A land-air amphibious transformable unmanned aerial vehicle based on a flexible phase change switching actuator and a method thereof

Abstract

The application discloses a land-air amphibious morphing unmanned aerial vehicle based on a flexible phase change switching actuator. The unmanned aerial vehicle comprises four variable stiffness components, a driving component, a first frame, a motion executing component, a sliding component and a clamp; the driving component is arranged on the sliding component, the driving component is provided with the first frame, the periphery of the first frame is provided with a plurality of motion executing components, each motion executing component is connected with the first frame through a respective variable stiffness component, and both ends of the variable stiffness component are provided with a clamp for connecting the motion executing component and the first frame. The land-air amphibious morphing unmanned aerial vehicle based on the flexible phase change switching actuator can realize repeated reversible working state switching and land-air amphibious motion, has great significance for the motion and work of the unmanned aerial vehicle in a complex environment, and has higher self-sustaining ability and adaptability to the complex environment, and has great application prospect.

Description

Technical Field

[0001] This invention relates to a reconfigurable amphibious unmanned aerial vehicle (UAV) in the field of unmanned aerial vehicles (UAVs), specifically to a land-air amphibious transformable UAV based on a flexible phase-change switching actuator. Background Technology

[0002] Unmanned aerial vehicles (UAVs) possess advantages such as high cost-effectiveness, beyond-visual-range flight, convenience, and efficiency, and are widely used in various monitoring and transportation tasks, demonstrating significant application value. Traditional quadcopter UAVs can only achieve single-mode flight, which not only affects endurance but also results in poor adaptability to complex unstructured environments. UAVs with amphibious capabilities combine the low energy consumption of land-based movement with the flexibility of flight, and improve obstacle-crossing ability in complex environments. However, most existing amphibious UAVs suffer from structural redundancy, requiring two independent execution systems for air flight and land movement. This not only increases the load, affecting the payload capacity and endurance time of the amphibious UAV, but also makes them bulky and difficult to maneuver in narrow areas on land, resulting in poor maneuverability. Furthermore, the deformable structures in existing amphibious UAVs mainly use rigid mechanisms and rigid drive components such as motors, requiring complex transmission structures. This not only results in poor deformability flexibility but also makes them heavy and bulky, with poor resistance to external impacts and the inability to self-repair once the deformable structure breaks. Summary of the Invention

[0003] The technical problem solved by this invention is to provide a land-air amphibious deformable unmanned aerial vehicle (UAV) based on a flexible phase change switching actuator. This invention combines two phase change processes, utilizing reversible liquid-gas phase change to drive deformation and reversible solid-liquid phase change to lock the UAV into different deformable states. A single actuator system enables the land-air amphibious UAV to reversibly switch between two working states using phase change-based deformation, thus solving the problem of structural redundancy in existing land-air amphibious UAVs. Furthermore, by employing a flexible driving component and deformable structure based on phase change, this invention addresses the problems of poor deformation flexibility, heavy size, and lack of self-repair capability in existing land-air amphibious UAVs. This invention provides a land-air amphibious UAV solution with flexible deformable states, a compact and lightweight structure, and self-repairable arms.

[0004] The technical solution adopted in this invention is:

[0005] The amphibious deformable UAV based on a flexible phase change actuator includes four variable stiffness components, a drive component, a first frame, a motion execution component, a sliding component, and a clamp. The drive component is mounted on the sliding component, and the first frame is arranged on the drive component. Multiple motion execution components are arranged around the outer periphery of the first frame. Each motion execution component is connected to the first frame via its own variable stiffness component, and each end of the variable stiffness component is provided with a clamp for connecting the motion execution component and the first frame.

[0006] The driving component mainly consists of a driving component housing, a liquid-gas phase change working fluid, and a polyimide heating film. The polyimide heating film is installed on the lower surface of the inner cavity of the driving component housing. The housing is filled with the liquid-gas phase change working fluid. The first frame is fixedly arranged on the top surface of the driving component housing. The driving component housing includes a first driving component housing, a second driving component housing, and a third driving component housing fixedly connected from top to bottom. The first frame is fixedly connected to the top surface of the first driving component housing. A driving housing is formed between the first, second, and third driving component housings. A cavity is opened at the lower end of the first driving component housing, and a through groove is opened in the middle of the second driving component housing. The cavity of the first driving component housing and the through groove of the second driving component housing are coaxially connected to form a driving cavity inside the driving housing. The driving cavity is filled with the liquid-gas phase change working fluid. The polyimide heating film is fixedly arranged in the through groove of the second driving component housing and located at the bottom of the driving cavity. The lower surface of the polyimide heating film and the upper surface of the third driving component housing are closely attached. The polyimide heating film is a rigid film that cannot be deformed.

[0007] The sliding component mainly consists of a third frame, a second driven wheel, and a limit nut. Each of the four corners of the third frame is equipped with a second driven wheel that can be rotated. Each of the four corners of the third frame is fixedly equipped with a vertically arranged guide rail. The upper end of the guide rail is threaded and passes through the drive component and the first frame before connecting to the limit nut.

[0008] The variable stiffness component mainly consists of a variable stiffness component shell, a stiffness-regulating heating wire, and a solid-liquid phase-change working fluid. The variable stiffness component shell contains a relatively enclosed variable stiffness cavity, and the shell itself is internally fitted with the stiffness-regulating heating wire. The cavity is filled with the solid-liquid phase-change working fluid. The inner and outer ends of the variable stiffness component shell are connected to a clamp, a third frame, and a motion execution component, respectively. The variable stiffness component shell includes a first variable stiffness component shell and a second variable stiffness component shell, with the first variable stiffness component shell positioned above and fixedly connected to the second variable stiffness component shell.

[0009] The amphibious transformable UAV also includes a control component, which mainly consists of studs, a control circuit board, MOSFETs, and a lithium battery. The control circuit board is fixedly mounted on the first frame by studs, and the control circuit board is equipped with MOSFETs and a lithium battery, which are electrically connected.

[0010] The stiffness-adjustable heating wire is electrically connected to the MOS transistor of the control component by passing a copper wire through the housing of the first variable stiffness component, and the polyimide heating film is electrically connected to the MOS transistor of the control component by passing a copper wire through the housing of the second drive component.

[0011] The motion execution component mainly consists of a propeller motor, a second frame, and a first driven wheel. The propeller motor is fixedly mounted on the horizontally placed second frame. The propeller motor includes an output shaft, a propeller, and a motor. The propeller of the propeller motor is mounted on top of the motor via the output shaft and is electrically connected to the motor. The motor of the propeller motor is electrically connected to the control circuit board. The first driven wheel is fixedly connected to the bottom of the horizontally placed second frame and is used to connect to the ground. The end of the second frame near the first frame is fixedly connected to the clamp and the variable stiffness component.

[0012] The drive component utilizes the internal pressure provided by the reversible liquid-gas phase change of the liquid-gas working medium under the control of the polyimide heating film to drive the entire land-air amphibious deformable UAV to reversibly rise / fall along the sliding pair formed by the third frame and the first frame.

[0013] The fixture mainly consists of an upper fixture and a lower fixture; the upper fixture and the lower fixture are fixedly installed as a connecting device, and the two ends of each variable stiffness component are fixedly and securely connected to the first frame and the second frame respectively through two fixtures.

[0014] Amphibious transforming drones mainly operate in two modes:

[0015] First working state: The liquid-gas phase change working fluid is in a liquid state, causing the driving component to be in a liquefied and contracted state. The variable stiffness components are all fixed in a horizontal straight line shape, so the land-air amphibious deformable UAV is in the first working state for aerial flight. In the first working state, the four propeller motors drive their own propellers to provide downward force perpendicular to the ground. By controlling the four propeller motors to provide different force outputs, the land-air amphibious deformable UAV can achieve controllable aerial flight.

[0016] The second working state: The polyimide heating film is heated, and the liquid-gas phase change working fluid is transformed into a vaporized state by the heating effect of the polyimide heating film. This causes the driving component to expand and deform through vaporization, raising the first frame relative to the sliding component. At the same time, the stiffness control heating wire and the solid-liquid phase change working fluid in the variable stiffness component are heated and condensed in sequence, causing the outer end of the variable stiffness component to droop relative to the inner end and maintain a drooping state. This makes the first passive wheel contact the ground, and the amphibious morphing UAV is in the second working state for land movement. In the second working state, the force perpendicular to the ground generated by the four propeller motors cancels out the gravity of the amphibious morphing UAV, while providing a force parallel to the ground. By controlling the four propeller motors to provide different force outputs, the first passive wheel contacts the ground and rolls relative to it, and the second passive wheel is driven to roll on the ground, thereby enabling the amphibious morphing UAV to achieve controllable land movement.

[0017] Simultaneously, the stiffness-regulating heating wire inside the variable stiffness component is heated, causing the solid-liquid phase change working medium to undergo a solid-liquid phase change and become liquid. This causes the outer shell of the variable stiffness component to deform, thereby causing the outer end of the variable stiffness component to bend downward relative to the inner end under the action of gravity until the first passive wheel contacts the ground. After that, the heating of the stiffness-regulating heating wire inside the variable stiffness component is stopped, causing the solid-liquid phase change working medium to cool and solidify into a solid state. This causes the outer shell of the variable stiffness component to deform and solidify, causing the variable stiffness component to condense and lock into a downward bending shape, which is a drooping state.

[0018] The beneficial effects of this invention are:

[0019] 1. The present invention is an amphibious deformable UAV based on a flexible phase change actuator that combines two working states: land movement and air flight. This allows the UAV to have both higher self-sufficiency and adaptability to complex environments.

[0020] 2. The present invention is a land-air amphibious deformable UAV based on a flexible phase change switching actuator. It combines two phase change effects, using reversible liquid-gas phase change to drive deformation and reversible solid-liquid phase change to lock in different deformation states. It uses a single execution system to enable the land-air amphibious deformable UAV to reversibly switch between two working states using phase change-based deformation, thus solving the problem of structural redundancy in existing land-air amphibious UAVs.

[0021] 3. The present invention is an amphibious deformable UAV based on a flexible phase change switching actuator. It adopts a flexible drive component and deformable structure based on phase change, which can be flexibly fixed in different deformable states. At the same time, the bendable and retractable arms allow the UAV to pass through narrower areas when moving on land. Moreover, the overall structure is relatively lightweight and compact, solving the problems of poor deformation flexibility and heavy size of existing amphibious UAV deformable structures.

[0022] 4. The deformable arm of the amphibious deformable UAV based on the flexible phase change switching actuator of this invention can achieve self-repair after the fracture of the working fluid in the local solid-liquid phase change through reversible solid-liquid phase change, thereby improving the durability of the deformable structure in actual use. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the amphibious transforming UAV of the present invention;

[0024] Figure 2 This is an exploded view of the structure of the amphibious transforming unmanned aerial vehicle of the present invention.

[0025] Figure 3 This is a partial cross-sectional schematic diagram of the variable stiffness component in this invention;

[0026] Figure 4 This is an exploded view of the variable stiffness component in this invention;

[0027] Figure 5 This is a partial cross-sectional schematic diagram of the driving component in this invention;

[0028] Figure 6 This is an exploded view of the driving component in this invention;

[0029] Figure 7 This is a schematic diagram illustrating the principle of the reversible switching between two working states of the amphibious transforming UAV of the present invention.

[0030] Figure 8 This is an experimental digital photograph showing the reversible switching between two working states of the amphibious transforming UAV of this invention.

[0031] In the diagram: Variable stiffness component 1, variable stiffness component housing 11, first variable stiffness component housing 111 and second variable stiffness component housing 112, stiffness adjustment heating wire 12, solid-liquid phase change working fluid 13, drive component 2, drive component housing 21, first drive component housing 211, second drive component housing 212, third drive component housing 213, liquid-gas phase change working fluid 22, polyimide heating film 23, control component 3, first frame 31, stud 32, control circuit board 33, MOSFET 34, lithium battery 35, motion execution component 4, propeller motor 41, second frame 42, first driven wheel 43, sliding component 5, third frame 51, second driven wheel 52, limit nut 53, clamp 6, upper clamp 61, lower clamp 62. Detailed Implementation

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1 and Figure 2As shown, the structure of the amphibious deformable UAV based on a flexible phase change actuator of the present invention includes four variable stiffness components 1, a drive component 2, a first frame 31, four motion execution components 4, a sliding component 5, and eight clamps 6. The drive component 2 is mounted on the sliding component 5, and the first frame 31 is arranged on the drive component 2. Multiple motion execution components 4 are arranged on the outer periphery of the first frame 31. Each motion execution component 4 is connected to the first frame 31 via its own variable stiffness component 1, and each end of the variable stiffness component 1 is provided with a clamp 6 for connecting the motion execution component 4 and the first frame 31.

[0034] like Figure 5 and Figure 6 As shown, the drive component 2 is mainly composed of a drive component housing 21, a liquid-gas phase change working medium 22 and a polyimide heating film 23. The polyimide heating film 23 is installed on the lower surface of the inner cavity of the drive component housing 21. The housing of the drive component housing 21 is filled with the liquid-gas phase change working medium 22. The first frame 31 is fixedly arranged on the top surface of the drive component housing 21.

[0035] The drive component housing 21 includes a first drive component housing 211, a second drive component housing 212, and a third drive component housing 213, which are fixedly connected from top to bottom. A first frame 31 is fixedly arranged on the top surface of the first drive component housing 211. The first frame 31 has five holes in its middle and is fixedly connected to the center of the top surface of the first drive component housing 211 by adhesive. The lower end of the second drive component housing 212 is fixedly connected to the third drive component housing 213. The first drive component housing 211, the second drive component housing 212, and the third drive component housing 213 form a drive housing. The lower end of the first drive component housing 211 has a cavity, and the middle of the second drive component housing 212 has a through groove. The cavity of the first drive component housing 211 and the through groove of the second drive component housing 212 are coaxially connected to form a drive cavity inside the drive housing. The drive cavity is filled with a liquid-gas phase change working fluid 22. The polyimide heating film 23 is fixedly disposed in the through groove of the second drive component housing 212 and located at the bottom of the drive cavity. The lower surface of the polyimide heating film 23 and the upper surface of the third drive component housing 213 are closely attached to each other. The polyimide heating film 23 is a rigid film that cannot be deformed.

[0036] The drive component housing 21 is elastic and has no fixed connection to the edge of the polyimide heating film 23, allowing fluid to pass through the gap between them.

[0037] The cavity wall at the lower end of the first drive component housing 211 is machined into a pleated structure that allows for axial elongation and contraction, enabling the first drive component housing 211 to elongate and contract axially under the influence of the liquid-gas phase change working fluid 22. The first drive component housing 211, the second drive component housing 212, and the third drive component housing 213 each have four rectangular arms arranged in a circumferential cross pattern for connecting the sliding component 5. Each of the four rectangular arms has a through-hole, through which the guide rail on the third frame 51 of the sliding component 5 can move.

[0038] The sliding component 5 mainly consists of a third frame 51, a second driven wheel 52, and a limit nut 53. Each of the four corners of the third frame 51 is equipped with a second driven wheel 52 that can be driven to rotate. Each of the four corners of the third frame 51 is fixedly mounted with a vertically arranged guide rail. The upper end of the guide rail is threaded and passes through the driving component 2 and the first frame 31 before connecting to the limit nut 53.

[0039] Specifically, the lower part of the third frame 51 is a circular plate structure with four rectangular arms arranged in a cross shape. The upper part of the third frame 51 has four threaded guide rails respectively set on the four rectangular arms. The amphibious deformable UAV includes a control component 3 with four holes. The four guide rails on the third frame 51 first pass through the four corresponding holes on the drive component 2, and then pass through the four corresponding holes on the control component 3 to form a sliding pair. Specifically, the first frame 31 has a flat plate with eight strip structures symmetrically distributed in a star shape. Four of the eight strip structures are long strips and four are short strips, which are staggered. The short strips are provided with holes. The long strips are used to fix and connect the variable stiffness component 1. The holes on the short strips are respectively passed through by the four guide rails on the third frame 51.

[0040] like Figure 3 and Figure 4 As shown, the variable stiffness component 1 mainly consists of a variable stiffness component housing 11, a stiffness-regulating heating wire 12, and a solid-liquid phase-change working medium 13. The variable stiffness component housing 11 has a relatively enclosed variable stiffness cavity, and the stiffness-regulating heating wire 12 is embedded inside the housing itself, while the cavity is filled with the solid-liquid phase-change working medium 13. The inner and outer ends of the variable stiffness component housing 11 are connected to a clamp 6, a third frame 51, and a motion execution component 4, respectively. The variable stiffness component housing 11 includes a first variable stiffness component housing 111 and a second variable stiffness component housing 112. The first variable stiffness component housing 111 is disposed on the upper end of the second variable stiffness component housing 112 and is fixedly connected to it.

[0041] The amphibious transformable drone also includes control components 3, such as Figure 2As shown, the control component 3 mainly consists of studs 32, a control circuit board 33, a MOSFET 34, and a lithium battery 35. The control circuit board 33 is fixedly mounted on the first frame 31 via studs 32. Specifically, the control circuit board 33 is positioned above the first frame 31 and is fixedly connected to the first frame 31 via studs 32. The control circuit board 33 is equipped with a MOSFET 34 and a lithium battery 35, which are electrically connected. The stiffness-adjustable heating wire 12 requires electrical connection, which is achieved by a copper wire passing through the housing 111 of the first variable stiffness component and connecting it to the MOSFET 34 of the control component 3. The polyimide heating film 23 also requires electrical connection, which is achieved by a copper wire passing through the housing 212 of the second drive component and connecting it to the MOSFET 34 of the control component 3.

[0042] The motion execution component 4 mainly consists of a propeller motor 41, a second frame 42, and a first driven wheel 43. The propeller motor 41 is fixedly mounted on the horizontally placed second frame 42. The propeller motor 41 includes an output shaft, a propeller, and a motor. The propeller of the propeller motor 41 is mounted on the motor through the output shaft and is electrically connected to the motor. The motor of the propeller motor 41 is electrically connected to the control circuit board 33. The first driven wheel 43 is fixedly connected to the bottom of the horizontally placed second frame 42 and is used to connect to the ground. The end of the second frame 42 near the first frame 31 is fixedly connected to the clamp 6 and the variable stiffness component 1.

[0043] like Figure 1 As shown, the axial direction of the propeller motor 41 is offset from the axial direction of the first driven wheel 43. The first driven wheel 43 is fixedly connected to the outer end of the second frame 42 through a cylinder at its center and does not have the ability to actively drive rotation. A rolling bearing is provided between the wheel body of the driven wheel 43 and the cylinder at its center.

[0044] When the drone is in its second working state, its movement on land is mainly achieved by the force parallel to the ground output by the propeller wind power; while the first passive wheel 43 passively rotates with the overall movement of the drone as the propeller drives the drone, in order to reduce the friction of movement on land.

[0045] like Figures 5-8 As shown, the drive component 2 utilizes the internal pressure provided by the reversible liquid-gas phase change of the liquid-gas working medium 22 under the control of the polyimide heating film 23 to drive the entire land-air amphibious deformable UAV to reversibly rise / fall along the sliding pair formed by the third frame 51 and the first frame 31.

[0046] The clamp 6 mainly consists of an upper clamp 61 and a lower clamp 62. The upper clamp 61 and the lower clamp 62 are fixedly installed as connecting devices. Both ends of each variable stiffness component 1 are fixed and securely connected to the first frame 31 and the second frame 42 by the two clamps 6 respectively.

[0047] like Figure 7 and Figure 8 As shown, amphibious transforming drones mainly have two operating states:

[0048] First working state: The liquid-gas phase change working medium 22 is in a liquid state, which makes the drive component 2 in a liquefied and contracted state. The variable stiffness components 1 are all fixed in a horizontal straight line shape. Then the land-air amphibious deformable UAV is in the first working state for aerial flight.

[0049] In the first working state, the four propeller motors 41 drive their own propellers to provide downward force perpendicular to the ground. By controlling the four propeller motors 41 to provide different force outputs, the amphibious transforming UAV can achieve controllable aerial flight.

[0050] Second working state: The polyimide heating film 23 is heated, and the liquid-gas phase change working medium 22 is transformed into a vapor state by the heating effect of the polyimide heating film 23. This causes the drive component 2 to expand and deform through vaporization, raising the first frame 31 relative to the sliding component 5. At the same time, the stiffness control heating wire 12 and the solid-liquid phase change working medium 13 in the variable stiffness component 1 are heated and condensed in sequence, causing the outer end of the variable stiffness component 1 to droop relative to the inner end and maintain a drooping state. This causes the first passive wheel 43 to contact the ground, and the amphibious deformable UAV is in the second working state for land movement.

[0051] In the second operating state, the force perpendicular to the ground generated by the four propeller motors 41 cancels out the gravity of the amphibious morphing UAV, while providing a force parallel to the ground. By controlling the four propeller motors 41 to provide different force outputs, the first passive wheel 43 contacts the ground and rolls relative to it, while the second passive wheel 52 is driven to roll on the ground, thus enabling the amphibious morphing UAV to achieve controllable land movement. The UAV can repeatedly and reversibly switch between the first and second operating states by adjusting the two phase change actions to adapt to the needs of different movement modes in complex environments.

[0052] Simultaneously, the stiffness-regulating heating wire 12 inside the variable stiffness component 1 is heated, causing the solid-liquid phase change working medium 13 to undergo a solid-liquid phase change and become liquid. This causes the outer shell 11 of the variable stiffness component to deform, thereby causing the outer end of the variable stiffness component 1 to bend downward relative to the inner end under the action of gravity until the first passive wheel 43 contacts the ground. Then, the heating of the stiffness-regulating heating wire 12 inside the variable stiffness component 1 is stopped, causing the solid-liquid phase change working medium 13 to undergo a solid-liquid phase change and cool and solidify into a solid state. This causes the outer shell 11 of the variable stiffness component to deform and solidify, causing the variable stiffness component 1 to condense and lock into a downward bending shape, which is a drooping state.

[0053] like Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the variable stiffness component 1, as a deformable arm, utilizes the reversible solid-liquid phase change of the solid-liquid phase change working medium 13 under the control of the stiffness-regulating heating wire 12 to achieve controllable adjustment of stiffness. In the softened state, it undergoes reversible bending / recovery as the entire amphibious deformable UAV is lifted / lowered under the action of the drive component 2, and can be locked in any intermediate deformation state by the solidification of the solid-liquid phase change working medium 13. In the event of local fracture failure of the solid-liquid phase change working medium 13 due to external impact, the deformable arm can achieve self-repair by controlling the remelting and solidification of the solid-liquid phase change working medium 13, thereby improving the durability of the deformable arm in actual use.

[0054] Moving on land reduces power consumption, thus extending the endurance of the amphibious transforming drone. Furthermore, the bending and retracting of the arms makes the overall structure of the amphibious transforming drone more compact, allowing it to pass through narrow areas and improving its adaptability to complex environments. Flying in the air provides greater flexibility and faster speed, enabling it to overcome various obstacles. Combining these two operating modes allows the amphibious transforming drone to have both greater endurance and adaptability to complex environments.

[0055] The variable stiffness component housing 11 is made of high-hardness bicomponent silicone rubber, the first drive component housing 211 and the third drive component housing 213 are made of low-hardness bicomponent silicone rubber, and the second drive component housing 212 is made of high-hardness bicomponent silicone rubber. The low-hardness bicomponent silicone rubber is a bicomponent silicone rubber with a Shore hardness between 0A and 5A, and the mixing mass ratio of components A and B in the low-hardness bicomponent silicone rubber is 1:1. The high-hardness bicomponent silicone rubber is a bicomponent silicone rubber with a Shore hardness between 10A and 50A, and the mixing mass ratio of components A and B in the high-hardness bicomponent silicone rubber is 1:1. The liquid-gas phase change working medium 22 is a fluid with a boiling point between 20℃ and 100℃, and the solid-liquid phase change working medium 13 is an alloy with a melting point between 30℃ and 150℃. The first frame 31, the second frame 42, and the third frame 51 are made of nylon.

[0056] A liquid-gas phase change-based drive component propels the amphibious deformable UAV to reversibly rise and fall. A solid-liquid phase change-based variable stiffness component, acting as a deformable arm, undergoes corresponding reversible deformation and can be locked in different deformation states. This allows the amphibious deformable UAV to reversibly switch between aerial flight and land mobility. This invention, based on a flexible phase change switching actuator, combines two phase change mechanisms to achieve repeated reversible switching of operating states, enabling amphibious movement. This is significant for the movement and operation of UAVs in complex environments, giving them greater self-sufficiency and adaptability to complex environments, and thus holds great application potential.

[0057] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A land-air amphibious deformable unmanned aerial vehicle based on a flexible phase-change actuator, characterized in that: It includes four variable stiffness components (1), a drive component (2), a first frame (31), a motion execution component (4), a sliding component (5), and a clamp (6); the drive component (2) is disposed on the sliding component (5), the first frame (31) is arranged on the drive component (2), and multiple motion execution components (4) are arranged on the outer periphery of the first frame (31). Each motion execution component (4) is connected to the first frame (31) through its own variable stiffness component (1), and a clamp (6) for connecting the motion execution component (4) and the first frame (31) is provided at both ends of the variable stiffness component (1). The driving component (2) is mainly composed of a driving component housing (21), a liquid-gas phase change working medium (22), and a polyimide heating film (23). The polyimide heating film (23) is installed on the lower surface of the inner cavity of the driving component housing (21). The housing of the driving component housing (21) is filled with the liquid-gas phase change working medium (22). The first frame (31) is fixedly arranged on the top surface of the driving component housing (21). The drive component housing (21) includes a first drive component housing (211), a second drive component housing (212), and a third drive component housing (213) fixedly connected from top to bottom; a first frame (31) is fixedly connected to the top surface of the first drive component housing (211), and a drive housing is formed between the first drive component housing (211), the second drive component housing (212), and the third drive component housing (213). A cavity is opened at the lower end of the first drive component housing (211), and the second drive component housing (212) is fixedly connected to the top surface of the first drive component housing (211). 212) A through groove is provided in the middle, and the cavity of the first drive component housing (211) and the through groove of the second drive component housing (212) are coaxially connected to form a drive cavity inside the drive housing, and the drive cavity is filled with a liquid-gas phase change working fluid (22); the polyimide heating film (23) is fixedly disposed in the through groove of the second drive component housing (212), and the lower surface of the polyimide heating film (23) and the upper surface of the third drive component housing (213) are closely attached; the polyimide heating film (23) is a rigid film that cannot be deformed; The variable stiffness component (1) is mainly composed of a variable stiffness component shell (11), a stiffness-regulating heating wire (12), and a solid-liquid phase change working medium (13). The variable stiffness component shell (11) is provided with a relatively closed variable stiffness cavity. The variable stiffness component shell (11) outside the variable stiffness cavity is itself embedded with a stiffness-regulating heating wire (12). The variable stiffness cavity is filled with a solid-liquid phase change working medium (13). The inner end and outer end of the variable stiffness component shell (11) are respectively connected by a clamp (6) and a third frame (51) and a motion execution component (4). The variable stiffness component shell (11) includes a first variable stiffness component shell (111) and a second variable stiffness component shell (112). The first variable stiffness component shell (111) is disposed on the upper end of the second variable stiffness component shell (112) and is fixedly connected to the second variable stiffness component shell (112). The amphibious transformable UAV also includes a control component (3), which is mainly composed of a stud (32), a control circuit board (33), a MOSFET (34) and a lithium battery (35). The control circuit board (33) is fixedly mounted on the first frame (31) by the stud (32). The control circuit board (33) is equipped with a MOSFET (34) and a lithium battery (35), and the MOSFET (34) and the lithium battery (35) are electrically connected. The motion execution component (4) mainly consists of a propeller motor (41), a second frame (42), and a first passive wheel (43). The propeller motor (41) is fixedly installed on the horizontally placed second frame (42). The propeller motor (41) includes an output shaft, a propeller, and a motor. The propeller of the propeller motor (41) is set on the motor through the output shaft and electrically connected to the motor. The motor of the propeller motor (41) is electrically connected to the control circuit board (33). The first passive wheel (43) is fixedly connected to the bottom of the horizontally placed second frame (42) and is used to connect to the ground. The second frame (42) is fixedly connected to the end near the first frame (31) via the clamp (6) and the variable stiffness component (1).

2. The amphibious deformable UAV based on a flexible phase-change actuator according to claim 1, characterized in that: The sliding component (5) is mainly composed of a third frame (51), a second passive wheel (52) and a limiting nut (53); the four corners of the third frame (51) are each equipped with a second passive wheel (52) that can be driven to rotate, and the top surface of the four corners of the third frame (51) is fixedly equipped with a vertically arranged guide rail, the upper end of the guide rail is threaded, and the upper end of the guide rail passes through the driving component (2) and the first frame (31) and is connected to the limiting nut (53).

3. The amphibious deformable UAV based on a flexible phase-change actuator according to claim 1, characterized in that: The stiffness-adjustable heating wire (12) is electrically connected to the MOS transistor (34) of the control component (3) by passing a copper wire through the housing (111) of the first variable stiffness component, and the polyimide heating film (23) is electrically connected to the MOS transistor (34) of the control component (3) by passing a copper wire through the housing (212) of the second drive component.

4. The amphibious deformable UAV based on a flexible phase-change actuator according to claim 3, characterized in that: The drive component (2) utilizes the internal pressure provided by the reversible liquid-gas phase change of the liquid-gas working medium (22) under the control of the polyimide heating film (23) to drive the entire land-air amphibious deformable UAV to reversibly rise / fall along the sliding pair formed by the third frame (51) and the first frame (31).

5. A flexible phase transition switching method for the actuator of an amphibious deformable unmanned aerial vehicle as described in any one of claims 1-4, characterized in that: Amphibious transforming drones mainly operate in two modes: First working state: The liquid-gas phase change working medium (22) is in a liquid state, so that the driving component (2) is in a liquefied contraction state, and the variable stiffness components (1) are all fixed in a horizontal straight line shape. Then the land-air amphibious deformable UAV is in the first working state for aerial flight. In the first working state, the four propeller motors (41) work to drive their own propellers to rotate and provide a downward force perpendicular to the ground. By controlling the four propeller motors (41) to provide different force outputs, the land-air amphibious deformable UAV can achieve controllable aerial flight. Second working state: The polyimide heating film (23) is heated, and the liquid-gas phase change working medium (22) is transformed into a vapor state by the heating effect of the polyimide heating film (23). This causes the driving component (2) to expand and deform through vaporization, thereby raising the first frame (31) relative to the sliding component (5) by a certain height. At the same time, the stiffness control heating wire (12) and the solid-liquid phase change working medium (13) in the variable stiffness component (1) are heated and condensed in sequence, causing the outer end of the variable stiffness component (1) to droop relative to the inner end and maintain a drooping state, so that the first passive wheel (43) When in contact with the ground, the amphibious transforming UAV is in the second working state for land movement. In the second working state, the force perpendicular to the ground generated by the four propeller motors (41) cancels out the gravity of the amphibious transforming UAV and can provide a force parallel to the ground. By controlling the four propeller motors (41) to provide different force outputs, the first passive wheel (43) contacts the ground and rolls relative to it, and the second passive wheel (52) is driven to roll on the ground, so that the amphibious transforming UAV can achieve controllable land movement.

6. The flexible phase transition switching method for actuators based on amphibious deformable unmanned aerial vehicles according to claim 5, characterized in that: Simultaneously, the stiffness control heating wire (12) inside the variable stiffness component (1) is heated, causing the solid-liquid phase change working medium (13) to undergo a solid-liquid phase change and become liquid, which in turn causes the outer shell (11) of the variable stiffness component to deform. This causes the outer end of the variable stiffness component (1) to bend downward relative to the inner end under the action of gravity until the first passive wheel (43) contacts the ground. Then, the heating of the stiffness control heating wire (12) inside the variable stiffness component (1) is stopped, causing the solid-liquid phase change working medium (13) to undergo a solid-liquid phase change and cool and solidify into a solid state, which in turn causes the outer shell (11) of the variable stiffness component to deform and solidify, causing the variable stiffness component (1) to condense and lock into a downward bending shape again, as a drooping state.

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