Air-ground amphibious unmanned aerial vehicle based on rim rotor wings

Abstract

The invention provides a land-air amphibious unmanned aerial vehicle based on rim rotors, and belongs to the technical field of crossing of unmanned aerial vehicles and ground mobile robots. The unmanned aerial vehicle comprises a fuselage, a rim rotor wing, a power transmission system and a variable-mode execution mechanism. The rim rotors are symmetrically arranged on the two sides of the fuselage and provided with wingtip rims and pneumatic wing type blades, and the ground rolling function and the air flying function are integrated. The power transmission system adopts double power sources of a rotor motor and a gear motor, and automatic power switching is achieved through a gear set integrated with a one-way bearing. The variable-mode executing mechanism drives the rim rotor wings to rotate around the longitudinal axis of the fuselage through steering engines, and conversion between the flight mode and the ground advancing mode is achieved. The air-ground amphibious unmanned aerial vehicle solves the technical problems that an existing air-ground amphibious unmanned aerial vehicle is redundant in structure, large in weight, complex in mode switching and high in energy consumption, and has the advantages of being compact in structure, light in weight, reliable in switching and long in endurance.

Description

Technical Field

[0001] This invention relates to the field of cross-technology of unmanned aerial vehicles (UAVs) and ground mobile robots, and in particular to an amphibious UAV based on a rim rotor. Background Technology

[0002] With the rapid development of drone technology, its application has expanded from single aerial operations to complex and ever-changing environments, and the demand for amphibious drones with both aerial flight and ground mobility capabilities is becoming increasingly urgent.

[0003] Currently, most amphibious UAVs adopt a simple superimposed configuration of "rotor + independent wheels". This configuration results in redundant overall structure, large weight, low transmission efficiency and high energy consumption, which seriously restricts their endurance and maneuverability. In the few solutions that adopt rim structure or similar methods, there is a contradiction between the high speed required for flight and the low speed and high torque required for ground travel, which often leads to low power transmission efficiency, complex mode switching mechanism and insufficient reliability.

[0004] To address this, the present invention proposes a land-air amphibious unmanned aerial vehicle based on a rim rotor, aiming to solve the technical defects of existing technologies such as structural redundancy, large weight, high energy consumption, and unreliable mode switching by using a highly integrated rim rotor structure, efficient dual-power source transmission, and a reliable mechanical mode switching mechanism. Summary of the Invention

[0005] This invention provides a land-air amphibious unmanned aerial vehicle based on a rim rotor, which solves the technical defects of the prior art caused by the use of a separate "rotor + wheel" configuration, such as structural redundancy, bulky and inefficient whole machine, as well as the complex and unreliable mode switching caused by contradictions in the power system.

[0006] This invention provides an amphibious unmanned aerial vehicle based on a rim rotor, comprising a fuselage, a rim rotor, a power transmission system, and a variable-mode actuator; The rim rotor is symmetrically arranged on both sides of the fuselage, and has a wingtip rim for rolling on the ground and a blade body capable of generating aerodynamic lift. The power transmission system includes a rotor motor for providing power for flight, a geared motor for providing power for ground travel, and a power switching gear set. The variable mode actuator includes a servo motor, which drives the rim rotor to rotate about an axis parallel to the longitudinal axis of the fuselage, so that the rim rotor switches between a flight mode in which the plane of rotation is parallel to the ground and a ground travel mode in which the plane of rotation is perpendicular to the ground.

[0007] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the rim rotor includes a drive shaft, a blade body and a wingtip rim; The blade body is fixed on the drive shaft, and its cross-section is an aerodynamic airfoil. The wingtip rim is fixedly connected to the tip of the blade body, and the outer circumferential surface of the wingtip rim forms the ground travel contact surface.

[0008] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the number of rotor blades is four and they are evenly distributed circumferentially along the drive shaft.

[0009] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the wingtip rim is a rigid annular structure with a transitional thinning at both ends.

[0010] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the rotor motor drives the rim rotor to rotate at high speed through a power switching gear set to provide aerial flight power; The geared motor drives the rim rotor to rotate at low speed and high torque through a power switching gear set, providing power for ground travel.

[0011] According to the present invention, a land-air amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the power switching gear set includes a rim rotor gear fixed on the drive shaft of the rim rotor, a rotor motor gear connected to the output shaft of the rotor motor, and a reduction motor gear connected to the reduction motor extension shaft of the reduction motor; The rotor motor gear meshes simultaneously with the rim rotor gear and the reduction motor gear.

[0012] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein a one-way bearing is provided on the output shaft of the geared motor to achieve power decoupling when the rotor motor is working.

[0013] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the variable mode actuator further includes a large U-frame, a small U-frame, and an arm; The arm is connected to the servo motor via a large U-frame, and the servo motor is connected to the fuselage via a small U-frame; The servo is configured to drive the same-side arm and its rim rotor to rotate synchronously via a mechanical linkage mechanism.

[0014] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the number of servos is two, which are used to control the attitude switching of the rim rotors on the left and right sides of the fuselage.

[0015] According to the present invention, an amphibious unmanned aerial vehicle based on a rim rotor is provided, wherein the transmission ratio between the rotor motor gear and the rim rotor gear is 2:1, and the transmission ratio between the rotor motor gear and the reduction motor gear is 1:1.

[0016] Compared with existing technologies, the amphibious unmanned aerial vehicle based on a rim rotor provided by this invention has the following advantages: (1) The amphibious unmanned aerial vehicle based on wheel rim rotor provided by the present invention integrates the lift generation function of the rotor and the ground rolling function of the wheel into a single wheel rim rotor, fundamentally eliminating redundant components in the traditional "rotor + independent wheel" configuration, realizing fundamental simplification and high integration of the structure, and significantly reducing the weight and complexity of the whole machine.

[0017] (2) The amphibious unmanned aerial vehicle based on a rim rotor provided by this invention adopts a dual power source design with both rotor motor and geared motor, and innovatively uses a gear set with integrated one-way bearings for power coupling and decoupling. This design enables the high-speed, low-torque power required for aerial flight and the low-speed, high-torque power required for ground movement to be efficiently and independently transmitted to the same rim rotor structure, solving the problem of contradictory power requirements under different modes and ensuring the purity and efficiency of power output under each mode.

[0018] (3) The amphibious unmanned aerial vehicle based on rim rotor provided by the present invention adopts a mechanical linkage scheme driven by servo motors for the variable mode actuator. Only two servo motors are needed to synchronously control the attitude rotation of all rim rotors on the same side. This mechanical switching method has high structural rigidity and good action synchronization. Compared with the scheme of equipping each rotor with an independent electric drive device, it greatly improves the reliability, response speed and control stability of the mode switching process.

[0019] (4) The amphibious unmanned aerial vehicle based on rim rotor provided by the present invention significantly reduces the number of servo motors and electronic control components through highly integrated structural design and mechanical transmission switching. This not only reduces the system manufacturing cost and power consumption, but also simplifies the control logic of the flight control system and improves the reliability of the whole machine in complex environments.

[0020] (5) The amphibious unmanned aerial vehicle based on rim rotor provided by the present invention has a rigid ring design with tapering ends in the rim rotor structure. While ensuring smooth rolling on the ground and avoiding jamming, it effectively controls the weight and moment of inertia of the component, minimizes its negative impact on the rotor aerodynamic performance and dynamic response during flight, and achieves optimized balance of dual-mode performance.

[0021] (6) The amphibious UAV based on rim rotor provided by this invention requires only the geared motor to work in ground travel mode, completely cutting off the power path and idle loss of the high-speed rotor motor; in flight mode, the one-way bearing automatically decouples to keep the geared motor stationary. This "power-on-demand" working mode avoids the extra energy consumption caused by non-working parts in traditional configurations and significantly extends the endurance of the UAV in performing multimodal composite tasks. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the ground travel mode of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the flight modes of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 3 This is a bottom view diagram of the flight mode of the amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 4 This is a three-view diagram of the ground travel mode of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 5 These are three-view diagrams of the flight mode of an amphibious unmanned aerial vehicle based on a rim rotor provided in this embodiment of the invention; Figure 6 This is a schematic diagram of the rim rotor structure of the land-air amphibious unmanned aerial vehicle based on the rim rotor provided in the embodiment of the present invention; Figure 7 This is a schematic diagram of the gear assembly of a land-air amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 8 This is a cross-sectional view of the gear set of a land-air amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the rim rotor shaft of the amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor in flight mode provided by an embodiment of the present invention; Figure 11This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor in the ground travel mode provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor during mode switching, provided in an embodiment of the present invention.

[0024] Figure label: 1. Rotor motor; 2. Gear motor; 3. Flight control; 4. Variable mode servo; 5. Power switching gear set; 6. Arm; 7. Large U-frame; 8. Small U-frame; 9. Fuselage; 10. Battery; 11. Rim rotor; 12. ESC; 13. Drive shaft; 14. Blade body; 15. Wingt rim; 16. Rim rotor shaft; 17. Rim rotor bushing; 18. Rim rotor gear; 19. Rotor motor gear; 20. Gear motor gear; 21. Rim rotor top cover; 22. Rim rotor base; 23. Rotor motor base; 24. One-way bearing; 25. Gear motor extension shaft; 26. Gear motor base; 27. Rim rotor bearing I; 28. Rim rotor bearing II; 29. ​​Rotor motor bushing; 30. Gear motor bushing; 31. Gear motor output shaft. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The following is combined Figures 1-12 This invention describes a land-air amphibious unmanned aerial vehicle based on a rim rotor.

[0027] This invention provides an amphibious unmanned aerial vehicle (UAV) based on a rim rotor. Its core is to integrate the lift-generating rotor and the wheel function for ground travel into the same physical structure—rim rotor 11. Through an integrated power transmission system and a variable mode actuator, the UAV can achieve efficient and reliable switching between air flight mode and ground travel mode.

[0028] Figure 1 This is a schematic diagram of the ground travel mode of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention.

[0029] like Figure 1As shown in the figure, the amphibious unmanned aerial vehicle based on a rim rotor provided in this embodiment of the invention includes a fuselage 9, a rim rotor 11, a power transmission system, and a variable mode actuator. The rim rotor 11 is symmetrically arranged on both sides of the fuselage 9, and has a wingtip rim 15 for rolling on the ground and a blade body 14 capable of generating aerodynamic lift. The power transmission system includes a rotor motor 1 for providing flight power, a reduction motor 2 for providing ground travel power, and a power switching gear set 5. The variable mode actuator includes a servo motor 4, which drives the rim rotor 11 to rotate around an axis parallel to the longitudinal axis of the fuselage 9, so that the rim rotor 11 switches between a flight mode with the rotation plane parallel to the ground and a ground travel mode with the rotation plane perpendicular to the ground. Figure 6 This is a schematic diagram of the rim rotor structure of the amphibious unmanned aerial vehicle based on the rim rotor provided in the embodiment of the present invention.

[0030] like Figure 6 As shown in the embodiment of the present invention, the amphibious unmanned aerial vehicle based on a rim rotor is provided. The rim rotor 11 is the core functional component of the present invention. The rim rotor 11 includes a drive shaft 13, a blade body 14, and a wingtip rim 15. The blade body 14 is fixed on the drive shaft 13 and its cross-section is an aerodynamic airfoil. The wingtip rim 15 is fixedly connected to the tip of the blade body 14, and the outer circumferential surface of the wingtip rim 15 constitutes the ground travel contact surface.

[0031] In this invention, the drive shaft 13 is a disc-shaped or bell-shaped structure with a central through hole, serving as the rotational hub of the rim rotor 11. It is mounted to the end of the arm 6 via the rim rotor shaft 16. The blade bodies 14 are evenly distributed and fixedly connected along the circumference of the drive shaft 13.

[0032] In this invention, the blade body 14 adopts an aerodynamic airfoil design and has a connecting hole at the root for fixing to the drive shaft 13.

[0033] In a preferred embodiment of the invention, a non-closed-loop layout of four blades 14 is adopted. The angle of attack, chord length distribution, and twist angle of the blade body 14 are specially optimized to compensate for the aerodynamic losses caused by the wingtip rim, ensuring that there is still more than 10N of single-rotor lift under wingtip loading.

[0034] In this invention, the wingtip rim 15 is a rigid annular structure, fixedly connected to the tip of all blade bodies 14. The outer circumferential surface of the wingtip rim 15 constitutes the contact and rolling surface during ground travel, and the rim material possesses wear-resistant and high-rigidity characteristics. To ensure smooth ground rolling, avoid jamming between the two rims, reduce weight, and decrease rotational inertia, thereby reducing the impact on the rotation of the flight mode blade body 14, the two ends of the wingtip rim 15 are designed with a streamlined shape that gradually thins. This integrated design of "blade inside, rim outside" fundamentally eliminates the structural redundancy and additional weight caused by the independent wheels in traditional amphibious UAVs.

[0035] Figure 7 This is a schematic diagram of the gear assembly of a land-air amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 8 This is a cross-sectional view of the gear set of a land-air amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention.

[0036] like Figure 7 and Figure 8 As shown in the embodiment of the present invention, the amphibious unmanned aerial vehicle based on a rim rotor has a power transmission system responsible for providing differentiated power for two modes. Its core is a dual power source design including a rotor motor 1, a reduction motor 2, and a power switching gear set 5. The one-way bearing 24 is a key component for realizing power path switching to adapt to the huge difference in power requirements between ground driving and air flight.

[0037] In this invention, the rotor motor 1 drives the rim rotor 11 to rotate at high speed through the power switching gear set 5, providing power for aerial flight; the reduction motor 2 drives the rim rotor 11 to rotate at low speed and high torque through the power switching gear set 5, providing power for ground travel.

[0038] In this invention, the power switching gear set 5 includes a rim rotor gear 18, a rotor motor gear 19, and a reduction motor gear 20. The rim rotor gear 18 is fixedly mounted on the drive shaft 13 of the rim rotor 11, the rotor motor gear 19 is mounted on the output shaft of the rotor motor 1, and the reduction motor gear 20 is mounted on the reduction motor extension shaft 25 of the reduction motor 2 via a one-way bearing 24.

[0039] In this invention, the rotor motor gear 19 meshes with both the rim rotor gear 18 and the reduction motor gear 20.

[0040] In a preferred embodiment of the present invention, the transmission ratio between the rotor motor gear 19 and the rim rotor gear 18 is 2:1 to achieve the high speed required for flight; the transmission ratio between the rotor motor gear 19 and the reduction motor gear 20 is 1:1.

[0041] In this invention, the geared motor base 26 is mounted on the lower plate of the arm 6, and the geared motor 2 is fixed above the geared motor base 26; the geared motor base 26 has a through hole in the middle for the data transmission line of the geared motor 2 to pass through. The geared motor output shaft 31 has a geared motor bushing 30 mounted on its bottom; the inner side of the one-way bearing 24 is in contact with the geared motor extension shaft 25, and the two are fixedly connected; the geared motor gear 20 is mounted on the outer side of the one-way bearing 24, and the two are fixedly connected; the geared motor extension shaft 25 is mounted on the geared motor output shaft 31, above the geared motor bushing 30; the axial position of the one-way bearing 24 is fixed by the geared motor extension shaft 25 and the geared motor bushing 30, and cannot move axially.

[0042] In this invention, the rotor motor base 23 is installed on the lower plate of the arm 6, and the rotor motor 1 is fixed above the rotor motor base 23 to ensure the gear height; the rotor motor bushing 29 is installed on the rotor motor output shaft, the rotor motor gear 19 is installed above the rotor motor bushing 29, and the rotor motor nut is threaded with the rotor motor shaft and tightened above the rotor motor gear, so that the rotor motor gear 19 is fixedly connected to the rotor motor output shaft.

[0043] In this invention, the upper plate of the arm 6 is located between the rim rotor gear 18 and the rim rotor top cover 21, between the rotor motor gear 19 and the rotor motor 1, and between the reduction motor gear 20 and the reduction motor 2. The upper plate of the arm 6 is connected to the rim rotor top cover 21, the rim rotor base 22, and the lower plate of the arm 6 by bolts.

[0044] Figure 9 This is a schematic diagram of the rim rotor shaft of the amphibious unmanned aerial vehicle based on rim rotor provided in an embodiment of the present invention.

[0045] like Figure 9 As shown, the amphibious unmanned aerial vehicle based on a rim rotor provided in this embodiment of the invention has a rim rotor shaft 16 divided into three sections: a basic section 16(b), an extended section 16(c) with a shoulder, and a threaded section 16(a) with a threaded wire.

[0046] In this invention, the rim rotor bearing I 27, the rim rotor bearing II 28, the rim rotor gear 18, the rim rotor bushing 17, and the rim rotor 11 are all fitted with the base section 16(b) of the rim rotor shaft 16; the rim rotor bearing I 27 and the rim rotor bearing II 28 are installed at the shoulders on both sides of the shaft, the rim rotor gear 18 is installed at the upper end of the rim rotor bearing II 28, and the bottom end of the rim rotor gear 18 is fitted with the upper end of the inner ring of the rim rotor bearing II 28. The rim rotor shaft 16 is fitted with the rim rotor bushing 17, and the upper end of the rim rotor bushing 17 is fitted with the rim rotor 11. The rim rotor nut is tightened on the threaded section 16(a) of the rim rotor shaft 16. The outer rings of the rim rotor bearings I 27 and II 28 are embedded inside the rim rotor base 22. The bottom end of the outer ring of the rim rotor bearing I 27 is fitted with the upper end of the bottom plate of the rim rotor base 22. The rim rotor top cover 21 is fitted onto the upper end of the outer ring of the rim rotor base 22 and the rim rotor bearing II 28. Due to the presence of the rim rotor bearings I 27 and II 28, the rim rotor shaft 16, the rim rotor bushing 17, the rim rotor gear 18, and the rim rotor 11 can all rotate axially along the axis. The rim rotor mechanism can be rotated by receiving transmission power through the rim rotor gear 18.

[0047] In this invention, the power switching principle is as follows: In the flight mode, the rotor motor 1 starts and outputs high-speed power. The power is transmitted to the rim rotor gear 18 via the rotor motor gear 19, driving the rim rotor 11 to rotate at high speed and generate lift. At the same time, the power is also transmitted to the geared motor gear 20. However, since the one-way bearing 24 on the output shaft of the geared motor 2 is in a sliding state at this time, the power cannot be transmitted to the geared motor 2, thus achieving power decoupling, and the geared motor 2 remains stationary. In the ground travel mode, the rotor motor 1 stops working. The geared motor 2 starts and outputs low-speed, high-torque power. At this time, the one-way bearing 24 is locked, and the power is transmitted to the rim rotor gear 18 via the geared motor gear 20 and the rotor motor gear 19, driving the rim rotor 11 to rotate at a lower speed and a higher torque, propelling the entire machine on the ground like a wheel.

[0048] Figure 10 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor in flight mode provided by an embodiment of the present invention; Figure 11 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor in the ground travel mode provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor during mode switching, provided in an embodiment of the present invention.

[0049] like Figure 10 , Figure 11 and Figure 12As shown in the embodiment of the present invention, the amphibious unmanned aerial vehicle (UAV) based on a rim rotor has a variable-mode actuator used to change the orientation of the rim rotor 11, thereby achieving switching of working modes. This actuator mainly includes a servo motor 4, a large U-frame 7, a small U-frame 8, and an arm 6. One end of the arm 6 is used to mount the rim rotor 11 and the power transmission system, and the other end is connected to the output end of the servo motor 4 via the large U-frame 7. The housing of the servo motor 4 is connected to the fuselage 9 via the small U-frame 8. Crucially, one servo motor 4, through the mechanical linkage mechanism formed by the large U-frame 7 and the arm 6, can synchronously drive all rim rotors 11 on the same side to rotate together. The entire system only requires two servo motors 4 to achieve switching between flight mode and ground travel mode. This not only significantly reduces the system's weight, complexity, and cost, but also improves the overall reliability and response speed due to its high synchronization and simple control logic.

[0050] Figure 2 This is a schematic diagram of the flight modes of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 3 This is a bottom view diagram of the flight mode of the amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 5 These are three-view diagrams of the flight mode of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention, wherein... Figure 5 (a) is the main view. Figure 5 (b) in the diagram is the left view. Figure 5 (c) in the diagram is the top view; Figure 10 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor in flight mode, provided in an embodiment of the present invention.

[0051] like Figure 2 , Figure 3 , Figure 5 and Figure 10 As shown, the amphibious unmanned aerial vehicle (UAV) based on a rim rotor provided in this embodiment of the invention, in flight mode, is controlled by a control system that drives two servo motors 4 to extend all arms 6 until the rotation plane of the rim rotor 11 is adjusted to be parallel to the ground. At this time, the UAV exhibits a typical quadcopter configuration. The thrust generated by the rim rotor 11, driven by the rotor motor 1, is vertically downward, suitable for aerial flight, used to achieve stable hovering, aerial maneuvers, and other operations, and is the primary mode for performing conventional aerial missions. The electronic speed controller 12 is electrically connected to the rotor motor 1 and the reduction motor 2 to control their rotational speed.

[0052] Figure 1 This is a schematic diagram of the ground travel mode of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention; Figure 4 These are three-view diagrams of the ground travel mode of an amphibious unmanned aerial vehicle based on a rim rotor provided in an embodiment of the present invention, wherein... Figure 4 (a) is the main view. Figure 4 (b) in the diagram is the left view. Figure 4 (c) in the diagram is the top view; Figure 11 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor in the ground travel mode provided in an embodiment of the present invention.

[0053] like Figure 1 , Figure 4 and Figure 11 As shown in the embodiment of the present invention, the amphibious unmanned aerial vehicle (UAV) based on a rim rotor, in ground travel mode, is controlled by a control system that drives a servo motor 4 to retract and rotate the arm 6 inward, adjusting the rotation plane of the rim rotor 11 to be approximately perpendicular to the ground. At this time, the wingtip rim 15 of the rim rotor 11 contacts the ground, and the entire aircraft transforms into a four-wheeled vehicle configuration. The rotor motor 1 stops working, and power is provided by a geared motor 2 mounted on a geared motor base 26, driving the UAV to move on the ground like a four-wheeled vehicle. This design separates the flight and ground drive systems, saving energy, extending the overall mission endurance, and achieving more stable ground movement.

[0054] Figure 12 This is a schematic diagram of the arm structure of the amphibious unmanned aerial vehicle based on a rim rotor during mode switching, provided in an embodiment of the present invention.

[0055] like Figure 12 As shown, the amphibious UAV based on a rim rotor provided in this embodiment of the invention transitions between two stable attitudes during mode switching, achieved by the precise rotation of the servo motor 4. When switching from flight mode to ground travel mode, the servo motor 4 first drives the rim rotor 11 to tilt from a horizontal position, causing the total lift vector generated by the rotor to produce a lateral component force. This reduces the downward thrust of the UAV, enabling a slow descent. During this process, the servo motor 4 and the rotor motor 1 work together to control the UAV until the lift decreases, allowing the UAV to land near the ground. When the UAV lands near the ground, the rotor motor 1 stops. At this time, the rim rotor 11 remains tilted and has not switched to a vertical position; the wingtip rim touches the ground before the fuselage. Under the continued drive of the servo motor 4, the rim rotor 11 fully rotates to a vertical position, entering the ground travel preparation state. When switching from ground travel mode to flight mode, the process is reversed. The servo motor 4 drives the rim rotor 11 to rotate from a vertical position to a horizontal position, during which the fuselage automatically touches the ground. When the rotation plane of the rim rotor 11 is parallel to the horizontal plane, the rotor motor 1 drives the rim rotor 11 to rotate, realizing subsequent movements such as takeoff.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An amphibious unmanned aerial vehicle based on a rim rotor, characterized in that, Includes fuselage (9), rim rotor (11), power transmission system and variable mode actuator; The rim rotor (11) is symmetrically arranged on both sides of the fuselage (9), and has a wingtip rim (15) for rolling on the ground and a blade body (14) capable of generating aerodynamic lift. The power transmission system includes a rotor motor (1) for providing power for flight, a geared motor (2) for providing power for ground travel, and a power switching gear set (5). The variable mode actuator includes a servo motor (4), which drives the rim rotor (11) to rotate around an axis parallel to the longitudinal axis of the fuselage (9), so that the rim rotor (11) switches between a flight mode in which the plane of rotation is parallel to the ground and a ground travel mode in which the plane of rotation is perpendicular to the ground.

2. The amphibious unmanned aerial vehicle according to claim 1, characterized in that, The rim rotor (11) includes a drive shaft (13), a blade body (14), and a wingtip rim (15). The blade body (14) is fixed on the drive shaft (13), and its cross-section is an aerodynamic airfoil; The wingtip rim (15) is fixedly connected to the tip of the blade body (14), and the outer circumferential surface of the wingtip rim (15) forms the ground travel contact surface.

3. The amphibious unmanned aerial vehicle according to claim 2, characterized in that, The number of blade bodies (14) is four, which are evenly distributed around the drive shaft (13).

4. The amphibious unmanned aerial vehicle according to claim 2, characterized in that, The wingtip rim (15) is a rigid annular structure with a transitional thinning at both ends.

5. The amphibious unmanned aerial vehicle according to claim 1, characterized in that, The rotor motor (1) drives the rim rotor (11) to rotate at high speed through the power switching gear set (5), providing power for flight. The geared motor (2) drives the rim rotor (11) to rotate at low speed and high torque through the power switching gear set (5), providing power for ground travel.

6. The amphibious unmanned aerial vehicle according to claim 5, characterized in that, The power switching gear set (5) includes a rim rotor gear (18) fixed on the drive shaft (13) of the rim rotor (11), a rotor motor gear (19) connected to the output shaft of the rotor motor (1), and a gear motor gear (20) connected to the gear motor extension shaft (25) of the gear motor (2). The rotor motor gear (19) meshes with both the rim rotor gear (18) and the reduction motor gear (20).

7. The amphibious unmanned aerial vehicle according to claim 6, characterized in that, The output shaft of the geared motor (2) is provided with a one-way bearing (24) for power decoupling when the rotor motor (1) is working.

8. The amphibious unmanned aerial vehicle according to claim 1, characterized in that, The variable mode actuator also includes a large U-frame (7), a small U-frame (8), and a robotic arm (6). The arm (6) is connected to the servo motor (4) via a large U-frame (7), and the servo motor (4) is connected to the fuselage (9) via a small U-frame (8); The servo (4) is configured to drive the arm (6) on the same side and the rim rotor (11) thereon to rotate synchronously via a mechanical linkage mechanism.

9. The amphibious unmanned aerial vehicle according to claim 8, characterized in that, The number of servo motors (4) is two, which are used to control the attitude switching of the wheel flange rotors (11) on the left and right sides of the fuselage (9).

10. The amphibious unmanned aerial vehicle according to claim 6, characterized in that, The transmission ratio between the rotor motor gear (19) and the rim rotor gear (18) is 2:1, and the transmission ratio between the rotor motor gear (19) and the reduction motor gear (20) is 1:1.

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