Single-power-source double-domain-driven land-air amphibious unmanned aerial vehicle and land-air switching method implemented by same

Abstract

The invention discloses a single-power-source double-domain-driven land-air amphibious unmanned aerial vehicle and a land-air switching method implemented by the same, and relates to the technical field of unmanned aerial vehicles. An independent suspension damping system, a clutch deformation module, a driving system, a wheel assembly, a spiral wing, a battery, a controller, an adjusting steering engine and a displacement and height sensor are integrated on a support mechanism in a bolt fastening or hinging mode to form a land-air amphibious framework with single power source driving and multi-module cooperation, and the land-air amphibious framework is used for switching of ground movement and flight control. Through an integrated framework of a single power source and adjustment driving, the overall design of the system is optimized, the energy utilization efficiency is improved, meanwhile, the efficiency and stability of mode switching are remarkably improved through mechanical linkage, and the trafficability of complex terrains is further guaranteed by matching with a special suspension system.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to a land-air amphibious UAV with a single power source and dual-domain drive. Background Technology

[0002] With the continuous development of UAV technology, its applications in logistics, reconnaissance, surveying and mapping, and emergency rescue are becoming increasingly widespread. To adapt to complex and ever-changing terrain and environments, UAVs with amphibious capabilities are gradually becoming a research hotspot. However, existing amphibious UAV technology still has many areas that need to be optimized.

[0003] Currently, amphibious drones primarily employ two core power distribution schemes: one is to configure multiple independent power systems to drive the flight rotor and ground mobility device separately; the other is to distribute power to different actuators through complex mechanical transmission and clutch mechanisms. While these drones possess basic flight and ground mobility functions, the following technical problems still exist in practical applications: First, the efficiency and automation of mode switching are low. Existing amphibious drones operate in relatively independent flight and ground mobility modes, relying heavily on manual operation for transitions. The lack of efficient linkage mechanisms makes automated switching and collaborative operations difficult, increasing operational complexity and limiting rapid response capabilities in complex scenarios. Second, energy utilization and functional balance are insufficient. Multi-power source architectures or complex mechanical transmission designs result in significant losses during power distribution and energy conversion, leading to low energy efficiency, limited endurance, and structural limitations, making it difficult for existing equipment to simultaneously achieve high-efficiency flight performance and stable ground mobility. Third, ground mobility stability and passability are poor. Ground mobility systems lack effective suspension and shock absorption designs, making them susceptible to vibration and impact when traveling on rough terrain. This not only results in insufficient stability and poor passability but also affects the quality of ground operations and may shorten equipment lifespan.

[0004] Therefore, in view of the above-mentioned problems of existing technologies, there is an urgent need for a technical solution that can highly integrate the power system, optimize the structure, improve energy utilization efficiency, and have the ability to switch smoothly between land and air modes and adapt to complex terrain, so as to make up for the shortcomings of existing technologies and better meet the needs of practical applications. Summary of the Invention

[0005] To address the problems mentioned in the background section, the present invention aims to provide a single-power-source, dual-domain driven amphibious unmanned aerial vehicle (UAV) and a method for implementing land-air switching.

[0006] The single-power-source dual-domain driven amphibious unmanned aerial vehicle of the present invention includes a support structure, an independent suspension damping system, a clutch deformation module, a drive system, a wheel assembly, a propeller wing, a battery, a controller, an adjustment servo, and displacement and altitude sensors. The independent suspension damping system, clutch deformation module, drive system, wheel assembly, propeller wing, battery, controller, adjustment servo, and displacement and altitude sensors are integrated into the support structure by bolt fastening or hinge connection, forming a "single-power-source drive + multi-module collaboration" amphibious architecture for switching between ground movement and controlled flight.

[0007] As a preferred embodiment: the support mechanism includes a center plate, a suspension support frame, a rotating plate, and a rotating bracket; rotating plates are symmetrically arranged on both sides of the center plate along its length, and the rotating plates are connected to the center plate via hinge one; suspension brackets are symmetrically fixed to both sides of the center plate along its length via bolts; rotating brackets are provided on both sides of the center plate along its width, and the two ends of the rotating brackets are connected to the center plate via hinge three; a U-shaped groove is provided on the rotating bracket for accommodating the adjustment servo; a battery mounting slot is provided on the lower surface of the center plate, and the battery is fixedly connected in the battery mounting slot, providing power to the entire machine; a control box is fixedly connected to the upper surface of the center plate, and the control box integrates a controller; the controller is connected to the brushless motor, the adjustment servo, and the displacement and height sensor via wires, and is used to receive signals and control the actions of each module; the height sensor is fixedly connected to the front end of the lower surface of the center plate, and is used to detect the ground clearance of the entire machine during land-to-air switching.

[0008] As a preferred embodiment, the suspension bracket is a hollow suspension bracket.

[0009] As a preferred embodiment: the independent suspension damping system includes an upper connecting lug, a limiting structure, an upper spring seat, a spring assembly, a damping cylinder, a suspension adjustment rudder plate, a lower connecting lug, a lower spring seat, and a damping shaft; the upper connecting lug is hinged to the suspension support frame of the bracket mechanism, the lower connecting lug is hinged to the suspension adjustment rudder plate, one end of the damping shaft is fastened to the lower connecting lug, and the other end of the damping shaft passes through the inner hole of the damping cylinder. The outer wall of the damping cylinder is provided with a connecting thread, and the connecting thread of the damping cylinder is connected to the upper spring seat through a thread. The spring assembly abuts against the upper spring seat and the lower spring seat at its ends, respectively. The lower spring seat is fixedly connected to the upper end of the lower connecting lug to support the spring assembly. One end of the suspension adjustment rudder plate is hinged to the lower connecting lug, and the other end of the suspension adjustment rudder plate is fixedly connected to the output end of the adjustment rudder to transmit damping force and adjust wheel attitude. The limiting structure is threadedly connected to the upper end of the connecting thread of the damping cylinder.

[0010] As a preferred embodiment: the clutch deformation module includes a fixed bracket, a wheel drive gear fixed end cover, a spline shaft, a bearing, a spline sleeve, and a spline shaft external gear; the fixed bracket is fastened to the rotating bracket by bolts, the wheel drive gear fixed end cover is fixed to the front end of the fixed bracket, the spline shaft is fixedly connected to the output shaft of the brushless motor of the drive system, one end of the spline shaft is fixedly connected to the propeller blade, the spline shaft external gear is rigidly connected to the spline shaft, the spline shaft external gear meshes with the internal gear of the spline sleeve, a hollow shaft is assembled in the middle of the wheel drive gear fixed end cover, a bearing is fixedly connected to the outer end of the hollow shaft, the wheel drive gear is fixedly connected to the outer ring of the bearing, and the spline sleeve is built into the inside of the wheel drive gear, and the hollow shaft is movably connected to the spline shaft.

[0011] As a preferred embodiment: the drive system includes a motor mounting base, a brushless motor, and an adjustable servo motor; the brushless motor is fixedly connected to the motor mounting base by bolts, one end of the motor mounting base is rotatably connected to hinge two, hinge two is connected to hinge one through a rotating plate, the adjustable servo motor is fixedly connected in the U-shaped groove of the rotating bracket, and the output end of the adjustable servo motor is hinged to the suspended adjustable servo plate.

[0012] As a preferred embodiment: the wheel assembly includes a fixed bracket, a wheel, a wheel fixing plate, a wheel drive gear, an outer ring gear, a wheel driven gear, a support boss, and a driven gear shaft; the wheel fixing plate is composed of an inner plate, an outer plate, and support columns, with several support columns provided between the inner and outer plates and fastened together by bolts, the outer ring of the support column being a rotatable bushing, the wheel being clamped between the inner and outer plates of the wheel fixing plate, the inner ring of the wheel being tangent to the outer ring of the support column, the fixed bracket being rigidly connected to the inner plate of the wheel fixing plate by bolts, the wheel driven gear being connected to the support boss of the inner plate through the driven gear shaft, and an outer ring gear being fixedly connected to the inner side wall of the wheel, the wheel driven gear meshing with the outer ring gear and the wheel drive gear respectively.

[0013] The land-air switching method achieved using the aforementioned single-power-source, dual-domain driven amphibious UAV is as follows: I. Switching from Land Mode to Flight Mode: In the initial state of land mode, after the controller receives the flight switching command, the brushless motor first reduces its speed to idle, the servo motor is unlocked, and the suspension adjustment control plate is finely adjusted to a horizontal attitude. The altitude sensor detects the ground clearance in real time and sends a feedback signal to the controller. Subsequently, the controller controls the clutch deformation module to deform the clutch. After the clutch deforms, the controller gradually increases the speed of the brushless motor, and the power is transmitted to the propeller. The lift gradually increases, and the entire aircraft smoothly ascends to the preset flight altitude. The altitude sensor provides real-time altitude feedback, and the controller finely adjusts the speed of the brushless motor to maintain stable flight attitude. The switching process from land mode to flight mode is completed. II. Switching from Flight Mode to Land Mode: After receiving the land mode switching command, the controller controls the brushless motor to reduce its speed, the lift of the propeller gradually decreases, and the whole aircraft descends slowly. When the altitude sensor detects the preset ground clearance, the controller locks the speed of the brushless motor, causing the whole aircraft to enter a hovering state. Subsequently, the whole aircraft descends further, the wheels slowly contact the ground, and the controller controls the clutch deformation module to engage and disengage. After the clutch deformation, the power is transmitted to the wheel assembly through the clutch deformation module, and the whole aircraft regains its ground mobility. The process of switching from flight mode to land mode is completed.

[0014] As a preferred embodiment: the initial state of the land driving mode is as follows: the servo drive rotating plate is in a horizontal state, the motor mounting base is kept vertical, the spline shaft is in a "retracted" state, the external teeth of the spline shaft are fully engaged with the internal gear ring of the spline sleeve embedded in the wheel drive gear, the servo is locked, the suspension adjustment rudder plate is kept horizontal, the spring assembly is in a pre-tensioned standby state, and the wheel is in full contact with the ground; the speed of the brushless motor is adjusted according to the driving requirements, and the power is transmitted to the wheel assembly through the clutch deformation module, that is, the wheel drive gear → the wheel driven gear → the wheel.

[0015] As a preferred embodiment: the clutch deformation module's clutch deformation method is as follows: the power transmission path is switched through the engagement and disengagement of the spline shaft's external teeth and the spline sleeve; the controller precisely controls the switching process based on the signal detected by the displacement sensor; in land mode, the servo drive rotating bracket is adjusted to remain horizontal relative to the center plate, hinge two and hinge three are relatively close, the spline shaft is in the "retracted" state, the spline shaft's external teeth are positioned close to the wheel drive gear, and the spline shaft's external teeth are fully engaged with the spline sleeve's internal gear ring section; the brushless motor's power is sequentially transmitted through the spline shaft, spline sleeve, wheel drive gear, and wheel driven gear to the wheel assembly, ultimately driving the wheel to rotate; from land mode to flight mode... In flight mode, the servo motor drives the rotating bracket to remain perpendicular to the center plate. Hinges two and three are relatively far apart. The motor mounting base, brushless motor, and spline shaft move axially relative to the rotating bracket. The external teeth of the spline shaft extend synchronously with the spline shaft and completely separate from the internal gear ring segment of the wheel drive gear. The power of the brushless motor is transmitted directly to the propeller wing via the spline shaft. At this time, the wheel drive gear has no power input, avoiding additional power output in flight mode. When switching from flight mode back to land mode, the servo motor reverses the rotation bracket to restore it to a horizontal state. The spline shaft then moves axially back, and the external teeth of the spline shaft re-mesh with the internal gear ring segment of the wheel drive gear, restoring the power transmission path of the wheel.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: the integrated architecture of "single power source + adjustment drive" optimizes the overall system design and improves energy utilization efficiency. At the same time, the efficiency and stability of mode switching are significantly improved through mechanical linkage, and the dedicated suspension system further ensures the passability of complex terrain. Attached Figure Description

[0017] For ease of explanation, the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0018] Figure 1 This is an isometric view of the land-based model structure of the present invention; Figure 2 This is an isometric view of the flight mode structure of the present invention; Figure 3 This is a schematic diagram of the independent suspension damping system in this invention; Figure 4 Schematic diagram of the clutch transmission mechanism in the land travel mode of this invention; Figure 5 Schematic diagram of the flight mode clutch transmission mechanism in this invention; Figure 6 This is a schematic diagram showing the connection between the center plate and the suspension support frame in this invention; Figure 7 This is a schematic diagram showing the connection between the wheel and the wheel fixing plate in this invention; Figure 8 This is a schematic diagram of the wheel fixing plate in this invention; Figure 9 This is a schematic diagram of the inner plate structure in this invention.

[0019] In the diagram: 1-Center plate; 2-Suspension support frame; 3-Rotating plate; 4-Rotating bracket; 5-Fixed bracket; 6-Wheel; 7-Wheel fixing plate; 8-Wheel drive gear; 9-Outer ring gear; 10-Propeller wing; 11-Wheel driven gear; 12-Support boss; 13-Driven gear shaft; 14-Motor mounting base; 15-Hinge 1; 16-Hinge 2; 17-Wheel drive gear fixing end cover; 18-Upper connecting ear; 19-Limiting structure; 20-Spring upper seat; 21-Spring assembly; 22-Shock absorber; 23-Suspension adjustment rudder plate; 24-Lower connecting ear; 25-Adjusting rudder; 26-Spring lower seat; 27-Shock absorber shaft; 28-Brushless motor; 29-Splined shaft; 30-Bearing; 31-Splined sleeve; 32-Splined shaft external gear; 33-Hinge 3; 7-1-Inner panel; 7-2-Outer panel; 7-3-Support column. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. The structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read the invention, and are not intended to limit the conditions under which the invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concept of the invention.

[0021] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0022] Combination Figures 1 to 9 The illustration describes this specific embodiment, which adopts the following technical solution: It includes a support mechanism, an independent suspension damping system, a clutch deformation module, a drive system, wheel assemblies, a propeller wing 10, a battery, a controller, an adjustment servo motor 25, and displacement and altitude sensors. The independent suspension damping system, clutch deformation module, drive system, wheel assemblies, propeller wing 10, battery, controller, adjustment servo motor 25, and displacement and altitude sensors are integrated into the support mechanism via bolt fastening or hinge connection, forming a "single power source drive + multi-module collaboration" amphibious architecture for switching between ground movement and controlled flight, enabling flexible switching between efficient ground movement and stable aerial flight. The specific structures of each component are as follows: Combination Figures 1 to 9The illustration shows this specific embodiment. The support mechanism in this embodiment includes a center plate 1, a suspension support frame 2, a rotating plate 3, and a rotating bracket 4. The center plate 1, serving as the structural reference component of the entire machine, is made of lightweight, high-strength materials such as carbon fiber to form a frame structure. This ensures load-bearing strength while reducing weight through a hollow design. Its core function is to integrate the spatial positions of various functional modules, ensuring that the force transmission of the independent suspension damping system, the power switching of the clutch deformation module, and the position adjustment of the drive system are all on a preset coordinated trajectory, providing fundamental support for the overall structural integrity and motion stability of the machine. Rotating plates 3 are symmetrically arranged on both sides of the center plate 1 along its length. The rotating plates 3 are connected to the center plate 1 via hinges 15 and are used to support and adjust the drive system. Suspension brackets 2 with a hollow design are symmetrically bolted to both sides of the center plate 1 along its length for hinged connection. The independent suspension shock absorption system has an upper connecting lug 18; rotating brackets 4 are provided on both sides of the center plate 1 in the width direction. The two ends of the rotating brackets 4 are connected to the center plate 1 through hinges 33. Driven by the adjustment servo 25, they can rotate around the hinges 33. The fixed brackets 5 are used to fix the clutch deformation module. The rotating brackets 4 have U-shaped grooves to accommodate the adjustment servo 25. The lower surface of the center plate 1 has a battery mounting slot. The battery is fixedly connected in the battery mounting slot. The battery is adapted to a lithium battery and fixed by binding or steel straps, etc. The battery powers the whole machine. The upper surface of the center plate 1 is fixedly connected to a control box. The control box integrates a controller. The controller is connected to the brushless motor 28, the adjustment servo 25, and the displacement and height sensor through wires. It is used to receive signals and control the action of each module. The height sensor is fixedly connected to the front end of the lower surface of the center plate 1. It is used to detect the ground clearance of the whole machine when switching between land and air.

[0023] Combination Figures 1 to 9The illustration shows a specific embodiment of the independent suspension damping system. In this embodiment, one set is configured for each wheel assembly, totaling four sets, symmetrically arranged along the center plate 1. This system is used to attenuate vibrations and impacts from rough roads. It includes an upper connecting lug 18, a limiting structure 19, an upper spring seat 20, a spring assembly 21, a shock absorber 22, a suspension adjustment rudder plate 23, a lower connecting lug 24, a lower spring seat 26, and a damping shaft 27. The upper connecting lug 18 and lower connecting lug 24 are made of high-strength material. The upper connecting lug 18 is hinged to the suspension support frame 2 of the bracket mechanism, and the lower connecting lug 24 is hinged to the suspension adjustment rudder plate 23, ensuring flexible and unobstructed rotation. One end of the damping shaft 27 is securely connected to the lower connecting lug 24, and the other end of the damping shaft 27 passes through the inner hole of the shock absorber 22. The outer wall of the shock absorber 22 is provided with connecting threads, and the connecting threads of the shock absorber 22 connect to the spring... The upper spring seat 20 is connected by a thread, and the spring assembly 21 is abutted between the upper spring seat 20 and the lower spring seat 26 at its ends. The lower spring seat 26 is fixedly connected to the upper end of the lower connecting ear 24 to support the spring assembly 21. When the upper spring seat 20 rotates along the thread of the shock absorber 22, the spring assembly 21 can adjust the preload by stretching or compressing, which, together with the damping effect of the shock absorber 22, buffers ground vibration. One end of the suspension adjustment rudder plate 23 is hinged to the lower connecting ear 24, and the other end of the suspension adjustment rudder plate 23 is fixedly connected to the output end of the adjustment rudder 25 to transmit damping force and adjust wheel posture, thereby effectively attenuating vibration impact when driving on rough ground, improving the stability and passability of ground movement, and ensuring the quality and service life of the equipment in complex terrain. The limiting structure 19 is connected to the upper end of the connecting thread of the shock absorber 22 by a thread.

[0024] Combination Figures 1 to 9The illustration shows this specific embodiment. The clutch deformation module in this embodiment includes a fixed bracket 5, a wheel drive gear fixed end cover 17, a splined shaft 29, a bearing 30, a splined sleeve 31, and a splined shaft external gear 32. The fixed bracket 5 is fastened to the rotating bracket 4 by bolts. The wheel drive gear fixed end cover 17 is fixed to the front end of the fixed bracket 5. The splined shaft 29 is fixedly connected to the output shaft of the brushless motor 28 of the drive system and rotates synchronously under the drive of the motor. One end of the splined shaft 29 is fixedly connected to the propeller wing 10, directly providing power for flight. The splined shaft external gear 32 is rigidly connected to the splined shaft 29, and the splined shaft external gear 32 meshes with the internal gear of the splined sleeve 31. The wheel drive gear fixed end cover 17 is fitted with a hollow shaft in the middle. The outer end of the hollow shaft is fixedly connected to a bearing 30. The wheel drive gear 8 is fixedly connected to the outer ring of the bearing 30. The bearing 30 enables stable fixation and flexible rotation. The spline sleeve 31 is built into the inside of the wheel drive gear 8. The hollow shaft and the spline shaft 29 are movably connected. In addition, the outer ring of the motor mounting base 14 and the inner ring of the rotating bracket 4 form a clearance fit one, and the spline shaft 29 and the inner wall of the hollow shaft form a clearance fit two. Through the synergistic effect of the two sets of clearance fits, the circumferential fixation of the motor mounting base 14, the brushless motor 28 and the spline shaft 29 is achieved, and the smooth axial movement of the three is also ensured. The core of this module is the spline clutch mechanism, which consists of a spline shaft 29 and a spline sleeve 31. The power transmission path is switched by selectively engaging / disengaging the two: in land mode, the two engage, and the motor power is transmitted to the wheel drive gear 8 through the spline shaft 29 and the spline sleeve 31; in flight mode, the two disengage, and the power is directly transmitted to the propeller wing 10 through the spline shaft 29, thus completing the precise switching of the clutch function.

[0025] Combination Figures 1 to 9 The illustration shows this specific embodiment. The drive system in this embodiment includes a motor mounting base 14, a brushless motor 28, and an adjustable servo motor 25. The brushless motor 28 is the sole power source for dual-domain (land and air) operation. The brushless motor 28 is bolted to the motor mounting base 14. One end of the motor mounting base 14 is rotatably connected to hinge 2 16, and is supported and adjusted by the rotating plate 3 of the center plate 1. Hinge 2 16 is connected to hinge 1 15 via the rotating plate 3. The adjustable servo motor 25 is fixedly connected to the rotating bracket. Within the U-shaped groove of 4, the output end of the adjusting servo motor 25 is hinged to the suspension adjusting rudder plate 23 to adjust the attitude of the shock absorption system. During operation, the brushless motor 28 outputs power to the spline shaft 29 of the clutch deformation module to provide driving force for the wheel 6 or the propeller wing 10. When it is necessary to switch between land and air modes, the adjusting servo motor 25 drives the rotating bracket 4 to rotate. Through the cooperation of hinge one 15 and hinge two 16, the spatial position of the brushless motor 28 is adjusted, causing the spline shaft 29 to move axially, so that the spline sleeve 31 can slide precisely to the preset engagement position.

[0026] Combination Figures 1 to 9The illustration shows this specific embodiment. The wheel assembly described in this embodiment is the core actuator for ground movement of the entire machine. The wheel assembly includes a fixed bracket 5, a wheel 6, a wheel fixing plate 7, a wheel transmission gear 8, an outer ring gear 9, a wheel driven gear 11, a support boss 12, and a driven gear shaft 13. The wheel fixing plate 7 is composed of an inner plate 7-1, an outer plate 7-2, and support columns 7-3. Several support columns 7-3 are arranged between the inner plate 7-1 and the outer plate 7-2 and are fastened together with bolts to form a stable assembly mounting frame. The outer ring of the support column 7-3 is a rotatable bushing. The inner ring of the wheel 6 is tangent to the outer ring of the support column 7-3 and is clamped between the inner plate 7-1 and the outer plate 7-2 of the wheel fixing plate 7. Radial displacement is limited by the support columns 7-3. The wheel fixing plate 7 limits axial displacement to ensure stable posture when driving on the ground. The fixing bracket 5 is rigidly connected to the inner plate 7-1 of the wheel fixing plate 7 by bolts, providing an assembly support reference for the wheel drive gear 8. The wheel driven gear 11 is connected to the support boss 12 of the inner plate 7-1 through the driven gear shaft 13 and can rotate flexibly around the driven gear shaft 13. An outer ring gear 9 is fixedly connected to the inner side wall of the wheel 6. The wheel driven gear 11 meshes with the outer ring gear 9 and the wheel drive gear 8 respectively. The wheel drive gear 8 is independently rotated and supported by the bearing 30. The wheel drive gear 8 and the wheel driven gear 11 mesh precisely, and then the wheel driven gear 11 meshes with the outer ring gear 9 inside the wheel 6 to form a complete power transmission path. Example

[0027] The suspension adjustment method in this embodiment is as follows: In the initial state of land mode, the adjustment servo 25 is locked, and its output locks the attitude of the suspension adjustment servo plate 23, ensuring that the suspension adjustment servo plate 23 remains parallel to the upper surface of the rotating bracket 4. At this time, the spring assembly 21 is in the "pre-tensioned standby" state. When the whole machine travels on rough roads, the ground impact is transmitted sequentially through the wheel 6, fixed bracket 5, rotating bracket 4, suspension adjustment servo plate 23, upper connecting ear 18, and lower connecting ear 24 to the shock absorber shaft 27 and shock absorber cylinder 22. The ground impact pushes the shock absorber shaft 27 to move axially along the inner hole of the shock absorber cylinder 22, causing the connecting ear to move synchronously. The spring assembly 21 is compressed and generates a reverse elastic force to offset part of the impact load. At the same time, the damping medium in the shock absorber cylinder 22 generates viscous flow resistance due to the axial movement of the shock absorber shaft 27, further absorbing and attenuating the vibration energy, effectively protecting the clutch deformation module, drive system and other precision components from impact damage. The initial position of the spring assembly 21 can be preset by rotating the upper spring seat 20 to adapt to different ground hardness. When the road surface is soft, the initial preload of the spring is reduced to allow for a larger compression stroke. When the road surface is hard, the initial preload is increased to shorten the compression start stroke, thereby improving the ride smoothness under different road conditions.

[0028] When switching from land mode to flight mode, the servo motor 25 is released from its locked state, and its output drives the suspension adjustment rudder 23 to rotate around the hinge point, ultimately keeping the length direction of the servo motor 25 perpendicular to the suspension adjustment rudder 23. At this time, the spring assembly 21 maintains its free length without preload, ensuring that the overall shock absorption system has no additional deformation and avoiding interference with the flight attitude stability of the propeller wing 10. When switching back from flight mode to land mode, the servo motor 25 is activated again, driving the suspension adjustment rudder 23 to rotate in the opposite direction to restore it to parallel with the upper surface of the rotating support 4. The spring assembly 21 re-enters the preload standby state, providing cushioning support for ground travel. Example

[0029] The clutch deformation method of the clutch deformation module in this embodiment is as follows: In this embodiment, the clutch deformation module is the core of the power switching, used to realize the transmission of power from the brushless motor 28 to the propeller wing 10, and the selective transmission of power to the wheel 6. The power transmission path is switched by the engagement and disengagement of the spline shaft external gear 32 and the spline sleeve 31. The controller precisely controls the switching process based on the signal detected by the displacement sensor. In land mode, the servo motor 25 drives the rotating bracket 4 to remain horizontal relative to the center plate 1. The relative positions of hinge 2 16 and hinge 3 33 are relatively close, the spline shaft 29 is in the "retracted" state, and the spline shaft external gear 32 is located close to the wheel drive gear 8. The spline shaft external gear 32 is fully engaged with the internal gear ring section of the spline sleeve 31. The power of the brushless motor 28 is transmitted sequentially through the spline shaft 29, spline sleeve 31, wheel drive gear 8, and wheel driven gear 11 to the wheel assembly, ultimately driving the wheel 6 to rotate. When switching from land mode to flight mode, the servo motor 25 drives the rotating support 4 to remain perpendicular to the center plate 1. Hinge 2 16 and hinge 3 33 are relatively far apart. The motor mount 14, brushless motor 28, and spline shaft 29 move axially relative to the rotating support 4. The external teeth 32 of the spline shaft simultaneously "extend" along with the spline shaft 29, completely disengaging from the internal gear ring segment of the wheel drive gear 8. The power of the brushless motor 28 is then directly transmitted to the propeller 10 via the spline shaft 29. At this time, the wheel drive gear 8 receives no power input, avoiding additional power output in flight mode. When switching back from flight mode to land mode, the servo motor 25 reverses the rotation support 4 to restore its horizontal position. The spline shaft 29 then moves axially back, and the external teeth 32 of the spline shaft re-engage with the internal gear ring segment of the wheel drive gear 8, restoring the power transmission path of the wheels. Example

[0030] The land-to-air switching method in this embodiment is as follows: In the initial state of land-based mode, the adjusting servo 25 drives the rotating plate 3 to a horizontal position, the motor mounting base 14 remains vertical, the spline shaft 29 is in a "retracted" state, and the external teeth 32 of the spline shaft are fully engaged with the internal gear ring section of the wheel transmission gear 8. The adjusting servo 25 is locked, the suspension adjusting servo plate 23 remains horizontal, the spring assembly 21 is in a pre-tensioned standby state, and the wheel 6 is in full contact with the ground. The speed of the brushless motor 28 is adjusted according to driving requirements, and power is transmitted to the wheel assembly via the clutch deformation module, i.e., wheel transmission gear 8 → wheel driven gear 11 → wheel 6, enabling the entire machine to move on the ground and steer flexibly. The controller receives signals from the height sensor and displacement sensor in real time to monitor the overall operating status of the machine.

[0031] Upon receiving the flight switching command, the controller first controls the brushless motor 28 to reduce its speed to idle to avoid gear impact during power switching; the servo motor 25 is unlocked, driving the suspension adjustment rudder 23 to fine-tune to a horizontal attitude; the altitude sensor detects the ground clearance in real time and sends a feedback signal to the controller. Subsequently, the controller sends a signal to the servo motor 25 to drive the rotating plate 3 to a tilted state, the motor mounting base 14 rotates around hinge 15, driving the brushless motor 28 to move synchronously, the spline shaft 29 slides axially, and the spline shaft external teeth 32 synchronously move away from the wheel transmission gear 8 and completely separate, and the wheel assembly loses power input; the servo motor 25 continues to operate, the spline shaft 29 continues to slide, and the displacement sensor sends a position signal to the controller; the controller commands the servo motor 25 to stop working and lock the output end, fixing the position of the rotating plate 3 to maintain the tilt angle. Finally, the controller gradually increases the speed of the brushless motor 28, and the power is transmitted to the propeller 10. The lift gradually increases, and the whole aircraft rises smoothly to the preset flight altitude. The altitude sensor provides real-time feedback of the altitude signal, and the controller fine-tunes the speed of the brushless motor 28 to maintain stable flight attitude. The process of switching from land mode to flight mode is completed.

[0032] When the controller receives the land-going switching command, it controls the brushless motor 28 to reduce its speed, the lift of the propeller 10 gradually decreases, and the whole machine descends slowly. When the altitude sensor detects the preset ground clearance, the controller locks the speed of the brushless motor 28, causing the whole machine to enter a hovering state. The adjustment servo 25 is activated, driving the suspension adjustment rudder plate 23 to make fine adjustments, and the spring assembly 21 is ready to receive the ground impact. Subsequently, the whole machine descends further, and the wheels 6 slowly contact the ground, achieving a smooth landing. Then, the controller sends a signal to the adjustment servo 25, driving the rotating plate 3 to rotate in the opposite direction, driving the brushless motor 28 to move synchronously, and the spline shaft 29 to slide in the opposite direction. The adjustment servo 25 continues to move in the opposite direction, and the spline shaft 29 slides to the initial position. The external teeth 32 of the spline shaft are fully engaged with the spline sleeve 31 in the wheel transmission gear 8, and the displacement sensor sends a position signal. The adjustment servo 25 stops working and locks the output end. The rotating plate 3 remains in a horizontal state, the motor mounting base 14 returns to a vertical state, and the spring assembly 21 returns to a pre-tensioned standby state. Finally, the controller adjusts the brushless motor to 28 RPM to the starting speed, and the power is transmitted to the wheel assembly through the clutch deformation module, restoring the machine's ground mobility. The process of switching from flight mode to land mode is completed.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A single power source dual domain driven amphibious UAV, characterized in that: The support mechanism, independent suspension damping system, clutch deformation module, driving system, wheel assembly, helical wing (10), battery, controller, adjusting rudder (25), displacement and height sensor are integrated in the support mechanism by bolt fastening or hinged way to form a "single power source driving + multi-module cooperation" amphibious architecture for ground movement and flight control switching.

2. The single power source dual domain driven amphibious UAV of claim 1, wherein: The support mechanism includes a center plate (1), a suspension support frame (2), a rotating plate (3), and a rotating support (4). The rotating plate (3) is symmetrically arranged on both sides of the length direction of the center plate (1) and connected to the center plate (1) through a hinge (15). The suspension support frame (2) is symmetrically connected to both sides of the length direction of the center plate (1) through bolt fastening. The rotating support (4) is arranged on both sides of the width direction of the center plate (1) and connected to the center plate (1) through a hinge (33) at both ends. A U-shaped groove is formed in the rotating support (4) for accommodating the adjusting rudder (25). A battery mounting groove is formed in the lower surface of the center plate (1) for fixing the battery. The battery provides power for the whole machine. A control box is fixedly connected to the upper surface of the center plate (1) and integrates the controller. The controller is connected to the brushless motor (28), adjusting rudder (25), and displacement and height sensor through wires for receiving signals and controlling the actions of each module. The height sensor is fixedly connected to the front end of the lower surface of the center plate (1) for detecting the ground clearance of the whole machine during land-air switching.

3. The single power source dual domain driven amphibious UAV of claim 2, wherein: The suspension support frame (2) is a hollow suspension support frame.

4. The single power source dual domain driven amphibious UAV of claim 1, wherein: The independent suspension damping system includes an upper connecting lug (18), a limiting structure (19), a spring upper seat (20), a spring assembly (21), a damping cylinder (22), a suspension adjusting rudder plate (23), a lower connecting lug (24), a spring lower seat (26), and a damping shaft (27). The upper connecting lug (18) is hinged to the suspension support frame (2) of the support mechanism. The lower connecting lug (24) is hinged to the suspension adjusting rudder plate (23). One end of the damping shaft (27) is fixedly connected to the lower connecting lug (24). The other end of the damping shaft (27) is arranged in the inner hole of the damping cylinder (22). The outer wall of the damping cylinder (22) is provided with a connecting thread. The connecting thread of the damping cylinder (22) is connected to the spring upper seat (20) through a thread. The spring assembly (21) is abutted between the spring upper seat (20) and the spring lower seat (26). The spring lower seat (26) is fixedly connected to the upper end of the lower connecting lug (24) for supporting the spring assembly (21). One end of the suspension adjusting rudder plate (23) is hinged to the lower connecting lug (24). The other end of the suspension adjusting rudder plate (23) is fixedly connected to the output end of the adjusting rudder (25) for transmitting damping force and adjusting the attitude of the wheel. The limiting structure (19) is threadedly connected to the upper end of the connecting thread of the damping cylinder (22).

5. The single power source dual domain driven amphibious UAV of claim 1, wherein: The clutch deformation module comprises a fixed support (5), a wheel transmission gear fixed end cover (17), a spline shaft (29), a bearing (30), a spline sleeve (31) and spline shaft external teeth (32); the fixed support (5) is fastened and connected with the rotating support (4) through bolts, the wheel transmission gear fixed end cover (17) is fixed at the front end of the fixed support (5), the spline shaft (29) is fixedly connected with the output shaft of the brushless motor (28) of the driving system, one end of the spline shaft (29) is fixedly connected with the spiral wing (10), the spline shaft external teeth (32) are rigidly connected with the spline shaft (29), the spline shaft external teeth (32) are engaged with the internal teeth of the spline sleeve (31), the middle part of the wheel transmission gear fixed end cover (17) is assembled with a hollow shaft, the outer end of the hollow shaft is fixedly connected with the bearing (30), the wheel transmission gear (8) is fixedly connected on the outer ring of the bearing (30), and the spline sleeve (31) is arranged in the inside of the wheel transmission gear (8), and the hollow shaft is movably connected with the spline shaft (29).

6. The single power source dual domain driven amphibious UAV of claim 1, wherein: The driving system comprises a motor mounting seat (14), a brushless motor (28) and an adjusting rudder (25); the brushless motor (28) is fixedly connected on the motor mounting seat (14) through bolts, one end of the motor mounting seat (14) is rotatably connected with the hinge two (16), the hinge two (16) is connected with the hinge one (15) through the rotating plate (3), the adjusting rudder (25) is fixedly connected in the U-shaped groove of the rotating support (4), and the output end of the adjusting rudder (25) is hingedly connected with the suspension adjusting rudder plate (23).

7. The single power source dual domain driven amphibious UAV of claim 1, wherein: The wheel assembly comprises a fixed support (5), a wheel (6), a wheel fixing plate (7), a wheel transmission gear (8), an outer ring gear (9), a driven gear (11), a supporting boss (12) and a driven gear shaft (13); the wheel fixing plate (7) is composed of an inner plate (7-1), an outer plate (7-2) and supporting columns (7-3), a plurality of supporting columns (7-3) are arranged between the inner plate (7-1) and the outer plate (7-2) and are fastened and connected through bolts, the outer ring of the supporting column is a rotatable shaft sleeve, the wheel (6) is clamped between the inner plate (7-1) and the outer plate (7-2) of the wheel fixing plate (7), the inner ring of the wheel (6) is tangent to the outer ring of the supporting column (7-3), the fixed support (5) is rigidly connected with the inner plate (7-1) of the wheel fixing plate (7) through bolts, the driven gear (11) is connected on the supporting boss (12) of the inner plate (7-1) through the driven gear shaft (13), the outer ring gear (9) is fixedly connected on the inner side wall of the wheel (6), and the driven gear (11) is engaged with the outer ring gear (9) and the wheel transmission gear (8) respectively.

8. The land-air switching method of the single-power-source dual-domain driven amphibious UAV, which is implemented by using the single-power-source dual-domain driven amphibious UAV according to claims 1 to 7, characterized in that: The switching method is as follows: Step one, switching from land mode to flight mode: the initial state is executed in the land mode, when the controller receives the flight switching instruction, first, the brushless motor (28) reduces the rotating speed to idle speed, the adjusting rudder (25) is unlocked, and the suspension adjusting rudder plate (23) is finely adjusted to the horizontal posture; The height sensor detects the height from the ground in real time, feeds back the signal to the controller, and then the controller controls the clutch deformation module to deform and disengage. After the deformation and disengagement, the controller gradually increases the speed of the brushless motor (28), the power is transmitted to the spiral wing (10), the lift gradually increases, and the whole machine smoothly rises to the preset flight height. The height sensor feeds back the height signal in real time, the controller fine-tunes the speed of the brushless motor (28), maintains the stable flight attitude, and completes the switching process from the land mode to the flight mode. Step two, switching from flight mode to land mode: when the controller receives the land switching instruction, it controls the brushless motor (28) to reduce the speed, the lift of the spiral wing (10) gradually decreases, and the whole machine slowly descends. When the height sensor detects the preset height from the ground, the controller locks the speed of the brushless motor (28) to make the whole machine enter the hovering state. Then the whole machine further descends, the wheels (6) slowly contact the ground, the controller controls the clutch deformation module to deform and disengage, and after the deformation and disengagement, the power is transmitted to the wheel assembly through the clutch deformation module. The whole machine restores the ground moving ability, and the switching process from the flight mode to the land mode is completed.

9. The land-air switching method of the single-power-source dual-domain-driven amphibious unmanned aerial vehicle according to claim 8, characterized in that: The initial state of the land mode is: the steering gear (25) drives the rotating plate (3) to be in a horizontal state, the motor mounting seat (14) remains vertical, the spline shaft (29) is in a "retracted" state, the spline shaft outer gear (32) is fully engaged with the spline sleeve (31) inner gear ring segment embedded in the wheel transmission gear (8), the steering gear (25) is locked, the suspension steering plate (23) remains horizontal, the spring assembly (21) is in a pre-tightened standby state, and the wheels are fully in contact with the ground. The speed of the brushless motor (28) is adjusted according to the driving demand, and the power is transmitted to the wheel assembly through the clutch deformation module, i.e. wheel transmission gear (8) → wheel driven gear (11) → wheel (6).

10. The land-air switching method of the single-power-source dual-domain-driven amphibious unmanned aerial vehicle according to claim 8, characterized in that: The clutch deformation method of the clutch deformation module is: through the meshing and separation of the spline shaft outer gear (32) and the spline sleeve (31), the switching of the power transmission path is realized, and the controller accurately controls the switching process according to the signal detected by the displacement sensor; in the land mode, the steering engine (25) drives the rotating support (4) to keep horizontal relative to the center plate (1), the relative position of the hinge two (16) and the hinge three (33) is close, the spline shaft (29) is in the "retracted" state, the spline shaft outer gear (32) is located close to the wheel transmission gear (8) with the whole, the spline shaft outer gear (32) is fully engaged with the inner gear ring segment of the spline sleeve (31); the power of the brushless motor (28) is transmitted to the wheel assembly through the spline shaft (29), the spline sleeve (31), the wheel transmission gear (8), the wheel driven gear (11) in turn, and finally drives the wheel (6) to rotate; when the land mode is converted to the flight mode, the steering engine (25) drives the rotating support (4) to keep vertical relative to the center plate (1), the relative position of the hinge two (16) and the hinge three (33) is far, the motor mounting seat (14), the brushless motor (28) and the spline shaft (29) move axially relative to the rotating support (4) as a whole, the spline shaft outer gear (32) is synchronized with the spline shaft (29) "extended" and fully separated from the inner gear ring segment of the wheel transmission gear (8); the power of the brushless motor (28) is transmitted to the spiral wing (10) through the spline shaft (29) in turn; At this time, the wheel transmission gear (8) has no power input, which avoids additional power output in the flight mode, when the flight mode is converted to the land mode, the steering engine (25) drives the rotating support (4) to restore the horizontal state in the reverse direction, the spline shaft (29) moves axially back with it, the spline shaft outer gear (32) is re-engaged with the inner gear ring segment of the wheel transmission gear (8), and the power transmission path of the wheel is restored.

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