecting rod connecting blocks (6-1-1) are respectively provided at the upper parts of the four rod ends of the cross-shaped crossbar (6-1). The connecting rod (6-3) and the wheel-paddle connecting rod (6-4) are both provided with a U-shaped groove at their head ends. The four connecting rod connecting blocks (6-1-1) are respectively hinged to the middle of the U-shaped groove at the head ends of the corresponding auxiliary wheel connecting rod (6-3) and / or the wheel-paddle connecting rod (6-4) through four pins. Four supporting ears (4-1) are evenly arranged on the lower surface of the lower base (4) along the circumferential direction. The head ends of the four base connecting rods (6-5) are respectively hinged to the four supporting ears (4-1) through four pins. The ends of the four base connecting rods (6-5) are respectively hinged to the ends of the U-shaped grooves of the corresponding auxiliary wheel connecting rods (6-3) and / or the wheel-paddle connecting rods (6-4) through four pins. The two middle axis connecting rods (6-6) correspond to the two wheel-paddle connecting rods (6-4) one by one. The ends of the two middle axis connecting rods (6-6) are respectively hinged to the pins connecting the base connecting rod (6-5) and the wheel-paddle connecting rod (6-4). The head ends of the two middle axis connecting rods (6-6) are respectively hinged to the pins connecting the base connecting rod (6-5) and the wheel-paddle connecting rod (6-4). The connecting rod drive assembly (6-2) is hinged to the output end of the connecting rod drive assembly (6-2) through two pins. The connecting rod drive assembly (6-2) is installed on the lower base (4) and connected to the cross-shaped cross bar (6-1). The connecting rod drive assembly (6-2) controls the cross-shaped cross bar (6-1) to move up and down, thereby achieving the closing and / or unfolding of the two auxiliary wheel connecting rods (6-3) and the two paddle connecting rods (6-4) as the cross-shaped cross bar (6-1) rises and / or falls.

3. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 2, characterized in that: The connecting rod drive assembly (6-2) includes a connecting rod servo (6-2-1), a middle shaft stud (6-2-2), a transmission nut (6-2-3) and four limit columns (6-2-4). The connecting rod servo (6-2-1) is installed in the middle of the top of the lower base (4). A middle shaft stud mounting hole is provided in the center of the upper surface of the lower base (4). The middle shaft stud (6-2-2) is vertically arranged directly below the lower base (4). The top of the middle shaft stud (6-2-2) passes through the middle shaft stud mounting hole and is connected to the rotating shaft of the connecting rod servo (6-2-1) through a coupling. The transmission nut (6-2-3) is threadedly connected to the middle shaft stud (6-2-2). Two symmetrically arranged middle axis connecting rod connection seats are provided on the side of the transmission nut (6-2-3), and the two middle axis connecting rod connection seats are respectively hinged to the head end of the middle axis connecting rod (6-6) through two pin shafts. Four vertically arranged limit column mounting holes (6-1-1) are respectively provided on the upper surfaces of the four rod ends of the cross-shaped cross bar (6-1). Four circumferentially evenly distributed and vertical limit columns (6-2-4) are provided on the outer side below the lower base (4). The top ends of the four limit columns (6-2-4) are fixedly connected to the lower surface of the lower base (4), and the lower ends of the four limit columns (6-2-4) can be slidably inserted into the four limit column mounting holes (6-1-1).

4. A reconfigured multi-habitat cross-domain vehicle based on a multi-link self-locking and deceleration device according to claim 1 or 3, characterized in that: The streamlined shell (5) comprises a shell main body part and a shell dome part, the shell main body part is a cylindrical structure, the shell dome part is a hemispherical structure, a coaxially arranged shell dome part is provided on the top of the shell main body part, and the shell dome part is smoothly transitionally connected to the shell main body part.

5. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 4 is characterized by: The streamlined housing (5) further comprises a guide tail cover (5-3) and four guide fins (5-4). The guide tail cover (5-3) is arranged at the bottom of the housing main body. Four guide fins (5-4) are evenly arranged on the outer side of the guide tail cover (5-3) along the circumferential direction. The ends of the four guide fins (5-4) are all mounted on the bottom of the housing main body.

6. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 5, characterized in that: The watertight compartment (2) comprises a cylindrical bulkhead (2-1), an upper hatch cover (2-2), a lower hatch cover (2-3), a limiting bracket (2-4) and two O-rings. The upper hatch cover (2-2) and the lower hatch cover (2-3) are both annular plate structures. The upper hatch cover (2-2) and the lower hatch cover (2-3) are respectively installed at the upper and lower ends of the cylindrical bulkhead (2-1). Two watertight ring grooves (2-5) are respectively provided on the upper surface of the upper hatch cover (2-2) and the lower surface of the lower hatch cover (2-3). The two O-rings are respectively embedded in the two watertight ring grooves (2-5). The hatch cover (2-2) and the lower hatch cover (2-3) are detachably connected to the upper base (3) and the lower base (4), respectively. The interior of the cylindrical bulkhead (2-1) is a cabin (2-6). A limit bracket (2-4) is arranged in the cabin (2-6). The limit bracket (2-4) is installed on the inner wall of the cylindrical bulkhead (2-1). The limit bracket (2-4) includes a transverse plate, an upper vertical plate and two lower vertical plates. The upper vertical plate is arranged at the top of the transverse plate to form a battery compartment (2-7) and a circuit board compartment (2-8). Two lower vertical plates are respectively arranged at the two ends of the bottom of the transverse plate to form a flight control compartment (2-9).

7. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 6, characterized in that: The arm folding mechanism (1) comprises a bracket (1-4), an arm folding drive mechanism (1-1), four arms (1-2) and four propeller assemblies (1-3). The arm folding drive mechanism (1-1) is installed in the middle of the bracket (1-4). Four arms (1-2) are evenly arranged on the outside of the bracket (1-4) along the circumferential direction. The head ends of the four arms (1-2) are connected to the bracket (1-4) for vertical rotation. Four propeller assemblies (1-3) are respectively installed at the ends of the four arms (1-2). The arm folding drive mechanism (1-1) is simultaneously connected to the head ends of the four arms (1-2) to drive the four arms (1-2) to swing upward and / or downward.

8. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 7, characterized in that: The arm folding drive mechanism (1-1) includes a central axis steering gear, a worm gear (1-1-1) and a turbine (1-1-2). The central axis steering gear is installed inside the watertight compartment (2). The upper surface of the upper base (3) is provided with a central axis steering gear rotating shaft installation hole. The bracket (1-4) is a circular sleeve structure. Four groups of U-shaped frames are evenly distributed along the circumference on the outer side of the bracket (1-4). The lower optical axis part of the worm gear (1-1-1) is rotatably connected to the inner hole of the bracket (1-4) through a connecting bearing. The central axis steering gear rotating shaft is connected to the lower end of the worm (1-1-1) through a coupling. The turbine (1-1-2) includes a toothed worm gear body and a rectangular rod-shaped structure integrally formed with the toothed worm gear body. A worm gear connecting pin hole is processed at the center of the toothed worm gear body. The toothed worm gear body is hinged to the corresponding U-shaped frame on the bracket (1-4) through a pin shaft. The upper threaded section of the worm (1-1-1) is simultaneously engaged with the toothed worm gear bodies of the four turbines (1-1-2).

9. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 8, characterized in that: Each propeller assembly (1-3) includes a brushless motor base (1-3-1), a water-air multiplexing reduction module (1-3-2), a propeller base (1-3-3) and a three-blade propeller (1-3-4). The brushless motor base (1-3-1) is mounted on the end of the machine arm (1-2), the water-air multiplexing reduction module (1-3-2) is mounted on the brushless motor base (1-3-1), the output execution end of the upper end of the water-air multiplexing reduction module (1-3-2) is connected to the propeller base (1-3-3), and the three-blade propeller (1-3-4) is mounted on the upper end of the propeller base (1-3-3).

10. The multi-rod self-locking and deceleration device-based reconfigured multi-habitat cross-domain vehicle according to claim 9, characterized in that: The water-air reuse reduction module (1-3-2) includes a brushless motor (1-3-5), a reducer housing (1-3-6), a transmission shaft (1-3-7), a forward bearing (1-3-8), a connecting bearing (1-3-9), a reverse bearing (1-3-10), a propeller fixing seat (1-3-11), a sun gear (1-3-12), a ring gear (1-3-13), a plurality of planetary gears (1-3-14) and a plurality of planetary gear shafts (1-3-15). The reducer housing (1-3-6) is vertically mounted on the upper surface of the brushless motor base (1-3-1). The brushless motor (1-3-5) is vertically installed inside the reducer housing (1-3-6), the transmission shaft (1-3-7) is vertically arranged directly above the brushless motor (1-3-5), the lower end of the transmission shaft (1-3-7) is connected to the rotating shaft of the brushless motor (1-3-5) through a coupling, the forward bearing (1-3-8) is installed at the lower part of the transmission shaft (1-3-7), the sun gear (1-3-12) is installed on the forward bearing (1-3-8), the ring gear (1-3-13) is coaxially installed on the upper part of the inner wall of the reducer housing (1-3-6), and the ring gear (1-3-13) is connected to the sun gear (1-3-12). A plurality of planetary gears (1-3-14) are evenly arranged along the circumferential direction between the sun gear (1-3-12), and the planetary gears (1-3-14) are meshed with the ring gear (1-3-13) and the sun gear (1-3-12) at the same time. A plurality of coaxially arranged planetary gear shafts (1-3-15) are installed in the middle of the upper surface of the planetary gear (1-3-14). A vertically arranged transmission shaft mounting hole is opened in the center of the upper surface of the propeller fixing seat (1-3-11), and the connecting bearing (1-3-9) is embedded in the transmission shaft mounting hole. The upper part of the transmission shaft (1-3-7) passes through the transmission shaft mounting hole and passes through the connecting bearing. The connecting bearing (1-3-9) is rotationally connected to the propeller fixing seat (1-3-11), the lower surface of the propeller fixing seat (1-3-11) is fixedly connected to the upper ends of multiple planetary gear shafts (1-3-15), the upper end of the propeller fixing seat (1-3-11) is fixedly connected to the lower end of the propeller base (1-3-3), a bearing mounting hole is opened at the center of the bottom of the propeller base (1-3-3), the reverse bearing (1-3-10) is embedded in the bearing mounting hole of the propeller base (1-3-3), and the top end of the transmission shaft (1-3-7) is connected to the reverse bearing (1-3-10).

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