Water-air amphibious unmanned vehicle

Abstract

The invention discloses a water-air amphibious unmanned vehicle which comprises a flight assembly, a navigation assembly and a cabin assembly. The flying assembly comprises two annular supports which are oppositely arranged, supporting rod units are arranged on the two annular supports, first motors are arranged on the supporting rod units, ball screws are arranged on output shafts of the first motors, the ball screws are sleeved with folding support units, and a plurality of propellers are arranged at the ends, away from the first motors, of the folding support units. The navigation assembly comprises two power mechanisms and two gear shifting mechanisms which are oppositely arranged, each power mechanism comprises two gear disc units and a plurality of paddles, each gear disc unit comprises an inner gear ring, a connecting ring and an outer gear ring, and each gear shifting mechanism comprises a fixing support connected with a supporting rod unit and an annular support which are integrally shared. The high-speed maneuvering advantage of air flight is reserved, the water surface navigation operation capacity is enhanced, and the amphibious requirement of an actual combat scene is better met.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an amphibious unmanned aerial vehicle. Background Technology

[0002] With the maturation of drone technology, its applications in environmental monitoring, water patrol, emergency rescue, and scientific research are becoming increasingly important. Currently, mainstream drone systems are mainly divided into two categories: aerial drones and surface drones. Aerial drones, such as multi-rotor or fixed-wing models, have the advantages of high speed and wide coverage, making them particularly suitable for large-scale aerial reconnaissance and aerial photography missions. However, they have poor adaptability to aquatic environments, and once they make a forced landing or crash into the water, they are prone to damage to the aircraft or mission failure, making it difficult to perform sustained surface operations.

[0003] To integrate the advantages of aerial flight and surface operations, the concept of amphibious unmanned aerial vehicles (UAVs) has emerged. Existing technologies attempt to enable a single platform to perform both flight and surface navigation, but significant shortcomings remain in structural design. Most solutions employ fixed wings or support arms, resulting in high fluid resistance during surface navigation. This not only reduces propulsion efficiency but also affects navigation stability, and may even pose a risk of capsizing in complex water currents, limiting their effectiveness in practical combat scenarios. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide an amphibious unmanned vehicle that aims to solve the technical problems mentioned in the background art.

[0005] An amphibious unmanned vehicle includes a flight component, a navigation component, and a cabin component; The flight assembly includes two opposing annular supports, each with a support rod unit. A first motor is mounted on each support rod unit, and a ball screw is mounted on the output shaft of the first motor. The end of the ball screw furthest from the first motor is rotatably connected to the support rod unit. A folding bracket unit is fitted onto the ball screw, and several propellers are mounted on the end of the folding bracket unit furthest from the first motor. An adjustment mechanism is located at one end of the ball screw furthest from the first motor, with its opposite ends connected to the two support rod units. The first motor drives the adjustment mechanism to move the two annular supports closer together or further apart. The navigation assembly includes two power mechanisms and two shifting mechanisms arranged opposite to each other. The power mechanism includes two gear disk units and several propellers. Each gear disk unit includes an inner gear ring, a connecting ring, and an outer gear ring. The inner gear ring is located inside the connecting ring. One end face of each of the two inner gear rings and the two connecting rings abuts against the two opposite end faces of the annular bracket. The two inner gear rings are meshed with the annular bracket through a first gear unit located on the annular bracket. The two outer gear rings are located on the side of the two connecting rings facing away from the annular bracket. Several propellers are movably connected to the outer wall of the annular bracket. The inner gear ring is connected to the outer gear ring and several propellers through a pin. The connecting ring and the outer gear ring are movably connected to several propellers through a positioning pin. The gears of the inner gear ring and the outer gear ring are on the same horizontal plane. The shifting mechanism includes a fixed bracket connected to the support rod unit. The fixed bracket is respectively provided with a second gear unit, a rack unit and two limiting members. The second gear unit is movably connected to the rack unit through the two limiting members. The rack unit is used to change the relative position of the second gear unit so that the second gear unit meshes with the inner gear ring or simultaneously with the inner gear ring and the outer gear ring. The cabin assembly includes a cabin unit and a camera, battery and control board disposed within the cabin unit, with the two opposite end faces of the cabin unit movably connected to the two annular brackets.

[0006] The beneficial effects of this invention are: 1. Addressing the pain points of drag and efficiency: The flight component drives the folding support unit through ball screw transmission, and the linkage adjustment mechanism dynamically tunes the spacing of the annular support to precisely optimize the flight aerodynamic layout; the navigation component switches the gear meshing state through the shifting mechanism to achieve a smooth transition between flight and navigation modes, reduce the fluid resistance caused by structural redundancy, and significantly improve propulsion efficiency.

[0007] 2. Enhanced navigation stability: The power mechanism adopts a nested gear disk linkage propeller. After switching gear meshing, the propeller changes from "dynamic linkage" to "fixed output state", and the power transmission is more direct and powerful. The dynamically adjustable annular support spacing optimizes attitude coordination control. Combined with the flexible movable connection design of the cabin, it effectively reduces the risk of capsizing under complex water flow.

[0008] 3. Achieve deep integration of amphibious functions: Based on the integrated shared design of the ring-shaped support structure, redundant independent support structures are eliminated. This retains the high-speed maneuverability advantage of air flight while enhancing the ability to navigate and operate on the water. It specifically addresses the shortcomings of traditional solutions that are "strong in flight but weak in navigation", and better adapts to the amphibious needs of actual combat scenarios.

[0009] Furthermore, the support rod unit includes a first support rod and a second support rod spaced apart. The first motor is mounted on the first support rod. The end of the ball screw facing away from the first motor passes through the first support rod and the second support rod respectively, and is rotatably connected to the second support rod.

[0010] Furthermore, the folding support unit includes a connecting plate, a movable frame, and a moving component. The moving component and the connecting plate are respectively sleeved on the ball screw. The ball screw is movably connected to the moving component. The connecting plate is fixedly connected to the second support rod. One end of the connecting plate facing away from the other connecting plate is movably connected to the movable frame and is hinged to the moving component through the movable frame. A plurality of propellers are provided at the end of the movable frame away from the connecting plate. A brushless motor is also provided on the movable frame, and the brushless motor is used to drive the propellers.

[0011] Furthermore, the adjustment mechanism includes two bases, a rotating shaft, and an adjustment unit. The two bases are respectively mounted on two second support rods. One end of the rotating shaft passes through the two bases and is movably connected to the adjustment unit. The rotating shaft is rotatably connected to the bases. The adjustment unit includes a first spline shaft, a multi-stage universal joint, and a connector. The opposite ends of the first spline shaft are movably connected to the rotating shaft and the multi-stage universal joint, respectively. The opposite ends of the connector are respectively sleeved on the ends of the first spline shaft and one of the ball screws.

[0012] Furthermore, the rotating shaft has a first thread and a second thread at opposite ends, the first thread and the second thread have opposite thread directions, the rotating shaft has a keyway at one end near the spline shaft, the keyway is adapted to the spline shaft, and the ball screw forms a 90° angle with the spline shaft.

[0013] Furthermore, the slurry plate is provided with a waist-shaped hole and a fixing through hole, the waist-shaped hole and the fixing through hole forming a gap. The inner gear ring is provided with a plurality of first fixing holes, the connecting ring is provided with a plurality of second fixing holes, and the outer gear ring is provided with a plurality of arc-shaped grooves and a plurality of third fixing holes evenly distributed. The fixing pin is provided in the waist-shaped hole. The positions of the second fixing hole and the third fixing hole correspond. The second fixing hole and the third fixing hole are screwed to the two ends opposite to the fixing pin by screws, so that the connecting ring and the outer gear ring are fixed relative to each other. The pin is provided in the fixing through hole. The positions of the first fixing hole and the arc-shaped groove correspond. The two ends opposite to each other of the pin pass through the first fixing hole and the arc-shaped groove, respectively, so that the inner gear ring rotates relative to the outer gear ring, thereby driving the slurry plate to move away from the annular support.

[0014] Further, the second gear unit includes a second motor, a second splined shaft, and two second gears. The second motor is mounted on one side wall of the fixed bracket. One end of the second splined shaft passes through both side walls of the fixed bracket and is connected to the output shaft of the second motor. The two second gears are spaced apart and fitted onto the second splined shaft. The two second gears mesh with the inner gear ring or simultaneously with both the inner gear ring and the outer gear ring. The rack unit includes a first rack, a second rack, an adjusting gear, and a third motor. The third motor is mounted on the top of the fixed bracket, and the output shaft of the third motor... The top of the fixed bracket is connected to the adjusting gear. The first rack and the second rack are arranged opposite to each other and mesh with the adjusting gear. The first rack and the second rack are connected to the two second gears respectively through the support members. The two end faces of the support members and the second gears are movably connected. Several limiting rods are provided at intervals on the first rack and the second rack. The two end faces of the two limiting members are located on the inner wall of the fixed bracket and are respectively located on the first rack and the second rack. Several limiting holes are provided on the limiting members, and the limiting rods are located in the limiting holes.

[0015] Furthermore, the first gear unit includes two sets of paired first gears, with the two sets of first gears and the two sets of second gears evenly distributed along the circumferential direction.

[0016] Furthermore, the cabin unit includes two arc-shaped components, a cover plate, and a cabin. The two arc-shaped components are arranged opposite to each other and are respectively fixed to the inner wall of the annular bracket. The two opposite ends of the cabin are respectively slidably connected to the two arc-shaped components. A gyroscope, an accelerometer sensor, a battery, and a control board are installed in the cabin. The cabin is detachably connected to the cover plate. The camera is installed on the cover plate. The control board is electrically connected to the gyroscope, the accelerometer sensor, the battery, and the camera.

[0017] Furthermore, the inner wall of the arc-shaped component is provided with a plurality of grooves at intervals, and the outer wall of the compartment is provided with a plurality of protrusions, the grooves and the protrusions being positioned corresponding to each other. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the amphibious unmanned aerial vehicle of the present invention; Figure 2 This is a schematic diagram of the flight component of the present invention; Figure 3 This is a schematic diagram of the adjustment mechanism of the present invention; Figure 4 This is a schematic diagram of the navigation component of the present invention; Figure 5 This is a schematic diagram of the shifting mechanism of the present invention; Figure 6 This is a schematic diagram of the structure of the slurry of the present invention; Figure 7 This is a structural schematic diagram of the cabin assembly of the present invention.

[0019] In the diagram: 1. Flight assembly; 11. Ring bracket; 111. First gear unit; 1111. First gear; 12. Support rod unit; 121. First support rod; 122. Second support rod; 13. First motor; 14. Ball screw; 15. Folding bracket unit; 151. Connecting plate; 152. Movable frame; 153. Moving part; 16. Adjustment mechanism; 161. Base; 162. Rotating shaft; 1621. First thread; 1622. Second thread; 163. Adjustment unit; 1631. First splined shaft; 1632. Multi-stage universal joint; 1633. Connecting part; 17. Propeller; 18. Brushless motor; 2. Navigation assembly; 21. Power mechanism; 211. Gear disk unit; 2111. Internal gear ring; 2112. Connecting ring; 2113. External gear. Wheel ring; 21131, arc groove; 21132, third fixing hole; 212, plate slurry; 2121, waist-shaped hole; 2122, fixing through hole; 22, shifting mechanism; 221, fixing bracket; 222, second gear unit; 2221, second motor; 2222, second spline shaft; 2223, second gear; 223, rack unit; 2231, first rack; 22311, limiting rod; 2232, second rack; 2233, adjusting gear; 2234, third motor; 224, limiting component; 2241, limiting hole; 225, support component; 23, pin; 24, positioning pin; 3, compartment assembly; 31, compartment unit; 311, arc-shaped component; 3111, slide groove; 312, cover plate; 313, compartment; 3131, protrusion; 32, camera.

[0020] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0021] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0022] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] See Figures 1 to 7 An amphibious unmanned aerial vehicle includes a flight component 1, a navigation component 2, and a cabin component 3.

[0025] Specifically, the flight component 1 includes two annular supports 11 arranged opposite to each other. Each annular support 11 is provided with a support rod unit 12. The support rod unit 12 includes a first support rod 121 and a second support rod 122 arranged at intervals. A first motor 13 is provided on the first support rod 121. A ball screw 14 is provided on the output shaft of the first motor 13. The end of the ball screw 14 facing away from the first motor 13 passes through the first support rod 121 and the second support rod 122 respectively, and the end of the ball screw 14 away from the first motor 13 is rotatably connected to the support rod unit 12. A folding bracket unit 15 is fitted onto the ball screw 14. The folding bracket unit 15 includes a connecting plate 151, a movable frame 152, and a moving part 153. The movable part 153 and the connecting plate 151 are respectively fitted onto the ball screw 14. The ball screw 14 and the movable part 153 are connected in a rolling spiral. The connecting plate 151 is fixedly connected to the second support rod 122. One end of the connecting plate 151 facing away from the other connecting plate 151 is hinged to the movable frame 152 and is also hinged to the movable part 153 through the movable frame 152. Multiple propellers 17 are provided at the end of the movable frame 152 away from the first motor 13. A brushless motor 18 is also provided on the movable frame 152. The brushless motor 18 is used to drive the propellers 17.

[0026] It is worth mentioning that the system uses a ring-shaped support 11 as the basic load-bearing structure, with the first support rod 121 and the second support rod 122 rigidly connected to it, forming a highly rigid spatial frame. The first motor 13 drives the ball screw 14 to generate rotational motion, which in turn converts the rotational motion of the first motor 13 into linear displacement of the moving part 153. The moving part 153 is hinged to the movable frame 152. During the linear motion, the moving part 153 drives the movable frame 152 to oscillate along a preset arc trajectory. Finally, the propeller 17 fixed to the end of the movable frame 152 switches between deployed and retracted states with the arc motion, thus completing the conversion between the working position and the storage position. In this embodiment, the four sets of propellers 17 are symmetrically arranged. When it is necessary to switch to flight mode, the brushless motor 18 drives the propellers 17 to achieve the flight function.

[0027] Specifically, one end of the ball screw 14 away from the first motor 13 is provided with an adjustment mechanism 16. The adjustment mechanism 16 includes two bases 161, a rotating shaft 162, and an adjustment unit 163. The two bases 161 are respectively mounted on two second support rods 122. One end of the rotating shaft 162 passes through the two bases 161 and is movably connected to the adjustment unit 163. The rotating shaft 162 is rotatably connected to the bases 161. The adjustment unit 163 includes a first spline shaft 1631, a multi-stage universal joint 1632, and a connecting member 1633. The two opposite ends of 1631 are movably connected to the rotating shaft 162 and the multi-stage universal joint 1632, respectively. The two opposite ends of the connecting piece 1633 are respectively sleeved on the ends of the first spline shaft 1631 and a ball screw 14. The two opposite ends of the rotating shaft 162 are provided with a first thread 1621 and a second thread 1622. The thread directions of the first thread 1621 and the second thread 1622 are opposite. The end of the rotating shaft 162 near the spline shaft is provided with a keyway, which is adapted to the spline shaft. One of its ball screws 14 forms a 90° angle with the spline shaft.

[0028] In this embodiment, to achieve a 90° angle between the ball screw 14 and the splined shaft, the system employs a double universal joint structure within the multi-stage universal joint 1632. Since a single universal joint is typically suitable for transmission angles not exceeding 45°, the double universal joint decomposes the total transmission angle into two stages, each handling approximately 45° of rotation, thereby achieving efficient large-angle power transmission. The specific transmission path is as follows: the ball screw 14 acts as the input shaft, driving the double universal joint to rotate. Power is transmitted through the universal joint to the splined shaft, ultimately causing the rotating shaft 162 to rotate accordingly. The two ends of the connecting member 1633 are fixed radially to the ball screw 14 and axially to the splined shaft, respectively, ensuring the reliable realization of the 90° power transmission.

[0029] It should be noted that the first motor 13 has a multiplexing function, not only driving the moving part 153 to move along the ball screw 14, but also driving the connecting part 1633, which in turn drives the first spline shaft 1631 to rotate through the multi-stage universal joint 1632, causing the rotating shaft 162 connected to it to rotate. The two ends of the rotating shaft 162 are respectively provided with a first thread 1621 and a second thread 1622 with opposite directions of rotation. When switching to flight mode, the movable frame 152 unfolds while the two bases 161 move closer to each other under the action of the rotating shaft 162; while when switching to navigation mode, the movable frame 152 retracts while the two bases 161 move away from each other, thus realizing that the overall structure is in a retracted state during flight and in an unfolded state during navigation.

[0030] Specifically, the navigation component 2 includes two power mechanisms 21 and two shifting mechanisms 2222 arranged opposite to each other. The power mechanism 21 includes two gear disk units 211211 and multiple paddles 212. Each gear disk unit 211211 includes an inner gear ring 2111, a connecting ring 2112, and an outer gear ring 2113. The inner gear ring 2111 is disposed inside the connecting ring 2112. One end face of the two inner gear rings 2111 and the two connecting rings 2112 respectively abuts against the two opposite end faces of the annular bracket 11. The two inner gear rings 2111 are connected to the connecting ring 2112 by means of the connecting ring 2112. The first gear unit 111 on the bracket 11 meshes with the ring bracket 11. Two external gear rings 2113 are both located on the side of the two connecting rings 2112 facing away from the ring bracket 11. Multiple plates 212 are movably connected to the outer wall of the ring bracket 11. The inner gear ring 2111 is connected to the outer gear ring 2113 and multiple plates 212 through a pin 23. The connecting ring 2112 and the outer gear ring 2113 are slidably connected to the multiple plates 212 through a positioning pin 24. The gears of the inner gear ring 2111 and the outer gear ring 2113 are on the same horizontal plane.

[0031] Specifically, the slurry plate 212 is provided with a waist-shaped hole 2121 and a fixing through hole 2121, with a gap formed between the waist-shaped hole 2121 and the fixing through hole 2121. The inner gear ring 2111 is provided with multiple first fixing holes along the circumferential direction, the connecting ring 2112 is provided with multiple second fixing holes along the circumferential direction, and the outer gear ring 2113 is provided with multiple arc-shaped grooves 21131 and multiple third fixing holes 21132 evenly distributed along the circumferential direction. A positioning pin 24 is provided inside the waist-shaped hole 2121, and the second fixing holes and third fixing holes 21132 are positioned... The second and third fixing holes 21132 are screwed to the two ends of the positioning pin 24 by screws, so that the connecting ring 2112 and the outer gear ring 2113 are fixed relative to each other. A pin 23 is provided in the fixing through hole 2121. The first fixing hole and the arc groove 21131 are positioned correspondingly. The two ends of the pin 23 are respectively inserted through the first fixing hole and the arc groove 21131, so that the inner gear ring 2111 rotates relative to the outer gear ring 2113, thereby driving the slurry 212 to move away from the annular support 11.

[0032] Understandably, in navigation mode, the internal gear disk meshes with the second gear 2223, and the second motor 2221 drives the second gear 2223 to rotate via the second spline shaft 2222, thereby causing the internal gear disk to rotate. At this time, the internal gear disk rotates relative to the connecting piece 1633 and the external gear ring 2113. Since the connecting piece 1633 and the external gear ring 2113 are connected to both ends of the positioning pin 24 by screws and remain relatively fixed, one end of the paddle plate 212 is fixed, while the pin 23 at the other end slides along the arc-shaped groove 21131, thereby pushing the paddle plate 212 to gradually extend out of the annular support 11. Due to the structural limitation of the arc-shaped groove 21131, the second motor 2221 needs to reverse to reset the paddle plate 212, thereby continuously providing propulsion for surface navigation. In flight mode, the second motor 2221 and the third motor 2234 stop working, and the sliding end of the paddle plate 212 remains in contact with the outer wall of the annular support 11.

[0033] Specifically, the shifting mechanism 2222 includes a fixed bracket 221 connected to the support rod unit 12. The fixed bracket 221 is respectively provided with a second gear unit 222, a rack unit 223 and two limiting members 224. The second gear unit 222 is movably connected to the rack unit 223 through the two limiting members 224. The rack unit 223 is used to change the relative position of the second gear unit 222 so that the second gear unit 222 meshes with the inner gear ring 2111 or simultaneously with the inner gear ring 2111 and the outer gear ring 2113.

[0034] Specifically, the second gear unit 222 includes a second motor 2221, a second splined shaft 2222, and two second gears 2223. The second motor 2221 is mounted on one side wall of the fixed bracket 221. One end of the second splined shaft 2222 passes through both side walls of the fixed bracket 221 and is connected to the output shaft of the second motor 2221. The two second gears 2223 are spaced apart and fitted onto the second splined shaft 2222. The two second gears 2223 mesh with the inner gear ring 2111 or simultaneously with both the inner gear ring 2111 and the outer gear ring 2113. The rack unit 223 includes a first rack 2231, a second rack 2232, an adjusting gear 2233, and a third motor 2234. The third motor 2234 is mounted on the top of the fixed bracket 221. The output shaft passes through the top of the fixed bracket 221 and is connected to the adjusting gear 2233. The first rack 2231 and the second rack 2232 are arranged opposite to each other and mesh with the adjusting gear 2233 respectively. The first rack 2231 and the second rack 2232 are connected to the two second gears 2223 respectively through the support member 225. The two end faces of the support member 225 and the second gear 2223 are movably connected. Multiple limiting rods 22311 are provided at intervals on the first rack 2231 and the second rack 2232. The two ends of the two limiting members 224 are located on the inner wall of the fixed bracket 221 and are located on the first rack 2231 and the second rack 2232 respectively. Multiple limiting holes 2241 are provided on the limiting members 224, and the limiting rods 22311 are located in the limiting holes 2241. The first gear unit 111 includes two sets of paired first gears 1111, and the two sets of first gears 1111 and two second gears 2223 are evenly distributed along the circumferential direction.

[0035] It is worth mentioning that during surface navigation, the interaction between the paddle 212 and the water generates significant resistance, thus affecting the overall navigation speed. To mitigate this issue, a shifting mechanism 2222 is implemented. In navigation mode, when the paddle 212 extends beyond the annular support 11, the second motor 2221 stops operating to maintain the extended length of the paddle 212. Subsequently, the third motor 2234 drives the adjusting gear 2233, causing the first rack 2231 and the second rack 2232 to move synchronously. The distance between the two second gears 2223 is adjusted using the support member 225. Through the cooperation of the limiting rod 22311 and the limiting hole 2241, the movement range of the two second gears 2223 is precisely controlled, allowing them to mesh with the inner gear ring 2111 and the outer gear ring 2113 respectively, thus completing the shifting operation. Since the paddle 212 is relatively fixed in this state, the navigation speed is increased. The two ends of the support member 225 are movably connected to two second gears 2223 respectively to achieve the assembly effect of radial fixation and axial mobility. The two sets of first gears 1111 serve as driven gears, and the two second gears 2223 serve as driving gears.

[0036] Specifically, the cabin assembly 3 includes a cabin unit 31 and a camera 32, a battery, and a control board disposed within the cabin unit 31. Two annular supports 11 are movably connected to opposite end faces of the cabin unit 31. The cabin unit 31 includes two arc-shaped members 311, a cover plate 312, and a cabin 313. The two arc-shaped members 311 are arranged opposite each other and fixed to the inner walls of the annular supports 11. The opposite ends of the cabin 313 are slidably connected to the two arc-shaped members 311. A gyroscope, an accelerometer sensor, a battery, and a control board are disposed within the cabin 313. The cabin 313 is detachably connected to the cover plate 312, on which the camera 32 is disposed. The control board is electrically connected to the gyroscope, accelerometer sensor, battery, and camera 32. Multiple grooves 3111 are spaced apart on the inner wall of the arc-shaped members 311, and multiple protrusions 3131 are provided on the outer wall of the cabin 313. The grooves 3111 and protrusions 3131 correspond in position.

[0037] By setting up the sliding groove 3111 and the protrusion 3131, the cabin 313 can slide relative to the arc-shaped part 311, thereby achieving the overall structure to remain in a retracted state during flight and to transform into an extended state during navigation. The battery powers the entire system. The camera 32 collects image signals, and the gyroscope and accelerometer sensors monitor speed and attitude data, which are then fed back to the control board. After receiving external command signals, the control board executes the corresponding actions.

[0038] Working principle of the invention: Flight mode switching process: Upon receiving the flight command, the control panel first activates the first motor 13, driving the moving component 153 upwards along the ball screw 14 to deploy the movable frame 152. Simultaneously, the adjustment mechanism 16 retracts the main body of the vehicle. Subsequently, the brushless motor 18 is controlled to drive the propellers 17 to accelerate and provide lift, allowing the vehicle to rise smoothly from the water surface. Once the bottom of the vehicle is completely out of the water, gyroscopes and accelerometers monitor the flight attitude and speed in real time, dynamically adjusting the rotational speed of each propeller 17 to ensure stability during flight. Flight mode switching procedure: The brushless motor 18 is controlled to reduce the speed of the propeller 17, causing the vehicle to descend and gradually approach the water surface. After the vehicle touches the water, the propeller 17 stops rotating. At this time, the first motor 13 drives the moving part 153 to move down along the ball screw 14, retracting the movable frame 152, while the adjustment mechanism 16 unfolds the vehicle. Finally, the second motor 2221 is started to extend the paddle 212 and engage the shifting mechanism 2222, thereby switching to the navigation mode and realizing the water surface navigation function.

[0039] In this invention, the flight component 1 drives the folding support unit 15 via a ball screw 14, and the linkage adjustment mechanism 16 dynamically adjusts the spacing of the annular support 11 to precisely optimize the flight aerodynamic layout. The navigation component 2 switches gear engagement states via a shifting mechanism 2222 to achieve a smooth transition between flight and navigation modes, reducing fluid resistance caused by structural redundancy and significantly improving propulsion efficiency. The power mechanism 21 adopts a nested gear disk group linked to the propeller. After switching gear engagement, the propeller changes from "dynamic linkage" to "fixed output state," resulting in more direct and powerful power transmission. The dynamically adjusted spacing of the annular support 11 optimizes attitude coordination control, and combined with the flexible connection design of the compartment 313, effectively reduces the risk of capsizing under complex water flow. Based on the integrated shared design of the annular support 11, redundant independent support structures are eliminated—preserving the high-speed maneuverability advantage of air flight while enhancing surface navigation capabilities, specifically addressing the shortcomings of traditional solutions that are "strong in flight but weak in navigation," and better adapting to the amphibious requirements of actual combat scenarios.

[0040] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An amphibious unmanned aerial vehicle, characterized in that: Includes flight components, navigation components, and cabin components; The flight assembly includes two opposing annular supports, each with a support rod unit. A first motor is mounted on each support rod unit, and a ball screw is mounted on the output shaft of the first motor. The end of the ball screw furthest from the first motor is rotatably connected to the support rod unit. A folding bracket unit is fitted onto the ball screw, and several propellers are mounted on the end of the folding bracket unit furthest from the first motor. An adjustment mechanism is located at one end of the ball screw furthest from the first motor, with its opposite ends connected to the two support rod units. The first motor drives the adjustment mechanism to move the two annular supports closer together or further apart. The navigation assembly includes two power mechanisms and two shifting mechanisms arranged opposite to each other. The power mechanism includes two gear disk units and several propellers. Each gear disk unit includes an inner gear ring, a connecting ring, and an outer gear ring. The inner gear ring is located inside the connecting ring. One end face of each of the two inner gear rings and the two connecting rings abuts against the two opposite end faces of the annular bracket. The two inner gear rings are meshed with the annular bracket through a first gear unit located on the annular bracket. The two outer gear rings are located on the side of the two connecting rings facing away from the annular bracket. Several propellers are movably connected to the outer wall of the annular bracket. The inner gear ring is connected to the outer gear ring and several propellers through a pin. The connecting ring and the outer gear ring are movably connected to several propellers through a positioning pin. The gears of the inner gear ring and the outer gear ring are on the same horizontal plane. The shifting mechanism includes a fixed bracket connected to the support rod unit. The fixed bracket is respectively provided with a second gear unit, a rack unit and two limiting members. The second gear unit is movably connected to the rack unit through the two limiting members. The rack unit is used to change the relative position of the second gear unit so that the second gear unit meshes with the inner gear ring or simultaneously with the inner gear ring and the outer gear ring. The cabin assembly includes a cabin unit and a camera, battery and control board disposed within the cabin unit, with the two opposite end faces of the cabin unit movably connected to the two annular brackets.

2. The amphibious unmanned aerial vehicle according to claim 1, characterized in that: The support rod unit includes a first support rod and a second support rod spaced apart. The first motor is mounted on the first support rod. The end of the ball screw facing away from the first motor passes through the first support rod and the second support rod respectively, and is rotatably connected to the second support rod.

3. The amphibious unmanned aerial vehicle according to claim 2, characterized in that: The folding support unit includes a connecting plate, a movable frame, and a moving component. The moving component and the connecting plate are respectively sleeved on the ball screw. The ball screw is movably connected to the moving component. The connecting plate is fixedly connected to the second support rod. One end of the connecting plate facing away from the other connecting plate is movably connected to the movable frame and is hinged to the moving component through the movable frame. A plurality of propellers are provided at the end of the movable frame away from the connecting plate. A brushless motor is also provided on the movable frame, and the brushless motor is used to drive the propellers.

4. The amphibious unmanned aerial vehicle according to claim 2, characterized in that: The adjustment mechanism includes two bases, a rotating shaft, and an adjustment unit. The two bases are respectively mounted on two second support rods. One end of the rotating shaft passes through the two bases and is movably connected to the adjustment unit. The rotating shaft is rotatably connected to the bases. The adjustment unit includes a first spline shaft, a multi-stage universal joint, and a connector. The two opposite ends of the first spline shaft are movably connected to the rotating shaft and the multi-stage universal joint, respectively. The two opposite ends of the connector are respectively sleeved on the ends of the first spline shaft and one of the ball screws.

5. The amphibious unmanned aerial vehicle according to claim 4, characterized in that: The rotating shaft has a first thread and a second thread at opposite ends. The first thread and the second thread have opposite thread directions. The rotating shaft has a keyway at one end near the spline shaft. The keyway is adapted to the spline shaft. The ball screw is at a 90° angle to the spline shaft.

6. The amphibious unmanned aerial vehicle according to claim 1, characterized in that: The slurry plate has a waist-shaped hole and a fixing through hole, with a gap between the waist-shaped hole and the fixing through hole. The inner gear ring has several first fixing holes, the connecting ring has several second fixing holes, and the outer gear ring has several arc-shaped grooves and several third fixing holes evenly distributed. The fixing pin is installed in the waist-shaped hole. The positions of the second fixing holes and the third fixing holes correspond. The second fixing holes and the third fixing holes are screwed to the opposite ends of the fixing pin by screws, so that the connecting ring and the outer gear ring are fixed relative to each other. The pin is installed in the fixing through hole. The positions of the first fixing holes and the arc-shaped grooves correspond. The opposite ends of the pin pass through the first fixing holes and the arc-shaped grooves respectively, so that the inner gear ring rotates relative to the outer gear ring, thereby driving the slurry plate to move away from the annular support.

7. The amphibious unmanned aerial vehicle according to claim 1, characterized in that: The second gear unit includes a second motor, a second splined shaft, and two second gears. The second motor is mounted on one side wall of the fixed bracket. One end of the second splined shaft passes through both side walls of the fixed bracket and is connected to the output shaft of the second motor. The two second gears are spaced apart and fitted onto the second splined shaft. The two second gears mesh with the inner gear ring or simultaneously with both the inner gear ring and the outer gear ring. The rack unit includes a first rack, a second rack, an adjusting gear, and a third motor. The third motor is mounted on the top of the fixed bracket, and the output shaft of the third motor passes through... The top of the fixed bracket is connected to the adjusting gear. The first rack and the second rack are arranged opposite to each other and mesh with the adjusting gear respectively. The first rack and the second rack are connected to the two second gears respectively through support members. The two end faces of the support members opposite to the second gears are movably connected. Several limiting rods are provided at intervals on the first rack and the second rack. The two ends of the two limiting members opposite to each other are provided on the inner wall of the fixed bracket and are located on the first rack and the second rack respectively. Several limiting holes are provided on the limiting members, and the limiting rods are provided in the limiting holes.

8. The amphibious unmanned aerial vehicle according to claim 7, characterized in that: The first gear unit includes two sets of paired first gears, and the two sets of first gears and two sets of second gears are evenly distributed along the circumferential direction.

9. The amphibious unmanned aerial vehicle according to claim 1, characterized in that: The cabin unit includes two arc-shaped components, a cover plate, and a cabin. The two arc-shaped components are arranged opposite to each other and are respectively fixed to the inner wall of the annular bracket. The two opposite ends of the cabin are respectively slidably connected to the two arc-shaped components. A gyroscope, an accelerometer sensor, a battery, and a control board are installed in the cabin. The cabin is detachably connected to the cover plate. The camera is installed on the cover plate. The control board is electrically connected to the gyroscope, the accelerometer sensor, the battery, and the camera.

10. The amphibious unmanned aerial vehicle according to claim 9, characterized in that: The inner wall of the arc-shaped component is provided with several grooves at intervals, and the outer wall of the compartment is provided with several protrusions, with the grooves and protrusions corresponding to each other.

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