Air-ground aircraft

Abstract

The invention relates to the technical field of aircrafts, and particularly discloses an air-ground aircraft which comprises a fuselage, a walking mechanism, a propeller mechanism and a deformation mechanism, the propeller mechanism is connected to the walking mechanism, the deformation mechanism comprises a first driving assembly and a movement assembly, the first driving assembly is connected to the movement assembly and the fuselage, and the movement assembly is connected to the fuselage. The moving assembly is connected to the walking mechanism, and the first driving assembly is used for driving the moving assembly to move so as to drive the walking mechanism to move, so that the walking mechanism is in contact with or separated from a walking surface, and the walking mechanism is folded or unfolded; therefore, the air-ground aircraft is switched between the walking mode and the flight mode. By means of the mode, when the air-ground aircraft is in the walking mode, the propeller mechanism is folded, the occupied space of the air-ground aircraft is reduced, and the air-ground aircraft can walk in a narrow terrain.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a land-air aircraft. Background Technology

[0002] Aircraft are being upgraded from a single flight mode to amphibious aircraft with both flight and land walking modes to meet diverse mission requirements. The amphibious aircraft use propeller mechanisms to perform flight missions in the air and walking mechanisms to perform walking operations on the ground.

[0003] However, in the process of implementing the embodiments of this application, the inventors discovered that: currently, the propeller mechanism and the walking mechanism are independently fixed to the fuselage of the land-air vehicle. The fixed propeller mechanism makes the land-air vehicle occupy a large space, which is not conducive to the vehicle walking in narrow terrain.

[0004] Application content This application provides a land-to-air aircraft designed to solve the technical problem that a fixed propeller mechanism results in a large space requirement for the aircraft, which is not conducive to its movement in narrow terrain.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a land-air vehicle, including a fuselage, a walking mechanism, a propeller mechanism, and a morphing mechanism. The propeller mechanism is connected to the walking mechanism. The morphing mechanism includes a first drive component and a motion component. The first drive component is connected to the motion component and the fuselage. The motion component is connected to the walking mechanism. The first drive component is used to drive the motion component to move, thereby driving the walking mechanism to move, so that the walking mechanism contacts or disengages from the walking surface, thereby causing the walking mechanism to fold or unfold, thereby allowing the land-air vehicle to switch between walking mode and flight mode.

[0006] Optionally, the deformation mechanism includes a first bracket and a linkage assembly. The first bracket is connected to the body and the first drive assembly. The first bracket is movably connected to the motion assembly and the walking mechanism. The linkage assembly is movably connected to the walking mechanism and the motion assembly.

[0007] Optionally, the motion component includes a first lead screw and a first motion sleeve. The first lead screw extends along a first direction, which is perpendicular to the rotation axis of the walking mechanism. The first lead screw is rotatably connected to the first bracket and connected to the first drive component. The first motion sleeve is fitted onto the first lead screw and is movably connected to the connecting rod assembly.

[0008] Optionally, the first drive assembly includes a first gear, a second gear, and a first drive member, wherein the first drive member is connected to the first bracket and the first gear, the second gear is connected to the first lead screw, and the second gear meshes with the first gear.

[0009] Optionally, the deformation mechanism includes a second support, the motion component includes a rotating arm, the second support is connected to the body, and the rotating arm is connected to the first drive component and the walking mechanism.

[0010] Optionally, the first drive assembly includes a second drive member, which is connected to the second bracket and the rotating arm.

[0011] Optionally, the walking mechanism includes a machine arm, a second drive assembly, a transmission assembly, and a walking assembly. The machine arm is connected to the deformation mechanism. The second drive assembly and the transmission assembly are disposed on the machine arm. The second drive assembly is connected to the transmission assembly. The walking assembly is rotatably connected to the machine arm and is connected to the transmission assembly.

[0012] Optionally, the walking assembly includes a first walking wheel and a second walking wheel, and the propeller mechanism includes a first propeller assembly and a second propeller assembly. The first propeller assembly and the second propeller assembly are connected to the arm. The first propeller assembly is sleeved on the first walking wheel, and the second propeller assembly is sleeved on the second walking wheel.

[0013] Optionally, the first propeller assembly includes a third drive unit and a first propeller, the third drive unit being connected to the arm and the first propeller; And / or, the second propeller assembly includes a fourth drive unit and a second propeller, the fourth drive unit being connected to the arm and the second propeller.

[0014] Optionally, the land-to-air vehicle includes a lighting assembly disposed on the walking mechanism.

[0015] In this embodiment, the air-to-ground vehicle includes a fuselage, a running gear, a propeller mechanism, and a morphing mechanism. The propeller mechanism is connected to the running gear. The morphing mechanism includes a first drive component and a motion component. The first drive component is connected to the motion component and the fuselage. The motion component is connected to the running gear. The first drive component drives the motion component to move, thereby driving the running gear to move the propeller mechanism. This causes the running gear to contact or disengage from the running surface, and causes the propeller mechanism to fold or unfold, thus allowing the air-to-ground vehicle to switch between a running mode and a flight mode. Because the first drive component drives the motion component to move, thereby driving the running gear to move, causing the running gear to contact or disengage from the running surface, and thus folding or unfolding, the air-to-ground vehicle can switch between a running mode and a flight mode. Therefore, when the air-to-ground vehicle is in running mode, the propeller mechanism is folded, reducing the space occupied by the air-to-ground vehicle and facilitating its movement in narrow terrain. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the land-to-air aircraft in flight mode according to an embodiment of this application; Figure 2 This is a schematic diagram of the land-air vehicle in walking mode according to an embodiment of this application; Figure 3 yes Figure 1 An enlarged structural diagram of part A; Figure 4 This is a schematic diagram of the walking mechanism of the land-to-air aircraft according to an embodiment of this application; Figure 5 This is an exploded structural diagram of the walking mechanism of the land-to-air aircraft according to an embodiment of this application; Figure 6 This is a schematic diagram of the arm of the walking mechanism of the land-air vehicle according to an embodiment of this application; Figure 7 This is an exploded structural diagram of the arm of the walking mechanism of the land-air vehicle according to an embodiment of this application; Figure 8 This is an exploded view of the walking mechanism of the land-air vehicle in flight mode according to an embodiment of this application; Figure 9This is a schematic diagram of the walking mechanism of the land-air vehicle in walking mode according to an embodiment of this application; Figure 10 This is an exploded structural diagram of a transmission component of the walking mechanism of a land-to-air vehicle according to an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a second drive component of the walking mechanism of a land-to-air aircraft according to an embodiment of this application; Figure 12 This is a schematic diagram of another transmission component and another second drive component of the walking mechanism of the land-air vehicle according to an embodiment of this application; Figure 13 This is a schematic diagram of the propeller mechanism of the land-to-air aircraft according to an embodiment of this application; Figure 14 This is a structural cross-sectional schematic diagram of the walking mechanism and propeller mechanism of the land-to-air aircraft according to an embodiment of this application; Figure 15 This is a schematic diagram of the structure of a deformable mechanism of a land-to-air aircraft according to an embodiment of this application; Figure 16 This is a schematic diagram of the structure of the first support of a deformable mechanism of a land-air vehicle according to an embodiment of this application; Figure 17 This is a schematic diagram of the structure of a motion component of a deformation mechanism of a land-to-air aircraft according to an embodiment of this application; Figure 18 This is a schematic diagram of the structure of a linkage assembly of a deformable mechanism of a land-to-air aircraft according to an embodiment of this application; Figure 19 This is a schematic diagram of the structure of a first drive component of a deformable mechanism of a land-to-air aircraft according to an embodiment of this application; Figure 20 This is a partial structural schematic diagram of another variant mechanism of the land-air vehicle according to an embodiment of this application; Figure 21 This is a schematic diagram of the structure of another deformable mechanism of the land-air vehicle according to an embodiment of this application; Figure 22 This is an exploded structural diagram of the walking mechanism, propeller mechanism, and lighting assembly of the land-air vehicle according to an embodiment of this application. Figure 23 This is a schematic cross-sectional view of the antenna mechanism of the land-to-air vehicle according to an embodiment of this application; Figure 24 This is an exploded view of the structure of the connecting component of the antenna mechanism of the land-to-air vehicle according to an embodiment of this application; Figure 25 This is an exploded view of the antenna assembly of the antenna mechanism of the land-to-air vehicle according to an embodiment of this application.

[0018] Explanation of reference numerals in the attached figures: 100. Land-based and air-to-ground aircraft; 1. Fuselage; 11. First accommodating cavity; 12. First opening; 2. Walking mechanism; 21. Arm; 211. First arm housing; 2111. First rotating hole; 2112. First mounting hole; 212. Second arm housing; 213. Third arm housing; 2131. First heat dissipation hole; 214. Fourth arm housing; 2141. Second heat dissipation hole; 215. Fifth arm housing; 216. Sixth arm housing; 217. Second receiving cavity; 218. First receiving groove; 219. Second receiving groove; 21a. Second mounting hole; 21b. Third mounting hole; 22. Walking assembly; 221. First walking wheel; 2211. First wheel hub; 2212. First tire; 2213. First tooth; 2214. First protrusion; 2215. Third receiving groove; 2216. First arc surface; 2217. First duct; 221 8. First guide surface; 2219. First clearance groove; 222. Second travel wheel; 2221. Second wheel hub; 2222. Second tire; 2223. Second tooth; 2224. Second protrusion; 2225. Fourth receiving groove; 2226. Second arc surface; 2227. Second duct; 2228. Second guide surface; 2229. Second clearance groove; 23. Transmission assembly; 231. Third gear; 232. Fourth gear; 233. First drive shaft; 234. Fifth gear; 235. Sixth gear; 236. Second drive shaft; 237. Seventh gear; 238. Transmission cover; 24. Second drive assembly; 241. First drive seat; 242. Fifth drive member; 243. Sixth drive member; 244. Seventh drive member; 3. Propeller mechanism; 31. First propeller assembly; 311. Third drive component; 312. First propeller; 32. Second propeller assembly; 321. Fourth drive component; 322. Second propeller; 4. Deformation mechanism; 41. First bracket; 411. Second rotating hole; 412. Third rotating hole; 413. Fourth rotating hole; 42. First connecting shaft; 43. Motion component; 431. First lead screw; 432. First moving sleeve; 4321. Fourth mounting hole; 433. Second lead screw; 434. Second moving sleeve; 435. Rotary arm; 4351. First blocking part; 4352. Second blocking part; 44. Linkage assembly; 441. First connecting rod; 4411. Fifth mounting hole; 4412. Sixth mounting hole; 442. Second connecting shaft; 443. Third connecting shaft; 444. Second connecting rod; 45. First drive assembly; 451. Second drive seat; 452. First drive component; 453. First gear; 454. Second gear; 455. Second drive component; 46. Second bracket; 461. Third blocking part; 462. Fourth blocking part; 5. Lighting assembly; 51. First lighting element; 52. Second lighting element; 6. Power supply; 7. Antenna mechanism; 71. Connecting assembly; 711. Connector; 7111. First receiving slot; 712. First elastic element; 713. Limiting element; 7131. Limiting protrusion; 714. Limiting cylinder; 7141. Second receiving slot; 7142. Through hole; 7143. Baffle; 715. Connecting cylinder; 72. Antenna assembly; 721. Antenna cover; 722. Second elastic element; 7221. Snap-fit ​​part; 723. Antenna; z, the first direction; y, the second direction; x, the axis of rotation. Detailed Implementation

[0019] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "locked" to another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] This application provides a land-to-air aircraft 100; please refer to [link / reference]. Figure 1 and Figure 2 The air-to-ground vehicle 100 includes a fuselage 1, a running gear 2, a propeller mechanism 3, a morphing mechanism 4, a lighting assembly 5, and a power supply 6. The running gear 2 is connected to the morphing mechanism 4. The propeller mechanism 3 is connected to the running gear 2. The morphing mechanism 4 is connected to the fuselage 1 and the running gear 2, and is used to drive the running gear 2 to move, causing it to contact or detach from the running surface, thereby folding or unfolding the running gear 2, and allowing the air-to-ground vehicle 100 to switch between running mode and flight mode. The lighting assembly 5 is located on the running gear 2 and is used for illumination. The power supply 6 is located on the fuselage 1 and is electrically connected to the running gear 2, propeller mechanism 3, morphing mechanism 4, and lighting assembly 5 to provide power to these components.

[0022] For fuselage 1 mentioned above, please refer to Figure 3The fuselage 1 is provided with a first receiving cavity 11 and a first opening 12. The first receiving cavity 11 is connected to the first opening 12.

[0023] For the aforementioned walking mechanism 2, please refer to Figure 4 and Figure 5 The walking mechanism 2 includes an arm 21, a walking assembly 22, a transmission assembly 23, and a second drive assembly 24. The arm 21 is connected to the deformable mechanism 4. The walking assembly 22 is rotatably connected to the arm 21. The transmission assembly 23 and the second drive assembly 24 are disposed on the arm 21. The transmission assembly 23 is connected to the second drive assembly 24 and the walking assembly 22. The second drive assembly 24 is used to drive the transmission assembly 23 to move, thereby driving the walking assembly 22 to rotate, and thus driving the land-air vehicle 100 to walk.

[0024] For the aforementioned arm 21, please refer to Figure 6 and Figure 7 The robotic arm 21 includes a first arm housing 211, a second arm housing 212, a third arm housing 213, a fourth arm housing 214, a fifth arm housing 215, and a sixth arm housing 216. The first arm housing 211 is connected to the second arm housing 212. The second arm housing 212 is connected to the third arm housing 213 and the fourth arm housing 214. The third arm housing 213 is connected to the fifth arm housing 215. The fourth arm housing 214 is connected to the sixth arm housing 216. The first arm housing 211, the second arm housing 212, the third arm housing 213, and the fourth arm housing 214 define a second receiving cavity 217. The third arm housing 213 and the fifth arm housing 215 define a first receiving groove 218, which is located at one end of the robotic arm 21 and communicates with the second receiving cavity 217. The fourth arm housing 214 and the sixth arm housing 216 define and form a second receiving groove 219, which is located at the other end of the arm 21 and is connected to the second receiving cavity 217.

[0025] Furthermore, the first arm housing 211 is provided with a first rotating hole 2111 and a first mounting hole 2112.

[0026] Furthermore, the third arm housing 213 and the fifth arm housing 215 define a second mounting hole 21a, which connects to the first receiving groove 218. The fourth arm housing 214 and the sixth arm housing 216 define a third mounting hole 21b, which connects to the second receiving groove 219.

[0027] Furthermore, the third arm housing 213 is provided with a first heat dissipation hole 2131, which connects the first receiving groove 218 to the outside. The fourth arm housing 214 is provided with a second heat dissipation hole 2141, which connects the second receiving groove 219 to the outside.

[0028] For the walking component 22 mentioned above, please refer to Figure 8 and Figure 9 The walking assembly 22 includes a first walking wheel 221 and a second walking wheel 222. The first walking wheel 221 is rotatably connected to one end of the arm 21, and the second walking wheel 222 is rotatably connected to the other end of the arm 21.

[0029] Furthermore, the first traveling wheel 221 includes a first hub 2211 and a first tire 2212. The first hub 2211 is provided with a first tooth 2213, a first protrusion 2214, a first duct 2217, a first guide surface 2218, and a first clearance groove 2219. The first tooth 2213 is provided on the side of the first hub 2211 facing the arm 21, and the first tooth 2213 is rotatably disposed in the first receiving groove 218. The first protrusion 2214 is provided on the circumferential surface of the first hub 2211. The first guide surface 2218 is used to guide air into the first duct 2217, thereby reducing air resistance. The first clearance groove 2219 is located on the inner wall of the first hub 2211. The first tire 2212 is fitted onto the first hub 2211, and the first tire 2212 is provided with a third receiving groove 2215 and a first arc surface 2216. The third receiving groove 2215 receives the first protrusion 2214. The first arc surface 2216 is located on the side of the first tire 2212 away from the arm 21. When the deformation mechanism 4 drives the walking mechanism 2 to move, so that the land-air vehicle 100 switches from flight mode to walking mode, the first arc surface 2216 is used to reduce the resistance of the walking surface to the first tire 2212, which is conducive to the smooth switching of the state of the land-air vehicle 100.

[0030] Furthermore, the second traveling wheel 222 includes a second hub 2221 and a second tire 2222. The second hub 2221 is provided with a second tooth 2223, a second protrusion 2224, a second duct 2227, a second guide surface 2228, and a second clearance groove 2229. The second tooth 2223 is located on the side of the second hub 2221 facing the arm 21, and is rotatably disposed in the second receiving groove 219. The second protrusion 2224 is located on the circumferential surface of the second hub 2221. The second guide surface 2228 is used to guide airflow into the second duct 2227, thereby reducing air resistance. The second clearance groove 2229 is located on the inner wall of the second hub 2221. The second tire 2222 is fitted onto the second hub 2221, and the second tire 2222 is provided with a fourth receiving groove 2225 and a second arc surface 2226. The fourth receiving slot 2225 accommodates the second protrusion 2224. The second arc surface 2226 is located on the side of the second tire 2222 away from the arm 21. When the deformation mechanism 4 drives the walking mechanism 2 to move, so that the land-air vehicle 100 switches from the flight state to the walking state, the second arc surface 2226 is used to reduce the resistance of the ground to the second tire 2222, which is conducive to the smooth state switching of the land-air vehicle 100.

[0031] For the aforementioned transmission assembly 23, please refer to Figure 10 The transmission assembly 23 includes a third gear 231, a fourth gear 232, a first transmission shaft 233, a fifth gear 234, a sixth gear 235, a second transmission shaft 236, and a seventh gear 237. The third gear 231 is disposed in the second receiving cavity 217 and connected to the second drive assembly 24. The fourth gear 232 is disposed in the second receiving cavity 217. The first transmission shaft 233 is disposed in the second receiving cavity 217 and the first receiving groove 218. The fourth gear 232 is connected to the first transmission shaft 233 and meshes with the third gear 231. The fifth gear 234 is disposed in the first receiving groove 218 and connected to the first transmission shaft 233. The fifth gear 234 meshes with the first tooth portion 2213. The sixth gear 235 is disposed in the second accommodating cavity 217, and the second drive shaft 236 is disposed in the second accommodating cavity 217 and the second accommodating groove 219. The sixth gear 235 is connected to the second drive shaft 236 and meshes with the third gear 231. The seventh gear 237 is connected to the second drive shaft 236 and meshes with the second tooth portion 2223.

[0032] In some embodiments, the transmission assembly 23 further includes a transmission cover 238, which is disposed in the second accommodating cavity 217, connected to the second drive assembly 24, and covers the third gear 231, the fourth gear 232 and the sixth gear 235.

[0033] In some embodiments, the third gear 231, the fourth gear 232, the fifth gear 234, the sixth gear 235, and the seventh gear 237 are all bevel gears.

[0034] For the second drive component 24 mentioned above, please refer to Figure 11 The second drive assembly 24 includes a first drive seat 241 and a fifth drive member 242. The first drive seat 241 is disposed in the second accommodating cavity 217 and is connected to the transmission cover 238. The fifth drive member 242 is disposed in the second accommodating cavity 217, electrically connected to the power supply 6, connected to the first drive seat 241, and connected to the third gear 231. The fifth drive member 242 drives the third gear 231 to rotate, thereby driving the fourth gear 232 to drive the first transmission shaft 233 and the fifth gear 234 to rotate, thereby driving the first traveling wheel 221 to rotate, and driving the sixth gear 235 to drive the second transmission shaft 236 and the seventh gear 237 to rotate, thereby synchronously driving the second traveling wheel 222 to rotate.

[0035] The transmission assembly 23 is driven to rotate by a fifth driving element 242, thereby driving the first traveling wheel 221 and the second traveling wheel 222 to rotate. This reduces the number of fifth driving elements 242, thereby reducing the number of connecting lines of the fifth driving elements 242, which is beneficial for wiring.

[0036] In some embodiments, the fifth drive element 242 is a motor.

[0037] It is understood that in some embodiments, the transmission assembly 23 is not limited to the above structure. The transmission assembly 23 may also be other structures. For example, the transmission assembly 23 does not include the fifth gear 234 and the seventh gear 237. The first transmission shaft 233 is provided with a third tooth (not shown), and the second transmission shaft 236 is provided with a fourth tooth (not shown). The third tooth meshes with the first tooth 2213, and the fourth tooth meshes with the second tooth 2223.

[0038] It is understood that in some embodiments, the transmission assembly 23 is not limited to the above structure. The transmission assembly 23 may also be other structures. For example, the transmission assembly 23 does not include the fourth gear 232 and the sixth gear 235. The first transmission shaft 233 is provided with a fifth tooth (not shown), and the second transmission shaft 236 is provided with a sixth tooth (not shown). The fifth tooth meshes with the third gear 231, and the sixth tooth meshes with the third gear 231.

[0039] It is understood that, in some embodiments, please refer to Figure 12 The transmission assembly 23 and the second drive assembly 24 are not limited to the above-described structures. The transmission assembly 23 and the second drive assembly 24 can have other structures. For example, the transmission assembly 23 may include a fifth gear 234 and a seventh gear 237, and the second drive assembly 24 may include a sixth drive member 243 and a seventh drive member 244. Both the sixth drive member 243 and the seventh drive member 244 are disposed in the second accommodating cavity 217 and are electrically connected to a power source 6. The sixth drive member 243 is connected to the fifth gear 234, which meshes with the first tooth portion 2213. The sixth drive member 243 drives the fifth gear 234 to rotate, thereby driving the first traveling wheel 221 to rotate. The seventh drive member 244 is connected to the seventh gear 237, which meshes with the second tooth portion 2223. The seventh drive member 244 drives the seventh gear 237 to rotate, thereby driving the second traveling wheel 222 to rotate.

[0040] In some embodiments, the sixth drive member 243 and the seventh drive member 244 are both motors.

[0041] For the propeller mechanism 3 mentioned above, please refer to Figure 13 and Figure 14 The propeller mechanism 3 includes a first propeller assembly 31 and a second propeller assembly 32.

[0042] Furthermore, the first propeller assembly 31 includes a third drive member 311 and a first propeller 312. The third drive member 311 is connected to one end of the arm 21 and is electrically connected to the power supply 6. The third drive member 311 is fitted onto the first hub 2211, that is, the third drive member 311 is inserted into the first receiving groove 218. Therefore, by connecting the outside world and the first heat dissipation hole 2131 of the first receiving groove 218, airflow enters the first receiving groove 218 through the first heat dissipation hole 2131 and then flows through the third drive member 311, thereby dissipating heat from the third drive member 311. The first propeller 312 is connected to the third drive member 311, and the first propeller 312 and the first hub 2211 are coaxially arranged, with the first propeller 312 fitted onto the first hub 2211.

[0043] The first propeller 312 is fitted by the first hub 2211, which protects the first propeller 312 and allows the first propeller 312 to compress air better by forming the first duct 2217 in the first hub 2211, thereby increasing the lift.

[0044] The radially spaced arrangement of the blade tip of the first propeller 312 and the first clearance groove 2219 serves two purposes: firstly, it prevents the first propeller 312 from scraping against the inner wall of the first hub 2211 during flight; secondly, it prevents the first hub 2211 from compressing and vibrating the blade tip of the first propeller 312 during ground movement, thus preventing deformation of the blade tip and affecting lift performance. The rotation of the first propeller 312 increases the airflow speed, thereby improving the heat dissipation efficiency of the airflow on the third drive component 311.

[0045] As the external airflow enters the first duct 2217, in the area corresponding to the first clearance groove 2219, the diameter of the first duct 2217 increases, causing the airflow velocity to decrease. The airflow becomes more stable and is more easily compressed when the first propeller 312 rotates. Some of the airflow flows through the gap between the blade tip of the first propeller 312 and the wall of the first clearance groove 2219 facing the first propeller 312. When some of the airflow compressed by the blade tip of the first propeller 312 continues to flow in the direction away from the first guide surface 2218, the diameter of the first duct 2217 below the first clearance groove 2219 returns to its original size or further decreases, causing the airflow in this area to be further compressed, thereby increasing the airflow velocity and increasing the lift of the first propeller 312, which helps the land-air vehicle 100 to fly in the air.

[0046] Furthermore, the second propeller assembly 32 includes a fourth drive member 321 and a second propeller 322. The fourth drive member 321 is connected to the other end of the arm 21 and is electrically connected to the power supply 6. The fourth drive member 321 is fitted onto the second hub 2221, that is, the fourth drive member 321 is inserted into the second receiving groove 219. Therefore, by connecting to the outside world and the second heat dissipation hole 2141 of the second receiving groove 219, airflow enters the second receiving groove 219 through the second heat dissipation hole 2141 and then flows through the fourth drive member 321, thereby dissipating heat from the fourth drive member 321. The second propeller 322 is connected to the fourth drive member 321 and is fitted onto the second hub 2221. The second propeller 322 and the second hub 2221 are coaxially arranged, and the blade tip of the second propeller 322 is radially spaced from the second clearance groove 2229.

[0047] The second propeller 322 is fitted onto the second hub 2221, which protects the second propeller 322 and allows the second propeller 322 to compress air better within the second duct 2227 formed on the second hub 2221, thereby increasing lift.

[0048] The rotation of the second propeller 322 increases the airflow speed, thereby improving the heat dissipation efficiency of the airflow on the third drive component 311.

[0049] The second propeller 322's blade tip and the second clearance groove 2229 are radially spaced apart. This prevents the second propeller 322 from scraping against the inner wall of the second hub 2221 during the rotation of the land-air vehicle 100 during flight. It also prevents the second hub 2221 from squeezing the blade tip of the second propeller 322 when the land-air vehicle 100 is under pressure and vibration during travel, thus preventing the blade tip of the second propeller 322 from deforming and affecting lift performance.

[0050] As the external airflow enters the second duct 2227, in the area corresponding to the second clearance groove 2229, the diameter of the second duct 2227 increases, causing the airflow velocity to decrease. The airflow becomes more stable and is more easily compressed when the second propeller 322 rotates. Some airflow flows through the gap between the blade tip of the second propeller 322 and the wall of the second clearance groove 2229 facing the second propeller 322. When some of the airflow compressed by the blade tip of the second propeller 322 continues to flow away from the second guide surface 2228, the diameter of the second duct 2227 below the second clearance groove 2229 returns to its original size or further decreases, causing the airflow in this area to be further compressed, thereby increasing the airflow velocity and increasing the lift of the first propeller 312, which helps the land-air vehicle 100 to fly in the air.

[0051] For the aforementioned deformation mechanism 4, please refer to Figure 15 The deformation mechanism 4 includes a first support 41, a first connecting shaft 42, a motion component 43, a linkage assembly 44, and a first drive assembly 45. The first support 41 passes through the first accommodating cavity 11 and the first opening 12, connecting the first support 41 to the fuselage 1. The first connecting shaft 42 passes through the arm 21 and the first support 41, allowing the first support 41 to be rotatably connected to the arm 21. The motion component 43 is connected to the first support 41. The linkage assembly 44 is connected to the motion component 43 and the arm 21. The first drive assembly 45 is connected to the motion component 43 and the first support 41, connecting the first drive assembly 45 to the fuselage 1. The first drive assembly 45 drives the motion component 43 to move, which in turn drives the linkage assembly 44, thereby driving the walking mechanism 2 to rotate. This causes the walking mechanism 2 to contact or disengage from the walking surface, allowing it to fold or unfold, thus enabling the land-air vehicle 100 to switch between walking mode and flight mode.

[0052] For the first support 41 mentioned above, please refer to Figure 16 The first bracket 41 is provided with a second rotating hole 411, a third rotating hole 412 and a fourth rotating hole 413. The third rotating hole 412 and the fourth rotating hole 413 are arranged opposite each other along a first direction z, and the first direction z is perpendicular to the rotation axis x of the walking mechanism 2.

[0053] The first connecting shaft 42 is inserted through the first rotating hole 2111 and the second rotating hole 411, so that the walking mechanism 2 rotates around the first connecting shaft 42, that is, the axis of the first connecting shaft 42 is the rotation axis x of the walking mechanism 2.

[0054] For the motion component 43 mentioned above, please refer to Figure 17 The motion component 43 includes a first lead screw 431 and a first motion sleeve 432. The first lead screw 431 is disposed in a third rotating hole 412 and a fourth rotating hole 413, and extends along a first direction z, such that the first lead screw 431 is connected to a first bracket 41 and a first drive component 45. The first motion sleeve 432 is sleeved on the first lead screw 431 and is threadedly connected to the first lead screw 431, such that the first motion sleeve 432 moves along the first direction z under the rotation of the first lead screw 431, and the first motion sleeve 432 is movably connected to the connecting rod assembly 44.

[0055] Furthermore, the first motion sleeve 432 is provided with a fourth mounting hole 4321.

[0056] For the aforementioned link assembly 44, please refer to Figure 18The linkage assembly 44 includes a first connecting rod 441, a second connecting shaft 442, and a third connecting shaft 443. The first connecting rod 441 is provided with a fifth mounting hole 4411 and a sixth mounting hole 4412. The second connecting shaft 442 passes through the fourth mounting hole 4321 and the fifth mounting hole 4411, allowing the first connecting rod 441 to be movably connected to the first moving sleeve 432. The third connecting shaft 443 passes through the sixth mounting hole 4412 and the first mounting hole 4412, allowing the first connecting rod 441 to be connected to the arm 21.

[0057] For the first drive component 45 mentioned above, please refer to Figure 19 The first drive assembly 45 includes a second drive base 451, a first drive member 452, a first gear 453, and a second gear 454. The second drive base 451 is connected to the first bracket 41. The first drive member 452 is connected to the second drive base 451 and the first gear 453, and is electrically connected to the power supply 6. The second gear 454 is connected to the first lead screw 431, and meshes with the first gear 453. The first drive member 452 drives the first gear 453 to rotate, thereby driving the second gear 454 to rotate the first lead screw 431, which in turn drives the first moving sleeve 432 to move along the first direction z, thereby driving the walking mechanism 2 to rotate the propeller mechanism 3.

[0058] In some embodiments, the first drive element 452 is a motor.

[0059] In some embodiments, the number of each of the following components—walking mechanism 2, propeller mechanism 3, second rotating hole 411, first connecting shaft 42, and linkage assembly 44—is two. The fuselage 1 is located between the two walking mechanisms 2. One propeller mechanism 3 is connected to one walking mechanism 2, and the other propeller mechanism 3 is connected to the other walking mechanism 2. The two second rotating holes 411 are arranged opposite each other along a second direction y. The second direction y, the first direction z, and the rotation axis x of the walking mechanism 2 are perpendicular to each other. One first connecting shaft 42 passes through one second rotating hole 411 and one first rotating hole 2111 of a walking mechanism 2, and the other first connecting shaft 42 passes through the other second rotating hole 411 and the other first rotating hole 2111 of the other walking mechanism 2. One linkage assembly 44 is connected to the first moving sleeve 432 and the arm 21 of one walking mechanism 2, and the other linkage assembly 44 is connected to the first moving sleeve 432 and the arm 21 of the other walking mechanism 2.

[0060] It is understood that, in some embodiments, please refer to Figure 20The motion assembly 43 and the linkage assembly 44 are not limited to the structures described above. They can also have other structures. For example, the motion assembly 43 includes a second lead screw 433 and a second motion sleeve 434, and the linkage assembly 44 includes a second connecting rod 444, a second connecting shaft 442, and a third connecting shaft 443. The second lead screw 433 is connected to the first bracket 41 and extends along a second direction y. The second lead screw 433 is connected to the second gear 454. The second motion sleeve 434 is fitted onto the second lead screw 433 and is threadedly connected to it. The second connecting shaft 442 passes through the second motion sleeve 434 and the second connecting rod 444, connecting the second connecting rod 444 and the second motion sleeve 434. The third connecting shaft 443 passes through the second connecting rod 444 and the arm 21, connecting the second connecting rod 444 to the traveling mechanism 2. The first driving member 452 drives the first gear 453 to rotate the second gear 454, thereby driving the second lead screw 433 to rotate, which in turn drives the second moving sleeve 434 to move along the second direction y, thereby driving the second connecting rod 444 and the first connecting rod 441 to move, thereby driving the walking mechanism 2 to drive the propeller mechanism 3 to rotate.

[0061] In some embodiments, the number of each of the following components—walking mechanism 2, propeller mechanism 3, linkage assembly 44, and motion assembly 43—is two. The fuselage 1 is located between the two walking mechanisms 2. One propeller mechanism 3 is connected to one walking mechanism 2, and the other propeller mechanism 3 is connected to the other walking mechanism 2. The two linkage assemblies 44 and the two motion assemblies 43 are arranged opposite each other along the second direction y. One linkage assembly 44 is connected to one motion assembly 43, and one linkage assembly 44 is connectable to one walking mechanism 2. The other linkage assembly 44 is connected to the other motion assembly 43, and the other linkage assembly 44 is connected to the other walking mechanism 2. Specifically, the first driving member 452 drives the first gear 453 to rotate, thereby driving the second lead screw 433 of the two motion assemblies 43 to rotate, thus driving the second motion sleeves 434 of the two motion assemblies 43 to move towards or away from each other along the second direction yy.

[0062] It is understood that, in some embodiments, please refer to Figure 21 The deformation mechanism 4 is not limited to the structure described above; it can also be other structures. For example, the deformation mechanism 4 includes a second support 46, the motion component 43 includes a rotating arm 435, and the first drive component 45 includes a second drive member 455. The second support 46 is connected to the fuselage 1 and the second drive member 455, the second drive member 455 is connected to the rotating arm 435, the second drive member 455 is electrically connected to the power supply 6, and the rotating arm 435 is connected to the arm 21. The second drive member 455 is used to rotate the arm 21, thereby driving the walking mechanism 2 to rotate the propeller mechanism 3.

[0063] Furthermore, the swing arm 435 is provided with a first blocking part 4351 and a second blocking part 4352, and the second support 46 is provided with a third blocking part 461 and a fourth blocking part 462. The first blocking part 4351 cooperates with the third blocking part 461 to limit the swing arm 435 and prevent the swing arm 435 from rotating excessively when the land-to-air vehicle 100 switches from walking mode to flight mode. The second blocking part 4352 cooperates with the fourth blocking part 462 to limit the swing arm 435 and prevent the swing arm 435 from rotating excessively when the land-to-air vehicle 100 switches from flight mode to walking mode.

[0064] In some embodiments, the second drive element 455 is a servo motor.

[0065] In some embodiments, the number of each of the following components—walking mechanism 2, propeller mechanism 3, rotating arm 435, and second drive member 455—is two. The fuselage 1 is located between the two walking mechanisms 2. One propeller mechanism 3 is connected to one walking mechanism 2, and the other propeller mechanism 3 is connected to the other walking mechanism 2. One rotating arm 435 is connected to the arm 21 of one walking mechanism 2 and a second drive member 455. The other rotating arm 435 is connected to the arm 21 of the other walking mechanism 2 and another second drive member 455.

[0066] For the lighting component 5 mentioned above, please refer to Figure 22 The lighting assembly 5 includes a first lighting element 51 and a second lighting element 52. The first lighting element 51 is disposed in the second mounting hole 21a and is electrically connected to the power supply 6. The second lighting element 52 is disposed in the third mounting hole 21b and is electrically connected to the power supply 6.

[0067] In some embodiments, the number of the second mounting hole 21a, the third mounting hole 21b, the first lighting element 51, and the second lighting element 52 are all two. The central axis of one second mounting hole 21a and the central axis of another second mounting hole 21a are parallel to the rotation axis x of the walking mechanism 2, while the central axis of the other second mounting hole 21a and the central axis of the other third mounting hole 21b are perpendicular to the rotation axis x of the walking mechanism 2. One first lighting element 51 is disposed in one second mounting hole 21a, and another lighting element is disposed in the other second mounting hole 21a. One second lighting element 52 is disposed in one third mounting hole 21b, and another second lighting element 52 is disposed in the other third mounting hole 21b. When the air-to-ground vehicle 100 is in flight mode, both first lighting elements 51 and both second lighting elements 52 are operational. When the air-to-ground vehicle 100 is in walking mode, the first lighting element 51 disposed in one second mounting hole 21a and the second lighting element 52 disposed in one third mounting hole 21b are operational.

[0068] In some embodiments, the number of lighting components 5 includes two.

[0069] In some embodiments, the fifth arm housing 215 and the sixth arm housing 216 have heat dissipation functions. Specifically, both the fifth arm housing 215 and the sixth arm housing 216 are made of metal. The fifth arm housing 215 contacts the first lighting element 51, and the sixth arm housing 216 contacts the second lighting element 52, so that the fifth arm housing 215 dissipates heat from the first lighting element 51, and the sixth arm housing 216 dissipates heat from the second lighting element 52. Furthermore, when the first propeller 312 rotates and the second propeller 322 rotates, airflow is generated, thereby allowing the first propeller 312 to dissipate heat from the first lighting element 51, and the second propeller 322 to dissipate heat from the second lighting element 52.

[0070] In some embodiments, please refer to Figures 23-25 The air-to-ground vehicle 100 also includes an antenna mechanism 7, which includes a connecting component 71 and an antenna assembly 72. The connecting component 71 is connected to the fuselage 1. The antenna assembly 72 is connected to the connecting component 71.

[0071] Furthermore, the connecting assembly 71 includes a connector 711, a first elastic member 712, a limiting member 713, a limiting cylinder 714, and a connecting cylinder 715. The connector 711 connects to the body 1. The connector 711 is provided with a first receiving groove 7111. The first elastic member 712 is received in the first receiving groove 7111 and abuts against the bottom of the first receiving groove 7111. The limiting member 713 is provided in the first receiving groove 7111, abuts against the first elastic member 712, and is provided with a limiting protrusion 7131. One end of the limiting cylinder 714 is disposed in the first receiving groove 7111, and the limiting cylinder 714 is sleeved by the first elastic sleeve. The other end of the limiting cylinder 714 is provided with a second receiving groove 7141, a through hole 7142, and a baffle 7143. The second receiving groove 7141 is connected to the through hole 7142, which is disposed at the bottom of the second receiving groove 7141. The through hole 7142 allows the limiting protrusion 7131 to pass through, so that the limiting protrusion 7131 is disposed in the second receiving groove 7141. The baffle 7143 is protruding from the side wall of the second receiving groove 7141, and the baffle 7143 and the through hole 7142 are disposed adjacent to each other along the circumference of the second receiving groove 7141. One end of the connecting cylinder 715 passes through the second receiving groove 7141 and is inserted into the limiting cylinder 714, and the other end of the connecting cylinder 715 extends out of the second receiving groove 7141.

[0072] In some embodiments, the first elastic element 712 is a compression spring.

[0073] Furthermore, the antenna assembly 72 includes an radome 721, a second elastic member 722, and an antenna 723. The second elastic member 722 is disposed within the radome 721, with one end extending out of the radome 721 and the other end positioned within a second receiving groove 7141. A latching portion 7221 is provided at one end of the second elastic member 722, which is received within the second receiving groove 7141. The latching portion 7221 is located between the bottom of the second receiving groove 7141 and the baffle 7143, thereby connecting the second elastic member 722 to the limiting cylinder 714. Since the baffle 7143 and the through hole 7142 are arranged adjacent to each other circumferentially within the second receiving groove 7141, the latching portion 7221 and the limiting protrusion 7131 are also arranged adjacent to each other circumferentially within the second receiving groove 7141. Antenna 723 is embedded in the second elastic member 722. One end of antenna 723 extends out of the second elastic member 722 and is inserted into the connecting tube 715. The other end of antenna 723 extends out of the second elastic member 722 and is located inside the antenna cover 721. Antenna 723 is electrically connected to power supply 6.

[0074] When the antenna mechanism 7 encounters an obstacle, the second elastic element 722 deforms, and the antenna assembly 72 rotates. After the antenna assembly 72 moves away from the obstacle, the second elastic element 722 drives the antenna assembly 72 to reset, making the antenna assembly 72 less likely to be broken.

[0075] In some embodiments, the second elastic element 722 is made of flexible elastic plastic.

[0076] In some embodiments, the number of through holes 7142, baffles 7143, and limiting protrusions 7131 are all multiple. Multiple through holes 7142 and multiple baffles 7143 are arranged adjacent to each other circumferentially along the second receiving groove 7141, and one baffle 7143 is located between two adjacent through holes 7142. A limiting protrusion 7131 extends into the second receiving groove 7141 through a through hole 7142. With the above structure, the antenna assembly 72 can be driven to rotate, causing the antenna assembly 72 to fold or unfold. Specifically, when the antenna assembly 72 is driven to rotate, the engaging portion 7221 rotates to drive the limiting member 713 to retract until the engaging portion 7221 is misaligned with the limiting protrusion 7131, and the rotation of the antenna assembly 72 stops. The limiting protrusion 7131 extends under the action of the first elastic member 712, making the limiting protrusion 7131 adjacent to the engaging portion 7221, thereby causing the antenna assembly 72 to fold or unfold.

[0077] In some embodiments, the number of antenna mechanisms 7 includes two, with the body 1 located between the two antenna mechanisms 7.

[0078] In this embodiment, the land-air vehicle 100 includes a fuselage 1, a walking mechanism 2, a propeller mechanism 3, and a transformation mechanism 4. The propeller mechanism 3 is connected to the walking mechanism 2. The transformation mechanism 4 includes a first drive component 45 and a motion component 43. The first drive component 45 is connected to the motion component 43 and the fuselage 1. The motion component 43 is connected to the walking mechanism 2. The first drive component 45 is used to drive the motion component 43 to move, thereby driving the walking mechanism 2 to drive the propeller mechanism 3 to move, so that the walking mechanism 2 contacts or disengages from the walking surface, and causes the propeller mechanism 3 to fold or unfold, thereby enabling the land-air vehicle 100 to switch between walking mode and flight mode. Since the first drive component 45 is used to drive the motion component 43 to move, thereby driving the walking mechanism 2 to move, the walking mechanism 2 contacts or disengages from the walking surface, thereby causing the walking mechanism 2 to fold or unfold, thus allowing the land-air vehicle 100 to switch between walking mode and flight mode. Therefore, when the land-air vehicle 100 is in walking mode, the propeller mechanism 3 is folded, reducing the space occupied by the land-air vehicle 100, which is beneficial for the land-air vehicle 100 to walk in narrow terrain.

[0079] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, 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-to-air aircraft, characterized in that, include: body; Walking mechanism; A propeller mechanism is connected to the traveling mechanism; The transforming mechanism includes a first driving component and a motion component. The first driving component is connected to the motion component and the fuselage. The motion component is connected to the walking mechanism. The first driving component is used to drive the motion component to move, thereby driving the walking mechanism to move, so that the walking mechanism contacts or disengages from the walking surface, thereby causing the walking mechanism to fold or unfold, thereby allowing the land-air vehicle to switch between walking mode and flight mode.

2. The land-to-air aircraft according to claim 1, characterized in that, The deformation mechanism includes a first bracket and a linkage assembly. The first bracket is connected to the body and the first drive assembly. The first bracket is movably connected to the motion assembly and the walking mechanism. The linkage assembly is movably connected to the walking mechanism and the motion assembly.

3. The land-to-air aircraft according to claim 2, characterized in that, The motion component includes a first lead screw and a first motion sleeve. The first lead screw extends along a first direction, which is perpendicular to the rotation axis of the walking mechanism. The first lead screw is rotatably connected to the first bracket and connected to the first drive component. The first motion sleeve is fitted onto the first lead screw and is movably connected to the connecting rod assembly.

4. The land-to-air aircraft according to claim 3, characterized in that, The first drive assembly includes a first gear, a second gear, and a first drive member. The first drive member is connected to the first bracket and the first gear. The second gear is connected to the first lead screw and meshes with the first gear.

5. The land-to-air aircraft according to claim 1, characterized in that, The deformation mechanism includes a second support, the motion component includes a rotating arm, the second support is connected to the body, and the rotating arm is connected to the first drive component and the walking mechanism.

6. The land-to-air aircraft according to claim 5, characterized in that, The first drive assembly includes a second drive member, which is connected to the second bracket and the rotating arm.

7. The land-to-air aircraft according to claim 1, characterized in that, The walking mechanism includes a machine arm, a second drive assembly, a transmission assembly, and a walking assembly. The machine arm is connected to the deformation mechanism. The second drive assembly and the transmission assembly are disposed on the machine arm. The second drive assembly is connected to the transmission assembly. The walking assembly is rotatably connected to the machine arm and is connected to the transmission assembly.

8. The land-to-air aircraft according to claim 7, characterized in that, The walking assembly includes a first walking wheel and a second walking wheel, and the propeller mechanism includes a first propeller assembly and a second propeller assembly. The first propeller assembly and the second propeller assembly are connected to the arm. The first propeller assembly is sleeved on the first walking wheel, and the second propeller assembly is sleeved on the second walking wheel.

9. The land-to-air aircraft according to claim 8, characterized in that, The first propeller assembly includes a third drive unit and a first propeller, the third drive unit being connected to the arm and the first propeller; And / or, the second propeller assembly includes a fourth drive unit and a second propeller, the fourth drive unit being connected to the arm and the second propeller.

10. The land-to-air aircraft according to claim 1, characterized in that, The land-to-air vehicle includes a lighting assembly, which is disposed on the walking mechanism.

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