A sea, land and air tri-copter based on power system multiplexing

Abstract

The application discloses a sea-land-air tri-copter based on power system multiplexing, and relates to the field of copters, which comprises a copter body in the shape of a manta ray; three supporting legs are arranged on the copter body and are distributed in a triangular shape on the head and tail sides of the copter body; a land movement module is arranged at the bottom of the supporting legs to drive the copter body to move on the ground in a rolling mode; a mode switching module is arranged at the top of the supporting legs; a power module is arranged on the mode switching module; a water-air paddle integrated module is arranged on the power module to rotate under the drive of the power module and provide power for the copter body to move on land, underwater and in the air; under the control of the mode switching module, the power module and the water-air paddle integrated module can be rotated to a vertical posture to execute an air movement mode or be rotated to a horizontal posture to execute underwater and land movement modes, so that the same set of power system is seamlessly multiplexed on sea, land and air, the propulsion efficiency is ensured, and the cross-medium efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a land, sea and air amphibious aircraft based on power system reuse. Background Technology

[0002] In existing cross-medium vehicle technologies, to meet the different power requirements of air flight, underwater navigation, and land movement, a separate power system is typically required for each medium. For example, multi-rotor power modules are used in the air, propellers or underwater propulsion systems are used underwater, and wheeled or tracked drive mechanisms are used on land. Because the propulsion methods, thrust directions, and load characteristics differ significantly across media, various power systems are difficult to integrate. This leads to the stacking of different power units, which not only greatly increases the overall system mass and volume, raises energy consumption, and reduces reliability, but also necessitates shutting down or folding down parts of the power system during medium switching, resulting in power gaps or switching delays, thus affecting the overall efficiency of cross-medium navigation.

[0003] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a land, sea and air amphibious vehicle based on power system reuse, in order to address the above-mentioned defects of the prior art. This aims to solve the problem that the prior art requires the vehicle to be equipped with a corresponding independent power system for different navigation media, resulting in low efficiency of cross-media navigation.

[0005] The technical solution adopted by this application to solve the technical problem is as follows:

[0006] A land, sea, and air amphibious vehicle based on power system reuse, comprising:

[0007] The main body of the aircraft is shaped like a manta ray; the main body of the aircraft is equipped with three legs, which are distributed in a triangle on both sides of the head and tail of the main body of the aircraft.

[0008] A land motion module is located at the bottom of the outriggers to drive the vehicle body to roll on the ground.

[0009] A mode switching module is located at the top of the support leg;

[0010] The power module is mounted on the mode switching module;

[0011] The water-air propeller integrated module is mounted on the power module to rotate under the drive of the power module and provide power for the vehicle body to travel underwater, in the air and on land.

[0012] Under the control of the mode switching module, the power module and the water propeller integrated module can rotate to a vertical attitude to perform aerial motion mode; or rotate to a horizontal attitude to perform underwater and land motion modes.

[0013] The aforementioned amphibious vehicle based on power system reuse, wherein the two water-air propeller integrated modules located on both sides of the tail of the vehicle body have opposite propeller pitch directions.

[0014] The aforementioned amphibious vehicle based on power system reuse, wherein the integrated water propeller module includes:

[0015] A connecting component is disposed on the drive shaft of the power module to rotate under the drive of the power module;

[0016] An underwater propeller assembly is located at the end of the connecting assembly away from the power module, so as to rotate under the drive of the connecting assembly and provide power for underwater navigation;

[0017] An air propeller assembly, mounted on the connecting assembly and close to the power module, rotates under the drive of the connecting assembly and provides power for air and land navigation; the pitch direction of the air propeller assembly is opposite to that of the underwater propeller assembly.

[0018] The aforementioned amphibious vehicle based on power system reuse, wherein the connecting component includes:

[0019] A sleeve is fitted onto the drive shaft of the power module;

[0020] A one-way bearing is fitted over the sleeve;

[0021] The outer ring of the one-way bearing is connected to the air propeller assembly, and the inner ring of the one-way bearing is connected to the sleeve, so that when locked, the air propeller assembly and the underwater propeller assembly can rotate synchronously and in the same direction, or when idling, the underwater propeller assembly can rotate.

[0022] The aforementioned amphibious vehicle based on a power system reuse system, wherein the underwater propeller assembly includes:

[0023] An underwater propeller fork is mounted on the sleeve;

[0024] Underwater propeller blades are mounted on the underwater propeller fork;

[0025] The aerial propeller assembly includes:

[0026] An air-mounted propeller clip is fitted onto the outer ring of the one-way bearing.

[0027] Multiple aerial blades are mounted on the aerial blade clamp and arranged sequentially along the circumference.

[0028] The aforementioned amphibious vehicle based on power system reuse, wherein the mode switching module includes:

[0029] A first servo motor is mounted on top of the support leg; the rotation axis of the first servo motor extends horizontally.

[0030] A power support is connected to the rotation shaft of the first servo motor; the water propeller integrated module is mounted on the power support.

[0031] The aforementioned amphibious vehicle based on power system reuse, wherein the land motion module includes:

[0032] A bracket is provided at the bottom of the support leg;

[0033] Rollers are located at the bottom of the bracket.

[0034] The aforementioned amphibious vehicle based on power system reuse, including land, sea, and air systems, further includes:

[0035] The second servo is mounted on a bracket at the head of the vehicle body; the rotation shaft of the second servo is connected to a roller at the head of the vehicle body via a steering bracket to drive the roller at the head of the vehicle body to turn.

[0036] The aforementioned amphibious vehicle based on power system reuse, including land, sea, and air systems, further includes:

[0037] A push rod type electromagnet is mounted on the steering bracket;

[0038] A brake block is located between the push rod electromagnet and the roller at the head of the vehicle body, and is connected to the push rod of the push rod electromagnet; the roller at the head of the vehicle body is located on the movement path of the brake block.

[0039] Beneficial Effects: This application achieves seamless reuse of the same power system across air, water, and land by integrating the power module and the water-air propeller module into a single design, and by switching the state of the water-air propeller module under different media. While ensuring propulsion efficiency, it significantly reduces the weight, volume, and control complexity of the power system, thereby reducing system energy consumption and significantly improving reliability and cross-media efficiency. Furthermore, relying on the streamlined body of the manta ray-inspired vehicle and the triangularly distributed legs, it achieves a terrestrial vehicle with lower drag, faster switching, and higher compatibility. Attached Figure Description

[0040] Figure 1 This is a first view of the amphibious vehicle based on power system reuse, with all three water-air propeller integrated modules in the present application in a vertical position.

[0041] Figure 2 This is a second view of the amphibious vehicle based on power system reuse, when all three water-air propeller integrated modules in this application are in a vertical attitude;

[0042] Figure 3 This is a schematic diagram of the structure of the water-air propeller integrated module described in this application;

[0043] Figure 4 This is a functional principle block diagram of the amphibious vehicle based on power system reuse described in this application;

[0044] Figure 5 The image in the middle is a first view of the amphibious vehicle based on power system reuse, with both water propeller integrated modules on both sides of the tail of the vehicle body in a horizontal attitude.

[0045] Figure 6 This is a second view of the amphibious vehicle based on power system reuse, when both water propeller integrated modules on both sides of the tail of the vehicle body in this application are in a horizontal attitude.

[0046] Figure 7 This is a reference diagram showing the usage state of the vehicle in this application when it is floating on water and maintaining a horizontal attitude;

[0047] Figure 8 This is a reference diagram showing the usage state of the vehicle in this application when its nose is raised and its tail is lowered in the water. Detailed Implementation

[0048] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0049] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0050] This application provides a land, sea, and air amphibious vehicle based on power system reuse, such as... Figure 1 and Figure 2As shown, the amphibious vehicle based on a reused power system includes: a vehicle body 1, a land motion module 2, a mode switching module 3, a power module 4, and a water-air propeller integrated module 5; the vehicle body 1 is shaped like a manta ray; the vehicle body 1 is equipped with three legs 101, which are distributed in a triangular pattern on both sides of the head and tail of the vehicle body 1 (e.g., Figure 2 (As shown); Land motion module 2 is located at the bottom of outrigger 101 for rolling movement on the ground; mode switching module 3 is located at the top of outrigger 101; power module 4 is located on mode switching module 3; water-air propeller integrated module 5 is located on power module 4 for rotation under the drive of power module 4 and for providing power for the vehicle body 1 to move underwater, in the air and on land; mode switching module 3 is used to rotate power module 4 and water-air propeller integrated module 5 to a vertical attitude to perform air motion mode; or to rotate them to a horizontal attitude to perform underwater and land motion modes.

[0051] Specifically, the vehicle body 1 is shaped like a manta ray, and three support legs 101 are arranged on the head and tail sides of the vehicle body 1 to form a stable triangular arrangement. The support legs 101 are used to support the water propeller integrated module 5, the power module 4 and the land motion module 2, and connect these modules to the vehicle body 1.

[0052] The number of power modules 4, water-air-propeller integrated modules 5, and land motion modules 2 are equal and correspond one-to-one. Power modules 4 drive the rotation of water-air-propeller integrated modules 5; while mode switching modules 3 adjust the angle of power modules 4. Since power modules 4 are connected to water-air-propeller integrated modules 5, when power modules 4 rotate, they can drive water-air-propeller integrated modules 5 to rotate synchronously, thereby adjusting the angle of water-air-propeller integrated modules 5 to a horizontal or vertical attitude. At the same time, for mode switching modules 3, power modules 4 and water-air-propeller integrated modules 5 form an integrated structure. Since the connection state between power modules 4 and water-air-propeller integrated modules 5 remains unchanged, regardless of whether this integrated structure rotates to a vertical or horizontal attitude, the original corresponding power modules 4 can still normally drive the rotation of water-air-propeller integrated modules 5, thereby providing navigation power.

[0053] Initially, all three hydropropeller integrated modules 5 are in a vertical orientation. When executing aerial motion mode, all three hydropropeller integrated modules 5 maintain a vertical orientation (e.g., ...). Figure 1 and Figure 2 (As shown); the three power modules 4 drive the three hydropropeller integrated modules 5 to provide power for aerial navigation. When executing the land movement mode, the hydropropeller integrated module 5 at the nose of the vehicle body 1 remains in a vertical position, and the mode switching module 3 adjusts the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 to a horizontal position (as shown). Figure 5 and Figure 6 As shown in the diagram, this adjusts the direction of the pulling force generated by the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 when rotating, thereby providing power for land navigation; and in this motion mode, the land motion module 2 can roll along the ground under the power provided by the rotation of the hydropropeller integrated modules 5. When the underwater motion mode is executed, the mode switching module 3 adjusts the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 to a horizontal attitude, so that the overall center of gravity of the vehicle shifts backward, the tail of the vehicle tilts and submerges underwater first, and the head of the vehicle tilts upward; as the power modules 4 on both sides of the tail of the vehicle body 1 are activated, the underwater backward function is used to pull the entire vehicle into the water; after the hydropropeller integrated module 5 at the head of the vehicle body 1 is submerged in the water, it still maintains a vertical attitude, and the vehicle can achieve underwater navigation through the drive of the three power modules 4.

[0054] Compared to existing technologies that require three independent power systems for cross-medium navigation (water, land, and air), resulting in redundant power systems, large weight and volume, and the need to shut down the corresponding power systems for other media during cross-medium navigation, leading to power gaps or switching delays and affecting overall cross-medium navigation efficiency, this application achieves seamless reuse of the same power system across air, water, and land by integrating the power module 4 and the water-air-propeller integrated module 5, and by switching the state of the water-air-propeller integrated module 5 under different media. This significantly reduces the weight, volume, and control complexity of the power system while ensuring propulsion efficiency, resulting in lower system energy consumption and significantly improved reliability and cross-medium efficiency. Furthermore, relying on the streamlined manta ray-inspired vehicle body 1 and the triangularly distributed outriggers 101, a more amphibious vehicle with lower drag, faster switching, and higher compatibility is achieved.

[0055] In this application, the vehicle body 1 is a one-piece structure, designed in the shape of a manta ray, which greatly reduces flow resistance whether the vehicle body 1 is in the air or underwater. The outriggers 101 are integrally formed with the vehicle body 1, which strengthens the structural strength of the outriggers 101. The vehicle body 1 has an internal cavity with an opening at the top; the opening is equipped with an openable hatch 102 (the hatch 102 is a flange-type hatch with a sealing ring at the opening, and the flange-type hatch seals with the sealing ring; when sealing, silicone grease is applied to enhance the sealing performance), so that the vehicle body 1 can not only house electronic equipment and provide waterproofing for the electronic equipment, but also provide sufficient buoyancy for the system, eliminating the need for external buoyancy materials, and also realize three motion configurations in the air, land and sea (aerial tri-rotor, underwater Y3 configuration, and land tri-wheel configuration).

[0056] The vehicle body 1 is integrally formed using 3D printing, with PA6-CF (nylon-carbon fiber) as the printing material, balancing structural strength and lightweight design. The vehicle body 1 is equipped with wiring holes for electrical connections between the power module 4 and the mode switching module 3 and the internal electronic equipment systems of the vehicle body 1. Figure 2 As shown, a power switch 104 and a depth sensor 103 are installed on the hatch 102. Both the power switch 104 and the depth sensor 103 are electrically connected to the internal electronic equipment system of the vehicle body 1. The surface of the vehicle body 1 can also be coated with a waterproof coating to enhance its overall waterproof performance.

[0057] In one embodiment of this application, the two water propeller integrated modules 5 located on both sides of the tail of the vehicle body 1 have opposite propeller pitch directions.

[0058] Specifically, when the two hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 rotate in the same direction, the torques generated by the two modules will be superimposed, causing the entire vehicle to twist, resulting in unstable navigation attitude or yaw. Therefore, in this application, the two hydropropeller integrated modules 5 located on both sides of the tail of the vehicle body 1 have opposite pitch directions, so that the two hydropropeller integrated modules 5 generate opposite counter-torques when working, and the torques cancel each other out, thereby preventing the vehicle from rotating when power is output, and improving the stability of the vehicle's navigation attitude and direction keeping ability.

[0059] One embodiment of this application, such as Figure 1 As shown, the integrated water-air propeller module 5 includes: a connecting component 51, an underwater propeller assembly 52, and an aerial propeller assembly 53; the connecting component 51 is disposed on the drive shaft of the power module 4 to rotate under the drive of the power module 4; the underwater propeller assembly 52 is disposed at the end of the connecting component 51 away from the power module 4 to rotate under the drive of the connecting component 51 and provide power for underwater navigation; the aerial propeller assembly 53 is disposed on the connecting component 51 and close to the power module 4 to rotate under the drive of the connecting component 51 and provide power for air and land navigation; the pitch direction of the aerial propeller assembly 53 is opposite to the pitch direction of the underwater propeller assembly 52.

[0060] Specifically, both the underwater propeller assembly 52 and the airborne propeller assembly 53 are connected to the connecting assembly 51, which in turn is connected to the drive shaft of the power module 4. When the power module 4 is activated, its drive shaft drives the connecting assembly 51 to rotate, thereby causing the underwater propeller assembly 52 and the airborne propeller assembly 53 to rotate. The rotation of the underwater propeller assembly 52 provides power for the vehicle's underwater navigation, while the rotation of the airborne propeller assembly 53 provides power for the vehicle's airborne and land-based navigation.

[0061] It should be noted that within the same hydropropeller integrated module 5, the pitch direction of the air propeller assembly 53 is opposite to that of the underwater propeller assembly 52; when the air propeller assembly 53 is a forward propeller, the underwater propeller assembly 52 is a reverse propeller; when the air propeller assembly 53 is a reverse propeller, the underwater propeller assembly 52 is a forward propeller. Considering that the pitch directions of the two hydropropeller integrated modules 5 on either side of the tail of the vehicle body 1 are opposite, if the air propeller assembly 53 of one hydropropeller integrated module 5 at the tail of the vehicle body 1 is a reverse propeller and the underwater propeller assembly 52 is a forward propeller, then the air propeller assembly 53 of the other hydropropeller integrated module 5 is a forward propeller and the underwater propeller assembly 52 is a reverse propeller; the air propeller assembly 53 of the hydropropeller integrated module 5 at the head of the vehicle body 1 can be either a forward or reverse propeller, as long as its corresponding underwater propeller assembly 52 has a pitch direction opposite to that of the air propeller assembly 53. Similarly, if the air propeller assembly 53 of one of the water-air propeller integrated modules 5 at the tail of the aircraft body 1 is a positive propeller and the underwater propeller assembly 52 is a negative propeller, then the air propeller assembly 53 of the other water-air propeller integrated module 5 is a negative propeller and the underwater propeller assembly 52 is a positive propeller.

[0062] In one embodiment of this application, the ratio of the outer diameter of the underwater propeller assembly 52 to the outer diameter of the airborne propeller assembly 53 is less than 1 / 5.

[0063] Specifically, when executing airborne and landborne motion modes, both the airborne propeller assembly 53 and the underwater propeller assembly 52 in the same water-air propeller integrated module 5 rotate under the drive of the power module 4, but the airborne propeller assembly 53 is the primary power generator. In this application, the ratio of the outer diameter of the underwater propeller assembly 52 to the outer diameter of the airborne propeller assembly 53 is less than 1 / 5, making the thrust generated by the underwater propeller assembly 52 in air negligible.

[0064] In one embodiment of this application, the power module 4 includes a motor, the drive shaft of which is connected to a connecting assembly 51, thereby driving the connecting assembly 51 to rotate. When performing aerial motion mode, the drive shafts of the three motors are arranged vertically upwards, as shown below. Figure 1 and Figure 2 As shown, this ensures that all three water propeller integrated modules 5 are vertically upward, thus providing upward propulsion for aerial navigation. When underwater motion mode is activated, the drive shaft of the motor at the head of the vehicle body 1 remains vertically upward; however, under the adjustment of the mode switching module 3, the drive shafts of the motors on both sides of the tail of the vehicle body 1 are adjusted to a horizontal position, as shown... Figure 5 and Figure 6As shown, the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 are arranged horizontally and rearward, thereby adjusting the direction of the thrust generated by the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 when rotating, providing forward propulsion for underwater navigation. When the land movement mode is executed, the drive shaft of the motor at the head of the vehicle body 1 remains vertically upward; while under the adjustment of the mode switching module 3, the drive shafts of the motors on both sides of the tail of the vehicle body 1 are adjusted to a horizontal position, as shown. Figure 5 and Figure 6 As shown, the water propeller integrated modules 5 on both sides of the tail of the vehicle body 1 are arranged in a horizontal position and rearward, thereby adjusting the direction of the thrust generated by the water propeller integrated modules 5 on both sides of the tail of the vehicle body 1 when rotating, providing forward propulsion for land navigation.

[0065] One embodiment of this application, such as Figure 3 As shown, the connecting assembly 51 includes a sleeve 511 and a one-way bearing 512; the sleeve 511 is sleeved on the drive shaft of the power module 4; the one-way bearing 512 is sleeved outside the sleeve 511; the outer ring of the one-way bearing 512 is connected to the air propeller assembly 53, and the inner ring of the one-way bearing 512 is connected to the sleeve 511, so that when locked, the air propeller assembly 53 and the underwater propeller assembly 52 can rotate synchronously and in the same direction, or when idling, the underwater propeller assembly 52 can rotate.

[0066] Specifically, the inner ring of the one-way bearing 512 is connected to the sleeve 511, and the sleeve 511 is sleeved on the drive shaft of the power module 4 and connected to the underwater propeller assembly 52. ​​The sleeve 511 is used to connect the underwater propeller assembly 52 to the inner ring of the one-way bearing 512 (the sleeve 511 has internal threads and is threaded to the drive shaft of the power module 4; high-strength threadlocker is applied at the connection between the two to prevent loosening). The outer ring of the one-way bearing 512 is connected to the air propeller assembly 53. When the one-way bearing 512 is locked by rotating the drive shaft of the power module 4, the inner ring of the one-way bearing 512 rotates synchronously and in the same direction with the outer ring, thereby driving the underwater propeller assembly 52 and the air propeller assembly 53 to rotate synchronously and in the same direction. When the one-way bearing 512 is idle by rotating the drive shaft of the power module 4, the inner ring of the one-way bearing 512 can rotate under the drive of the power module 4, while the outer ring of the one-way bearing 512 does not move. Only the underwater propeller assembly 52 can be rotated under the drive of the power module 4. At this time, the air propeller assembly 53 does not rotate, which is suitable for underwater navigation.

[0067] Taking the example that the one-way bearing 512 is locked when the drive shaft of the power module 4 rotates forward and the one-way bearing 512 rotates freely when the drive shaft of the power module 4 rotates in reverse, the working mode of the water-air propeller integrated modules 5 on both sides of the tail of the vehicle body 1 is explained:

[0068] When performing air or land motion modes, power is provided by the air propeller assembly 53. This requires the drive shaft of the power module 4 to rotate clockwise for the air propeller assembly 53 to rotate normally and provide propulsion. When performing underwater motion modes, power is provided by the underwater propeller assembly 52, while the air propeller assembly 53 is stationary. Therefore, the drive shaft of the power module 4 needs to be reversed to adjust the one-way bearing 512 to an idle state to ensure both the air propeller assembly 53 stops and the underwater propeller assembly 52 rotates normally. Thus, to ensure that the rotation of the underwater propeller assembly 52 provides the necessary propulsion when the drive shaft of the power module 4 is reversed, the pitch direction of the underwater propeller assembly 52 must match the rotation direction of the drive shaft of the power module 4. Therefore, to ensure that the underwater propeller assembly 52 and the air propeller assembly 53 can provide the corresponding power in different motion modes, the pitch directions of the underwater propeller assembly 52 and the air propeller assembly 53 in the integrated water-air propeller module 5 must be designed to be opposite.

[0069] In this application, when the airborne or land-based motion mode is executed, all three one-way bearings 512 are locked to ensure that all three airborne propeller assemblies 53 can rotate and provide propulsion. When the underwater motion mode is executed, the one-way bearing 512 at the head of the vehicle body 1 is locked, and the two one-way bearings 512 on both sides of the tail of the vehicle body 1 are idled to ensure that the airborne propeller assembly 53 and the underwater propeller assembly 52 at the head of the vehicle body 1 can rotate, thereby adjusting the pitch angle of the vehicle; while the two airborne propeller assemblies 53 at the tail of the vehicle body 1 do not rotate, and the two underwater propeller assemblies 52 at the tail of the vehicle body 1 rotate and provide propulsion.

[0070] As can be seen, by utilizing the characteristics of the one-way bearing 512 and the forward / reverse switching mode of the motor, this application can flexibly select the optimal propeller assembly to drive based on two different media, air or water, eliminating the need for separate propulsion devices for each medium. This reduces both the system size and overall weight. Furthermore, the motor drives the air propeller assembly 53 during flight and the underwater propeller assembly 52 during underwater navigation. Driving the appropriate propeller assembly in different media ensures driving efficiency, thereby guaranteeing the effective utilization of energy.

[0071] Taking the example of the one-way bearing 512 locking when the drive shaft of power module 4 rotates forward and the one-way bearing 512 spinning freely when the drive shaft of power module 4 rotates in reverse, the various motion modes and cross-medium transitions of the vehicle are explained:

[0072] When the aerial motion mode is executed, the drive shafts of the three power modules 4 are all arranged vertically upward, so that the three water propeller integrated modules 5 are all in a vertical attitude and are all arranged vertically upward; at this time, the drive shafts of the three power modules 4 rotate clockwise, ensuring that the three aerial propeller components 53 rotate and provide the power required for aerial navigation.

[0073] When switching from air travel to land travel mode, all three power modules 4 decelerate, bringing the vehicle closer to the ground. When the land travel module 2 touches the ground, the mode switching modules 3 on both sides of the tail of the vehicle body 1 activate and drive the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 to rotate to a horizontal rearward position, while the hydropropeller integrated module 5 at the head of the vehicle body 1 remains vertically upward. At this time, the drive shafts of the three power modules 4 still rotate forward (i.e., the rotation of the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 generates a backward pull), ensuring that all three air propeller components 53 rotate and provide the power required for land travel. The direction of travel of the vehicle in land travel mode is opposite to that in air travel mode and underwater travel mode.

[0074] Understandably, when switching from land navigation to air motion mode, the mode switching modules 3 on both sides of the tail of the aircraft body 1 need to be activated to drive the water propeller integrated modules 5 on both sides of the tail of the aircraft body 1 to rotate to a vertically upward state. The water propeller integrated module 5 at the head of the aircraft body 1 remains in a vertically upward state, and the drive shafts of the three power modules 4 are all rotating in the forward direction.

[0075] When switching from air navigation to underwater operation mode, all three power modules 4 reduce speed, bringing the vehicle closer to the water surface. Once sufficiently close, the vehicle's speed is reduced to a safe level, and it then freefalls into the water. At this point, the vehicle's slight positive zero buoyancy design allows it to float on the water while maintaining a horizontal attitude. Figure 7 As shown. Then, the mode switching modules 3 on both sides of the tail of the vehicle body 1 activate, adjusting the water propeller integrated modules 5 on both sides of the tail of the vehicle body 1 to a horizontal rearward position. This shifts the vehicle's center of gravity backward, causing the nose of the vehicle to tilt upward and the tail to sink (as shown). Figure 8 As shown in the diagram, the drive shafts of the power modules 4 on both sides of the tail remain rotating clockwise, using the pull generated by the rotation of the hydropropeller integrated modules 5 on both sides of the tail of the vehicle body 1 to pull the vehicle diagonally into the water. After the water entry action is completed (all three hydropropeller integrated modules 5 are submerged), the hydropropeller integrated module 5 at the head of the vehicle body 1 remains vertically upward, and the two power modules 4 on both sides of the tail of the vehicle body 1 switch to counterclockwise rotation, thereby propelling the vehicle forward; while the drive shaft of the power module 4 at the head of the vehicle body 1 applies lift or pressure to the head of the vehicle by switching between clockwise and counterclockwise rotation, thereby adjusting the pitch angle of the head of the vehicle.

[0076] When switching from underwater navigation to aerial maneuvering mode, the vehicle only needs to move to the water surface. The two mode switching modules 3 at the tail of the vehicle body 1 adjust the two corresponding water-to-air propeller integrated modules 5 to a vertically upward attitude, and the vehicle will return to a horizontal attitude and float on the water. When all three water-to-air propeller integrated modules 5 are slightly exposed above the water, the drive shafts of all three power modules 4 rotate clockwise, completing the transition from underwater to aerial operation. This water-to-air cross-medium strategy eliminates the need for dynamic buoyancy adjustment and allows the water-to-air propeller components to be slightly exposed above the water, making cross-medium operation more stable. The slight positive buoyancy design also prevents the vehicle from sinking to the bottom in the event of a power failure.

[0077] One embodiment of this application, such as Figure 3 As shown, the underwater propeller assembly 52 includes an underwater propeller fork 521 and an underwater propeller blade 522; the underwater propeller fork 521 is mounted on the sleeve 511.

[0078] Specifically, the underwater propeller fork 521 is coaxially arranged with the sleeve 511 and is located at the end of the sleeve 511 away from the drive shaft of the power module 4; the underwater propeller blade 522 is mounted on the underwater propeller fork 521; when the power module 4 drives the sleeve 511 to rotate through the inner ring of the one-way bearing 512, the underwater propeller fork 521 can rotate synchronously, thereby driving the underwater propeller blade 522 to rotate. Structural adhesive is applied between the outer surface of the sleeve 511 and the inner surface of the one-way bearing 512 to prevent relative rotation between the sleeve 511 and the inner ring of the one-way bearing 512, thus ensuring the stability of the rotation of the inner ring of the one-way bearing 512 driven by the sleeve 511.

[0079] One embodiment of this application, such as Figure 3 As shown, the air propeller assembly 53 includes an air propeller clamp 531 and multiple air propeller blades 532; the air propeller clamp 531 is sleeved on the outer ring of the one-way bearing 512; the multiple air propeller blades 532 are disposed on the air propeller clamp 531 and arranged sequentially along the circumferential direction.

[0080] Specifically, the air-mounted propeller clamp 531 is sleeved on the outer ring of the one-way bearing 512 and is coaxially arranged with both the one-way bearing 512 and the sleeve 511. A key is provided on the inner wall of the air-mounted propeller clamp 531, and a keyway is provided on the outer surface of the outer ring of the one-way bearing 512. The key and keyway are interlocked to prevent relative rotation between the air-mounted propeller clamp 531 and the outer ring of the one-way bearing 512, thus ensuring the stability of the one-way bearing 512 in rotating the air-mounted propeller clamp 531 via the outer ring when locked. Multiple air-mounted blades 532 are mounted on the air-mounted propeller clamp 531 and arranged sequentially along the circumference, so that the rotation of the air-mounted propeller clamp 531 drives the rotation of the air-mounted blades 532.

[0081] One embodiment of this application, such as Figure 1As shown, the mode switching module 3 includes a first servo motor 31 and a power support 32; the first servo motor 31 is located on the top of the support leg 101; the rotation axis of the first servo motor 31 extends horizontally; the power support 32 is connected to the rotation axis of the first servo motor 31; the power module 4 and the water propeller integrated module 5 are located on the power support 32.

[0082] Specifically, the rotation axis of the first servo motor 31 extends horizontally and is connected to the power support 32. When the first servo motor 31 is started, it can drive the power module 4 and the water propeller integrated module 5 to rotate around the rotation axis of the first servo motor 31.

[0083] In this embodiment, the first servo motor 31 can drive the power bracket 32 ​​to rotate around the rotation axis of the first servo motor 31 within a range of ±45°; and for the power brackets 32 on both sides of the tail of the aircraft body 1, when the corresponding first servo motor 31 is activated, the two power brackets 32 are used to switch between a vertically upward state and a horizontally backward state.

[0084] The land motion module 2 includes a support 21 and rollers 22; the support 21 is located at the bottom of the outrigger 101; the rollers 22 are located at the bottom of the support 21 and are used to contact the ground. In this application, for the land motion modules 2 on both sides of the tail of the vehicle body 1, both rollers 22 are directional rollers 22, which can only move in the forward and backward direction and are driven wheels.

[0085] The amphibious vehicle based on the reuse of the power system also includes a second servo motor 6, which is mounted on the support 21 at the head of the vehicle body 1 (i.e., the support 21 at the head of the vehicle body 1). The rotation axis of the second servo motor 6 is connected to the roller 22 at the head of the vehicle body 1 through the steering support 7 to drive the roller 22 at the head of the vehicle body 1 to turn, thereby realizing the adjustment of the direction of travel in the land movement mode.

[0086] In one embodiment of this application, the amphibious vehicle based on the reuse of the power system further includes a push rod type electromagnet 8, which is disposed on the steering bracket 7; a brake block 81 is located between the push rod type electromagnet 8 and the roller 22 at the head of the vehicle body 1, and is connected to the push rod of the push rod type electromagnet 8; the roller 22 at the head of the vehicle body 1 is located on the movement path of the brake block 81.

[0087] Specifically, the push-rod electromagnet 8 is located on the side of the corresponding roller 22 near the tail. When the push-rod electromagnet 8 is energized, its push rod extends, causing the brake block 81 to move forward, thereby pressing against the roller 22 at the head of the vehicle body 1 and locking the roller 22 at the head of the vehicle body 1. When the push-rod electromagnet 8 is de-energized, its push rod resets, the brake block 81 moves away from the roller 22, and the roller 22 at the head of the vehicle body 1 is released.

[0088] When the vehicle is moving on land, the brake block 81 is in the released state; and, when moving on land, the brake block 81, in conjunction with the push rod electromagnet 8, can also be used for emergency stopping and speed adjustment. When the vehicle needs to take off from land, the push rod electromagnet is energized and locks the roller 22 at the head of the vehicle body 1 via the brake block 81 to reduce the horizontal sway of the vehicle during takeoff.

[0089] When the vehicle switches from air navigation to land movement mode, the air propeller assembly 53 decelerates, causing the vehicle to hover at a certain height above the ground. After ensuring that the brake block 81 locks the roller 22 at the nose of the vehicle body 1, the vehicle continues to decelerate, causing it to descend and eventually land on the ground. On the ground, the mode switching modules 3 on both sides of the tail of the vehicle body 1 drive the corresponding two water propeller integrated modules 5 to adjust to a horizontal rearward position, and then release the roller 22 at the nose of the vehicle body 1, thus completing the landing maneuver.

[0090] One embodiment of this application, such as Figure 4 As shown, the electronic equipment system includes a first controller 9, a second controller 14, a power module 100, a first communication module 11, a GPS navigation module 12, a PWM relay 13, a second communication module 15, and a step-down module 10. The power module 100 is electrically connected to the first controller 9, the step-down module 10, the second controller 14, the power switch 104, and the power module 4. The step-down module 10 is connected to the first servo motor 31 and the second servo motor 6. The first controller 9 is connected to the first communication module 11, the GPS navigation module 12, and the power module 4. It is responsible for obtaining the vehicle's position information through the GPS navigation module 12, communicating with an external first remote controller 16 through the first communication module 11, controlling the vehicle's air and land movements, and controlling the power-on and power-off of the push-rod electromagnet 8 through the PWM relay 13 (the first controller 9 is connected to the push-rod electromagnet 8 through the PWM relay 13). The second controller 14 is connected to the depth sensor 103, the second communication module 15 and the power module 4 respectively. It is responsible for acquiring the depth information of the vehicle through the depth sensor 103, communicating with the external second remote controller 17 through the second communication module 15, and being responsible for the underwater movement of the vehicle.

[0091] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A land, sea, and air amphibious vehicle based on power system reuse, characterized in that, It includes: The main body of the aircraft is shaped like a manta ray; the main body of the aircraft is equipped with three legs, which are distributed in a triangle on both sides of the head and tail of the main body of the aircraft. A land movement module is located at the bottom of the outriggers to allow for rolling movement on the ground; A mode switching module is located at the top of the support leg; The power module is mounted on the mode switching module; The water-air propeller integrated module is mounted on the power module to rotate under the drive of the power module and provide power for the vehicle body to travel underwater, in the air and on land. The mode switching module is used to drive the power module and the water-air propeller integrated module to rotate to a vertical attitude to perform aerial motion mode; or to rotate to a horizontal attitude to perform underwater and land motion modes. The connection components include: A sleeve is fitted onto the drive shaft of the power module; A one-way bearing is fitted over the sleeve; The outer ring of the one-way bearing is connected to the air propeller assembly, and the inner ring of the one-way bearing is connected to the sleeve, so that when locked, the air propeller assembly and the underwater propeller assembly can rotate synchronously and in the same direction, or when idling, the underwater propeller assembly can rotate. The water-air propeller integrated module includes: A connecting component is disposed on the drive shaft of the power module to rotate under the drive of the power module; An underwater propeller assembly is located at the end of the connecting assembly away from the power module, so as to rotate under the drive of the connecting assembly and provide power for underwater navigation; An air propeller assembly is mounted on the connecting assembly and close to the power module to rotate under the drive of the connecting assembly and provide power for air and land navigation; the pitch direction of the air propeller assembly is opposite to that of the underwater propeller assembly. When in aerial motion mode, all three hydropropeller integrated modules remain vertical, and all three one-way bearings are locked. The three connecting components are used to drive the aerial propeller assembly and the underwater propeller assembly to rotate synchronously and in the same direction, relying on the aerial propeller assembly for power. When in land motion mode, the hydropropeller integrated module at the head of the vehicle body remains vertical, while the hydropropeller integrated modules on both sides of the tail are adjusted to a horizontal position, and all three one-way bearings are locked. The three connecting components are used to drive the aerial propeller assembly and the underwater propeller assembly to rotate synchronously and in the same direction, relying on the aerial propeller assembly for power. When switching from air navigation to underwater operation mode and the vehicle freely falls into the water, its slight positive zero buoyancy design allows it to float on the water while maintaining a horizontal attitude. The mode switching modules on both sides of the tail of the vehicle activate, adjusting the hydropropeller integrated modules on both sides of the tail to a horizontal, rearward position. This causes the nose of the vehicle to tilt upward and the tail to sink downward, while the two power modules at the tail remain locked with one-way bearings. The backward pull generated by the rotation of the hydropropeller integrated modules on both sides of the tail pulls the vehicle diagonally into the water. After the entry into the water is complete, underwater operation mode is activated. The hydropropeller integrated module at the nose of the vehicle remains vertical, and the one-way bearing at the nose is locked. The connecting component at the nose drives the air propeller assembly and the underwater propeller assembly to rotate synchronously and in the same direction, relying on the air propeller assembly for power. The hydropropeller integrated modules on both sides of the tail are adjusted to a horizontal position, and the one-way bearings on both sides of the tail rotate freely. The connecting components on both sides of the tail drive the underwater propeller assembly to rotate while the air propeller assembly remains stationary, relying on the underwater propeller assembly for power.

2. The amphibious vehicle based on power system reuse according to claim 1, characterized in that, The two water-air propeller integrated modules located on either side of the tail of the aircraft body have opposite propeller pitch directions.

3. The amphibious vehicle based on power system reuse according to claim 1, characterized in that, The underwater propeller assembly includes: An underwater propeller fork is mounted on the sleeve; Underwater propeller blades are mounted on the underwater propeller fork; The aerial propeller assembly includes: An air-mounted propeller clip is fitted onto the outer ring of the one-way bearing. Multiple aerial blades are mounted on the aerial blade clamp and arranged sequentially along the circumference.

4. The amphibious vehicle based on power system reuse according to claim 1, characterized in that, The mode switching module includes: A first servo motor is mounted on top of the support leg; the rotation axis of the first servo motor extends horizontally. A power support is connected to the rotation shaft of the first servo motor; the power module is mounted on the power support.

5. The amphibious vehicle based on power system reuse according to claim 1, characterized in that, The land motion module includes: A bracket is provided at the bottom of the support leg; Rollers are located at the bottom of the bracket.

6. The amphibious vehicle based on power system reuse according to claim 5, characterized in that, The amphibious vehicle also includes: The second servo is mounted on a bracket at the head of the vehicle body; the rotation shaft of the second servo is connected to a roller at the head of the vehicle body via a steering bracket to drive the roller at the head of the vehicle body to turn.

7. The amphibious vehicle based on power system reuse according to claim 6, characterized in that, The amphibious vehicle also includes: A push rod type electromagnet is mounted on the steering bracket; A brake block is located between the push rod electromagnet and the roller at the head of the vehicle body, and is connected to the push rod of the push rod electromagnet; the roller at the head of the vehicle body is located on the movement path of the brake block.

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