Vector tilting power device of cross-medium water-air dual-purpose unmanned aerial vehicle

Abstract

The utility model discloses a vector tilting power device of a cross-medium water-air dual-purpose unmanned aerial vehicle. The vector tilting power device comprises a fan assembly, a transmission mechanism and a power mechanism, the fan assembly is connected with the power mechanism through the transmission mechanism. The transmission mechanism comprises a first connecting rod, a transmission rod and a second connecting rod, one end of the first connecting rod is connected with one end of the transmission rod through a first connecting piece, the other end of the first connecting rod is connected with the fan assembly through a second connecting piece, the other end of the transmission rod is connected with the power mechanism, and the transmission rod is movably inserted into the second connecting rod. One end, close to the first connecting rod, of the second connecting rod is connected with the transmission rod through a fastener; the power mechanism is used for adjusting rotation of the transmission rod. Through mutual cooperation of the transmission mechanism and the power mechanism, when the aircraft is in different working environments or performs cross-medium conversion, the fan assembly can be timely and stably adjusted to adapt to environment conversion, and the flexibility of the aircraft is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft, in particular to a vector tilting power device for a cross-medium water-air dual-purpose unmanned aircraft. Background Art

[0002] A cross-media dual-purpose water-air unmanned aerial vehicle is a vehicle that can adaptively achieve motion transition and continuous existence between two different fluid media, water and air, and can autonomously navigate continuously and perform specific tasks in both media. The rotor-type cross-media dual-purpose water-air unmanned aerial vehicle has become an important research direction of cross-media unmanned aerial vehicles due to its flexibility and no restrictions on take-off and landing sites.

[0003] The power system of a dual-purpose water-air unmanned aerial vehicle needs to take into account the properties of two different fluids, water and air, and optimize the power efficiency, while adapting to the complex coupled flow of water and air in the cross-media process. It is necessary to find the balance point of the cross-media dual-purpose water-air unmanned aerial vehicle when working in the two media and in the cross-media process. In the prior art, the power device of the cross-media unmanned aerial vehicle has low flexibility and poor water tightness, which makes it unable to adapt to the complex flow conditions during the cross-media process. In this regard, the present application proposes a vector tilting power device for a cross-media dual-purpose water-air unmanned aerial vehicle to solve such problems. Utility Model Content

[0004] Based on this, in order to solve the problems existing in the prior art, the present application provides a cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device, including a fan assembly, a transmission mechanism and a power mechanism;

[0005] The fan assembly is connected to the power mechanism through a transmission mechanism;

[0006] The transmission mechanism includes a first connecting rod, a transmission rod and a second connecting rod, one end of the first connecting rod is connected to one end of the transmission rod through a first connecting piece, the other end of the first connecting rod is connected to the fan assembly through a second connecting piece, the other end of the transmission rod is connected to the power mechanism, the transmission rod is movably inserted in the second connecting rod, one end of the second connecting rod close to the first connecting rod is connected to the transmission rod through a fastener, and the other end of the second connecting rod is fixedly connected to the aircraft shell;

[0007] The power mechanism is used to adjust the rotation of the transmission rod.

[0008] Furthermore, the fastener is cylindrical and is movably sleeved on the outer surface of the transmission rod and the end of the second connecting rod. The outer surface of the transmission rod is provided with an annular protrusion, which fits the inner wall of the fastener.

[0009] Furthermore, a sealing component is provided between the fastener and the transmission rod, and the sealing component is located on one side of the protrusion.

[0010] Furthermore, the sealing assembly includes a first sealing ring and a second sealing ring. The first sealing ring is sleeved on the outer surface of the transmission rod and fits against the inner wall of the fastener. The outer surface of the transmission rod is provided with at least one annular groove. The second sealing ring is clamped in the groove. The second sealing ring protrudes from the groove and abuts against the inner wall of the fastener.

[0011] Furthermore, a limiting member is provided between the fastener and the transmission rod, and the limiting member is located on the other side of the protrusion, and the limiting member is detachably connected to the fastener.

[0012] Furthermore, the first connecting rod and the second connecting rod are both tubular structures and are made of carbon fiber.

[0013] Furthermore, the fan assembly includes a duct, a waterproof brushless motor and fan blades. The waterproof brushless motor is fixedly installed in the duct and coaxially arranged with the duct. The fan blades are connected to the waterproof brushless motor through a fixing member, and the outer surface of the duct is connected to the first connecting rod through a second connecting member.

[0014] Furthermore, the waterproof brushless motor includes a shell, a top cover, a shaft, an electromagnetic coil and a permanent magnet. The top cover is detachably connected to the shell, the shaft is arranged in the shell and coaxially with the shell, a plurality of electromagnetic coils and permanent magnets are arranged between the shaft and the shell and the electromagnetic coils and the permanent magnets are arranged in a circular array, and a connecting shaft is coaxially arranged at the upper end of the shaft, and the connecting shaft passes through the top cover and is fixed to the fixing member.

[0015] Furthermore, the second connecting member is in the shape of an arc-shaped plate adapted to the outer surface of the duct, and the second connecting member is detachably connected to the duct and the first connecting rod.

[0016] Furthermore, the power mechanism includes a servo, a servo disc and a third connecting member, one side of the servo disc is connected to the output end of the servo, one end of the third connecting member is fixedly connected to the other side of the servo disc, and the other end of the third connecting member is connected to the transmission rod.

[0017] Beneficial effect: By setting the transmission mechanism and the power mechanism to cooperate with each other, when the aircraft is in different working environments or performing cross-media conversion, the fan assembly can be adjusted in a timely and stable manner to adapt to the changes in the environment, thereby improving the flexibility of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the vector tilting power device of the cross-medium water-air dual-purpose unmanned aerial vehicle of the utility model;

[0020] Figure 2 It is a schematic diagram of the unfolded structure of the vector tilting power device of the cross-medium water-air dual-purpose unmanned aerial vehicle of the utility model;

[0021] Figure 3 It is a top view of the structure of the vector tilting power device of the cross-medium water-air dual-purpose unmanned aerial vehicle of the utility model;

[0022] Figure 4 This is a schematic diagram of the transmission mechanism structure of the utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the utility model waterproof brushless motor;

[0024] Figure 6 This is a schematic diagram of the power mechanism structure of the utility model;

[0025] In the figure: 1. fan assembly; 11. duct; 12. waterproof brushless motor; 121. shell; 122. top cover; 123. shaft; 124. electromagnetic coil; 125. permanent magnet; 126. cable; 127. connecting shaft; 13. fan blade; 131. fixing piece; 2. transmission mechanism; 21. first connecting rod; 22. transmission rod; 221. protrusion; 23. first connecting piece; 24. second connecting piece; 25. second connecting rod; 26. fastener; 27. first sealing ring; 28. limit piece; 29. ​​second sealing ring; 3. power mechanism; 31. servo; 32. servo disc; 33. third connecting piece; 4. aircraft shell.

[0026] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B; in addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0030] like Figure 1-4 As shown, the embodiment of the present application provides a cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device, including a fan assembly 1, a transmission mechanism 2 and a power mechanism 3;

[0031] The fan assembly 1 is connected to the power mechanism 3 through the transmission mechanism 2;

[0032] The transmission mechanism 2 includes a first connecting rod 21, a transmission rod 22, and a second connecting rod 25. One end of the first connecting rod 21 is connected to one end of the transmission rod 22 through a first connecting member 23, the other end of the first connecting rod 21 is connected to the fan assembly 1 through a second connecting member 24, the other end of the transmission rod 22 is connected to the power mechanism 3, the transmission rod 22 is movably inserted in the second connecting rod 25, one end of the second connecting rod 25 close to the first connecting rod 21 is rotatably connected to the transmission rod 22 through a fastener 26, and the other end of the second connecting rod 25 is fixedly connected to the aircraft shell 4;

[0033] The power mechanism 3 is used to adjust the rotation of the transmission rod 22 .

[0034] In this embodiment, when the power mechanism 3 adjusts the transmission rod 22 to rotate, the transmission rod 22 will drive the first connecting member 23 and the first connecting rod 21 to rotate synchronously, and at this time, the fan assembly 1 will be driven to rotate synchronously around the axis of the transmission rod, thereby adjusting the thrust angle of the fan assembly 1 to adapt to the complex medium flow during the cross-medium process;

[0035] By arranging the transmission mechanism 2 and the power mechanism 3 to cooperate with each other, when the aircraft is in different working environments or performs cross-media conversion, the fan assembly 1 can be adjusted promptly and stably to adapt to the change of environment, thereby improving the flexibility of the aircraft.

[0036] In one embodiment, the fastener 26 is cylindrical and movably sleeved on the outer surface of the transmission rod 22 and the end of the second connecting rod 25 . The outer surface of the transmission rod 22 is provided with an annular protrusion 221 , and the protrusion 221 fits with the inner wall of the fastener 26 .

[0037] In this embodiment, the fastener 26 and the protrusion 221 have two functions. First, the connection between the second connecting rod 25 and the transmission rod 22 can be sealed to prevent water from entering the interior of the aircraft from the connection between the second connecting rod 25 and the transmission rod 22 and causing damage to the internal electronic components. Second, structural support can be provided for the second connecting rod 25 and the transmission rod 22, so that the second connecting rod 25 and the transmission rod 22 always remain coaxial, which is beneficial to the rotation of the transmission rod 22.

[0038] In one embodiment, a sealing assembly is further disposed between the fastener 26 and the transmission rod 22 , and the sealing assembly is located on one side of the protrusion 221 .

[0039] In this embodiment, by providing a sealing assembly between the fastener 26 and the transmission rod 22, water can be prevented from entering the interior of the aircraft through the gap between the transmission rod 22 and the second connecting rod 25 and causing damage to the electronic components in the aircraft.

[0040] In one embodiment, the sealing assembly includes a first sealing ring 27 and a second sealing ring 29. The first sealing ring 27 is sleeved on the outer surface of the transmission rod 22 and fits against the inner wall of the fastener 26. The outer surface of the transmission rod 22 is provided with at least one annular groove. The second sealing ring 29 is clamped in the groove. The second sealing ring 29 protrudes from the groove and abuts against the inner wall of the fastener 26.

[0041] In this embodiment, the first sealing ring 27 is in close contact with one side of the protrusion 221. The first sealing ring 27 and the second sealing ring 29 are both made of rubber. The first sealing ring 27 is a hollow cylindrical watertight O-type, and the second sealing ring 29 is a watertight O-type rubber ring. The watertight O-type rubber ring is used because the watertight O-type rubber ring always tends to restore the original cross-section after being compressed, generating a self-compression force effect. In addition, a small amount of silicone grease can be applied to the surface of the first sealing ring 27 and the second sealing ring 29 during use to compensate for the insufficient smoothness of the watertight O-type rubber ring and the sealing surface and to play a lubricating role.

[0042] In order to be applicable to both dynamic and static sealing states, the shape of the groove is rectangular;

[0043] Preferably, the number of the second sealing rings 29 is two;

[0044] By providing the first sealing ring 27 and the second sealing ring 29, the combination of the two adopts an axial and radial combined sealing method, which can further improve the water tightness of the aircraft.

[0045] In one embodiment, a limiting member 28 is disposed between the fastener 26 and the transmission rod 22 , and the limiting member 28 is located on the other side of the protrusion 221 , and the limiting member 28 is detachably connected to the fastener 26 .

[0046] In this embodiment, the limit member 28 is composed of a plurality of arc-shaped limit blocks, which are enclosed to form a ring. Each limit block is fixedly connected to the fastener 26 by a nut. The fastener 26 and the limit member 28 are used to provide pressure at the compression connection between the first sealing ring 27 and the second sealing ring 29, so that the compression rate of the first sealing ring 27 and the second sealing ring 29 is controlled at 18%.

[0047] In one embodiment, the first connecting rod 21 and the second connecting rod 25 are both tubular structures and are made of carbon fiber.

[0048] In this embodiment, the first connecting rod 21 and the second connecting rod 25 are configured to be tubular in order to reduce weight, thereby reducing the load on the aircraft. At the same time, the first connecting rod 21 and the second connecting rod 25 are made of carbon fiber. This is because carbon fiber is a lightweight and strong material that is lighter than traditional metal connecting rods. It can effectively reduce the load on the aircraft while ensuring structural strength, and carbon fiber also has shock-absorbing and anti-corrosion properties.

[0049] In one embodiment, the fan assembly 1 includes a duct 11, a waterproof brushless motor 12 and fan blades 13. The waterproof brushless motor 12 is fixedly installed in the duct 11 and is coaxially arranged with the duct 11. The fan blades 13 are connected to the waterproof brushless motor 12 through a fixing member 131, and the outer surface of the duct 11 is connected to the first connecting rod 21 through a second connecting member 24.

[0050] In this embodiment, a waterproof brushless motor 12 is adopted. The waterproof brushless motor 12 usually adopts a special sealing design to ensure that the key components inside the motor are not corroded by water, so that the aircraft can better operate in the water. The waterproof design can increase the reliability and stability of the motor, so that the normal operation of the fan blades 13 can be guaranteed in the water.

[0051] like Figure 5As shown, in one embodiment, the waterproof brushless motor 12 includes a shell 121, a top cover 122, a shaft 123, an electromagnetic coil 124 and a permanent magnet 125. The top cover 122 and the shell 121 are detachably connected. The shaft 123 is arranged in the shell 121 and coaxially with the shell 121. A plurality of electromagnetic coils 124 and permanent magnets 125 are arranged between the shaft 123 and the shell 121, and the electromagnetic coils 124 and the permanent magnets 125 are arranged in a circular array. A connecting shaft 127 is coaxially arranged at the upper end of the shaft 123, and the connecting shaft 127 passes through the top cover 122 and is fixedly connected to the fixing member 131. A cable 126 is arranged on the shell 121, and the cable 126 is electrically connected to the electromagnetic coil 124.

[0052] In this embodiment, the shaft 123 is a stainless steel corrosion-resistant shaft, the shaft 123 is rotatably connected to the housing 121 via a stainless steel corrosion-resistant bearing, the electromagnetic coil 124 is wound around the housing 121 in an annular array structure, wherein the electromagnetic coil 124 is subjected to a high-density glue sealing treatment, and the permanent magnet 125 is subjected to a surface glue sealing treatment;

[0053] It should be noted that the waterproof brushless motor 12 is controlled by an onboard equipment system in the aircraft, and the energy system in the aircraft provides electrical energy for connection with the cable 126;

[0054] The electromagnetic coil 124 is powered by the cable 126, and the electromagnetic coil 124 generates a changing magnetic field to exert force on the permanent magnet 125. Under the action of the permanent magnet 125, the internal shaft 123 is driven to rotate, and the rotation of the shaft 123 drives the connecting shaft 127 to rotate, and the rotation of the connecting shaft 127 drives the fan blades 13 to rotate.

[0055] In one embodiment, the second connecting member 24 is in the shape of an arc-shaped plate adapted to the outer surface of the duct 11 , and the second connecting member 24 is detachably connected to the duct 11 and the first connecting rod 21 .

[0056] In this embodiment, the second connecting member 24 is fixedly connected to the duct 11 and the first connecting rod 21 by nuts.

[0057] like Figure 6 As shown, in one embodiment, the power mechanism 3 includes a servo 31, a servo 31 disk and a third connecting member 33, one side of the servo 31 disk is connected to the output end of the servo 31, one end of the third connecting member 33 is fixedly connected to the other side of the servo 31 disk, and the other end of the third connecting member 33 is connected to the transmission rod 22.

[0058] In this embodiment, the third connecting member 33 is columnar, the third connecting member 33 is fixedly connected to the transmission rod 22 by a nut, and the steering gear 31 is connected to the steering gear 31 by gear transmission;

[0059] It should be noted that the steering engine 31 is controlled by an onboard equipment system in the aircraft.

[0060] In one embodiment, the working principle of a cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device is as follows:

[0061] When the aircraft is in the air, the onboard equipment system controls the servo 31 in the power mechanism 3 to a self-locking state so that the dual-purpose water-air fan assembly 1 remains in a horizontal and vertical upward state. When the vector tilt power device has a tendency to rotate due to an external force, the servo 31 will generate a corresponding torque to maintain the original state of the vector tilt power device. The onboard equipment system and the energy system control and output the waterproof brushless motor 12 in the dual-purpose water-air fan assembly 1 through the cable 126. The electromagnetic coil 124 in the waterproof brushless motor 12 generates a changing magnetic field and exerts force on the permanent magnet 125 to cause the shaft 123 to rotate at a high speed, driving the fan blades 13 connected to the connecting shaft 127 to rotate at a high speed. The high-speed rotation of the fan blades 13 cooperates with the duct 11 to generate thrust, allowing the aircraft to fly in the air;

[0062] When the aircraft is in the water, the airborne equipment system regulates the servo 31 in the power mechanism 3 to cancel the self-locking state and generate torque to drive the servo 31 disk to rotate, the servo 31 disk drives the third connecting member 33 to rotate, the third connecting member 33 drives the transmission rod 22 to rotate, the transmission rod 22 drives the first connecting member 23 and the first connecting rod 21 to rotate, the first connecting rod 21 drives the second connecting rod 25 to rotate, thereby driving the water-air dual-purpose fan assembly 1 to rotate. The airborne equipment system and the energy system regulate and output the waterproof brushless motor 12 in the water-air dual-purpose fan assembly 1 through the cable 126. The electromagnetic coil 124 in the waterproof brushless motor 12 generates a changing magnetic field and exerts a force on the permanent magnet 125 to rotate the shaft 123 and drive the connecting shaft 127 to rotate, and the connecting shaft 127 and the fan blade 13 fixing member 131 lock the fan blade 13 to rotate the fan blade 13 to provide thrust. In summary, the power mechanism 3 provides vector thrust. The fastener 26 and the stopper 28 cause the first sealing ring 27 at the connection to be compressed by 18%, and the second connecting rod 25 and the transmission rod 22 cause the second sealing ring 29 at the connection to be compressed by 18%, thereby ensuring the overall water tightness of the cross-medium water-air dual-purpose unmanned aerial vehicle;

[0063] When the aircraft enters the water, the airborne equipment system controls the waterproof brushless motor 12 in the water-air dual-purpose fan assembly 1 through the cable 126 to reduce the rotation speed of the fan blades 13 and the thrust to reduce the height of the cross-medium water-air dual-purpose unmanned aerial vehicle. When the airborne equipment system detects that the cross-medium water-air dual-purpose unmanned aerial vehicle is a certain distance away from the horizontal plane, the airborne equipment system controls the waterproof brushless motor 12 in the water-air dual-purpose fan assembly 1 through the cable 126 to make the fan blades 13 rotate at idle speed until they stop, and the cross-medium water-air dual-purpose unmanned aerial vehicle stalls and falls into the water. When the airborne equipment system controls the buoyancy control mechanism to make the cross-medium water-air dual-purpose unmanned aerial vehicle completely immersed in the seawater, the airborne equipment system controls the vector tilt propulsion device to the underwater mode.

[0064] When the aircraft emerges from water, the onboard equipment system controls the vector tilt power device to the air mode, and the onboard equipment system controls the cross-medium water-air UAV to float. When the onboard equipment system detects that the cross-medium water-air dual-purpose unmanned aerial vehicle is a certain distance away from the horizontal plane, the onboard equipment system controls the waterproof brushless motor 12 in the water-air dual-purpose fan assembly 1 through the cable 126 to rotate the fan blades 13 to provide a vertical upward thrust to accelerate the cross-medium water-air dual-purpose unmanned aerial vehicle to float. After the vector tilt system completely leaves the horizontal plane, the onboard equipment system controls the waterproof brushless motor 12 in the water-air dual-purpose fan assembly 1 through the cable 126 to rotate the fan blades 13 at a high speed to provide a large thrust to enable the cross-medium water-air dual-purpose unmanned aerial vehicle to leave the horizontal plane.

[0065] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A vector tilting power device for a cross-medium water-air dual-purpose unmanned aerial vehicle, characterized in that: include: Fan assembly, transmission mechanism and power mechanism; The fan assembly is connected to the power mechanism through the transmission mechanism; The transmission mechanism comprises a first connecting rod, a transmission rod and a second connecting rod, one end of the first connecting rod is connected to one end of the transmission rod through a first connecting piece, the other end of the first connecting rod is connected to the fan assembly through a second connecting piece, the other end of the transmission rod is connected to the power mechanism, the transmission rod is movably inserted in the second connecting rod, one end of the second connecting rod close to the first connecting rod is connected to the transmission rod through a fastener, and the other end of the second connecting rod is fixedly connected to the aircraft shell; The power mechanism is used to adjust the rotation of the transmission rod.

2. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 1 is characterized in that: The fastener is cylindrical and is movably sleeved on the outer surface of the transmission rod and the end of the second connecting rod. The outer surface of the transmission rod is provided with an annular protrusion, and the protrusion is in contact with the inner wall of the fastener.

3. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 2 is characterized in that: A sealing component is arranged between the fastener and the transmission rod, and the sealing component is located on one side of the protrusion.

4. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 3 is characterized in that: The sealing assembly includes a first sealing ring and a second sealing ring. The first sealing ring is sleeved on the outer surface of the transmission rod and fits against the inner wall of the fastener. The outer surface of the transmission rod is provided with at least one annular groove. The second sealing ring is clamped in the groove. The second sealing ring protrudes from the groove and abuts against the inner wall of the fastener.

5. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 4 is characterized in that: A limiting member is arranged between the fastener and the transmission rod, and the limiting member is located at the other side of the protrusion, and the limiting member is detachably connected to the fastener.

6. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 1 is characterized in that: The first connecting rod and the second connecting rod are both tubular structures and are made of carbon fiber.

7. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 1 is characterized in that: The fan assembly includes a duct, a waterproof brushless motor and fan blades. The waterproof brushless motor is fixedly installed in the duct and coaxially arranged with the duct. The fan blades are connected to the waterproof brushless motor through a fixing member, and the outer surface of the duct is connected to the first connecting rod through a second connecting member.

8. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 7 is characterized in that: The waterproof brushless motor includes a shell, a top cover, a shaft, an electromagnetic coil and a permanent magnet. The top cover is detachably connected to the shell. The shaft is arranged in the shell and coaxially with the shell. A plurality of electromagnetic coils and permanent magnets are arranged between the shaft and the shell and the electromagnetic coils and the permanent magnets are arranged in a circular array. A connecting shaft is coaxially arranged at the upper end of the shaft, and the connecting shaft passes through the top cover and is fixedly connected to the fixing member.

9. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 7 is characterized in that: The second connecting member is in the shape of an arc-shaped plate adapted to the outer surface of the duct, and the second connecting member is detachably connected to the duct and the first connecting rod.

10. The cross-medium water-air dual-purpose unmanned aerial vehicle vector tilting power device according to claim 1 is characterized in that: The power mechanism includes a steering gear, a steering gear disc and a third connecting member, one side of the steering gear disc is connected to the output end of the steering gear, one end of the third connecting member is fixedly connected to the other side of the steering gear disc, and the other end of the third connecting member is connected to the transmission rod.

Images