An amphibious unmanned aerial vehicle based on an articulated, omnidirectional deformable rotor.

Abstract

This utility model relates to an amphibious unmanned aerial vehicle (UAV) based on a quasi-articulated omnidirectional deformable rotor, comprising a fuselage, a quasi-articulated structure, and a rotor assembly. The fuselage consists of a system box, four electronic speed controllers (ESCs), and four rotor arms. The quasi-articulated structure consists of a fixed base connected to the rotor arms of the fuselage, a rotating component connected to a fixed plate of the rotor assembly, and servos embedded in the fixed base and the rotating component. The rotor assembly consists of an outer rotor wheel, an inner deformable wheel, and a rotor motor. This invention aims to solve the problems of existing amphibious UAVs, such as the need for additional land mobility devices, significant structural design limitations, reliance on manual deformation, and difficulty in turning on land. This invention achieves deformation and power control, enabling switching between flight, straight-line travel on land, and turning on land without manual intervention. The invention has a simple and flexible structure, high stability, and is suitable for complex scenarios such as logistics delivery and emergency rescue.

Description

Technical Field

[0001] This utility model relates to an amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor, and belongs to the field of amphibious unmanned aerial vehicle technology. Background Technology

[0002] In the field of amphibious unmanned aerial vehicle (UAV) technology, with the continuous expansion of application scenarios such as aerial photography, logistics delivery, environmental monitoring, and emergency rescue, increasingly stringent requirements are being placed on the multi-functionality and environmental adaptability of UAVs. Traditional UAVs are mostly limited to performing tasks in a single aerial environment, severely restricting their operational range and capabilities. To enable UAVs to operate in terrestrial environments, they often require specialized land-based mobility devices. This not only significantly increases the overall weight and structural complexity of the UAV but also reduces its portability and operational efficiency, while simultaneously increasing manufacturing costs and maintenance difficulties.

[0003] Although some amphibious drones have been developed, such as the Chinese patents with announcement numbers CN223187688U and CN220410908U, existing drones of this type have several significant shortcomings. First, the rotor structure design of these drones is limited; the rotor's attitude adjustment is not flexible enough, making it difficult to achieve full-angle, high-precision deformation, and thus failing to meet the operational requirements of multi-attitude and highly adaptable drones in complex scenarios. Second, current amphibious drones primarily rely on manual operation to achieve deformation to adapt to different land and air environments. The operation process is cumbersome and heavily dependent on human intervention. In scenarios requiring high operational response speed (such as emergency rescue sites), manual deformation is insufficient to meet the need for rapid switching of operational modes. Third, many amphibious drones lack effective steering mechanisms when traveling on land, making it difficult to perform flexible turning maneuvers and operate smoothly in complex land scenarios (such as narrow areas with obstacles or terrain requiring precise turning), greatly limiting their application range and operational effectiveness in land environments.

[0004] The present invention relates to an amphibious UAV based on a joint-like omnidirectional deformable rotor. Relying solely on an external rotor wheel, an internal deformable wheel, and a joint-like structure with servos, it can achieve deformation and amphibious status without additional land-based movement devices. Deformation is achieved without manual replacement of parts or adjustment of part angles, greatly improving operational convenience. Furthermore, the innovative rotor assembly and joint-like structure allow the forward and backward rotation of the external rotor wheel driven by the rotor motor and the deformation rotation of the internal deformable wheel driven by the servos to be independent and simultaneous. This ensures stability in aerial operations, convenient and flexible deformation, and stability and turning flexibility in land operations. It effectively solves the aforementioned problems in existing technologies, meets the operational requirements of multi-attitude and highly adaptable UAVs in complex scenarios, and provides strong support for the efficient application of UAVs in a wider range of fields. Utility Model Content

[0005] In view of the shortcomings of the prior art, the technical problem to be solved by this utility model is to provide a land and air amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor.

[0006] To solve the above-mentioned technical problems, the technical solution of this utility model is: an amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor, including a fuselage, a joint-like structure and a rotor assembly; The fuselage includes a system box, four electronic speed controllers (ESCs), and four rotor arms; The system box is located inside the fuselage and includes a power system and a control system. The control system is used to communicate and control the rotor motors and articulated servo motors of the amphibious unmanned aerial vehicle. The four electronic speed controllers are fixed at the four corners of the central platform of the machine body; The four rotor arms are all connected between the joint-like structure and the central platform of the fuselage, and rotor assemblies are installed at the ends of the rotor arms.

[0007] Preferably, the articulated structures all include a fixed base connected to the rotor arm of the fuselage, a rotating component connected to the fixed plate of the rotor assembly, and a servo motor embedded in the fixed base and the rotating component.

[0008] Preferably, the mounting bases are all fixed to the ends of the rotor arms, and the shape of the mounting base is a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section of the incomplete cylinder forms a 45° angle with the plane where the rotor arm is located, and the elliptical cylinder forms a whole with the incomplete cylinder at the cross-section. Each mounting base is provided with a servo mounting slot, and a wiring slot is provided at the bottom. The servo is fixedly connected to the servo mounting slot.

[0009] Preferably, the rotating component is also a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section of the incomplete cylinder forms a 45° angle with the plane where the rotor arm is located, and the elliptical cylinder also forms a whole with the incomplete cylinder at the cross-section. The elliptical cylinder of the rotating component is provided with a rudder disk fixing groove, which is fixedly connected to the output end of the servo motor to drive the rotating component to rotate relative to the fixed seat and realize the function of servo motor to precisely control the free rotation of the joint-like structure. The other end of the rotating component is connected to the fixing plate on the corresponding rotor assembly.

[0010] Preferably, each rotor assembly consists of an outer rotor wheel, an inner deformation wheel, and a rotor motor.

[0011] Preferably, the outer rotor wheels are all located on the outermost side of the rotor assembly, with the two ends of the internal rotor fixed to the outer rotor wheels, and the rotor center mounted on the output shaft of the rotor motor, so that the outer rotor wheels can rotate in both land and air amphibious applications.

[0012] Preferably, the inner deformable wheels are all located inside the rotor assembly, and the diameter of the inner deformable wheels is smaller than that of the outer rotor wheels. A fixing plate is provided inside the inner deformable wheel. The two ends of the fixing plate are fixed to the rotor motor and the inner deformable wheel, respectively, and the middle is connected to the rotating part of the joint-like structure to realize the omnidirectional deformation function of the rotor assembly.

[0013] Preferably, the outer rotor wheel and the inner deformable wheel are connected by a rotor motor. By controlling the servo motor in the joint-like structure, the rotating parts of the joint-like structure can rotate freely in all directions. At the same time, the fixed plate on the inner deformable wheel of the rotor assembly drives the inner deformable wheel to rotate freely in all directions, thereby enabling the entire rotor assembly to rotate freely in all directions.

[0014] Compared with existing technologies, this utility model has the following advantages: It features a simple and efficient structure, requiring no additional independent land mobility device. Amphibious capability can be achieved solely through the collaboration of the rotor assembly and the articulated structure, effectively reducing the overall weight and structural complexity of the UAV, while also reducing manufacturing costs and maintenance difficulty. Its attitude adjustment is flexible; relying on the 360° omnidirectional rotation capability and ±1° rotation accuracy of the articulated structure, the rotor assembly can precisely deform horizontally, vertically, and at any angle, meeting both the lift requirements for aerial flight and the power and steering requirements for land travel. No manual replacement of parts or angle adjustment is required; the control system can drive the servo motor and rotor motor to work together to achieve rotor assembly deformation. In scenarios requiring high response speed, such as emergency rescue, it can quickly switch between land and air states. Its operation is stable and highly flexible; the power output of the outer rotor wheel and the attitude adjustment of the inner deformation wheel are independent and can be performed synchronously. It can maintain a stable attitude during aerial flight and deform flexibly during deformation. During land travel, it can steer through the inner deformation wheel while simultaneously providing power output through the outer rotor wheel to achieve flexible steering.

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the fuselage in flight state according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the fuselage in flight state according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the fuselage in flight state according to an embodiment of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the fuselage in flight state according to an embodiment of the present invention. Figure 4 ; Figure 5 This is a schematic diagram of the fuselage in a straight-ahead land-based configuration according to an embodiment of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the fuselage in a straight-ahead land-based configuration according to an embodiment of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the fuselage in a straight-ahead land-based configuration according to an embodiment of the present invention. Figure 3 ; Figure 8 This is a schematic diagram of the fuselage in a straight-ahead land-based configuration according to an embodiment of the present invention. Figure 4 ; Figure 9 This is a partial detail view of the rotor assembly and articulated structure in a straight-ahead land configuration according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the fuselage in a land-based right-turn state according to an embodiment of the present invention. Figure 1 ; Figure 11 This is a schematic diagram of the fuselage in a land-based right-turn state according to an embodiment of the present invention. Figure 2 ; Figure 12 This is a partial detail view of the rotor assembly and articulated structure in the right-turn state on land according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the fuselage in a land-based left-turn state according to an embodiment of the present invention. Figure 1 ; Figure 14 This is a schematic diagram of the fuselage in a land-based left-turn state according to an embodiment of the present invention. Figure 2 ; Figure 15 This is a partial detail view of the rotor assembly and articulated structure in the land-based left-turn state according to an embodiment of the present invention; Figure 16 This is a cross-sectional schematic diagram of the rotor assembly and articulated structure according to an embodiment of the present invention. Figure 1 ; Figure 17 This is a cross-sectional schematic diagram of the rotor assembly and articulated structure according to an embodiment of the present invention. Figure 2 .

[0017] In the diagram: 1-System box, 201-ESC 1, 202-ESC 2, 203-ESC 3, 204-ESC 4, 3-Rotor arm, 401-Rotor motor 1, 402-Rotor motor 2, 403-Rotor motor 3, 404-Rotor motor 4, 501-Servo motor 1, 502-Servo motor 2, 503-Servo motor 3, 504-Servo motor 4, 6-Center platform, 7-Fixed base, 8-Fixed plate, 9-Rotating component, 10-Servo mounting slot, 11-Wiring slot, 12-Rudder disk mounting slot, 13-Outer rotor wheel, 14-Inner deformable wheel, 15-Rotor. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] like Figures 1-17 As shown, this embodiment provides an amphibious unmanned aerial vehicle (UAV) based on a quasi-articulated omnidirectional deformable rotor. Through innovative rotor assembly and quasi-articulated structure design, it achieves high-precision attitude deformation of the UAV, while ensuring stability during aerial operations and flexibility on land, meeting the multi-condition operational requirements in complex scenarios. This embodiment of the amphibious UAV based on a quasi-articulated omnidirectional deformable rotor includes a fuselage, a quasi-articulated structure, and a rotor assembly. The fuselage includes a system box, four electronic speed controllers (ESCs), and four rotor arms; The system box is located inside the fuselage and includes a power system and a control system. The control system is used to communicate and control the rotor motors and articulated servo motors of the amphibious unmanned aerial vehicle. The four electronic speed controllers are fixed at the four corners of the central platform of the machine body; The four rotor arms are all connected between the joint-like structure and the central platform of the fuselage, and rotor assemblies are installed at the ends of the rotor arms.

[0022] The fuselage is equipped with a gyroscope, an accelerometer, a pressure sensor, and an ultrasonic sensor that are electrically connected to the control system.

[0023] In this embodiment of the utility model, the joint-like structure includes a fixed seat connected to the rotor arm of the fuselage, a rotating component connected to the fixed plate of the rotor assembly, and a servo motor embedded in the fixed seat and the rotating component.

[0024] In this embodiment of the utility model, the mounting base is fixed to the end of the rotor arm, and the shape of the mounting base is a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section of the incomplete cylinder forms a 45° angle with the plane where the rotor arm is located, and the elliptical cylinder forms a whole with the incomplete cylinder at the cross-section. Each mounting base is provided with a servo mounting slot, and a wiring slot is provided at the bottom. The servo is fixedly connected to the servo mounting slot.

[0025] In this embodiment of the utility model, the rotating component is also a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section on the incomplete cylinder forms a 45° angle with the plane where the rotor arm is located, and the elliptical cylinder also forms a whole with the incomplete cylinder at the cross-section. The elliptical cylinder of the rotating component is provided with a rudder disk fixing groove, which is fixedly connected to the output end of the servo motor to drive the rotating component to rotate relative to the fixed seat and realize the function of servo motor to precisely control the free rotation of the joint-like structure. The other end of the rotating component is connected to the fixing plate on the corresponding rotor assembly.

[0026] In this embodiment of the utility model, the rotor assembly consists of an outer rotor wheel, an inner deformation wheel, and a rotor motor.

[0027] In this embodiment of the invention, the outer rotor wheels are all located on the outermost side of the rotor assembly, and the two ends of the rotor inside are fixed on the outer rotor wheels. The center of the rotor is installed on the output shaft of the rotor motor, so that the outer rotor wheels can rotate in both land and air amphibious applications.

[0028] In this embodiment of the utility model, the inner deformable wheels are all located inside the rotor assembly, and the diameter of the inner deformable wheels is smaller than that of the outer rotor wheel. A fixing plate is provided inside the inner deformable wheel. The two ends of the fixing plate are respectively fixed to the rotor motor and the inner deformable wheel, and the middle is connected to the rotating part of the joint-like structure to realize the omnidirectional deformation function of the rotor assembly.

[0029] In this embodiment of the invention, the outer rotor wheel and the inner deformable wheel are connected by a rotor motor. By controlling the servo motor in the joint-like structure, the rotating parts of the joint-like structure can rotate freely in all directions. At the same time, the fixed plate on the inner deformable wheel of the rotor assembly drives the inner deformable wheel to rotate freely in all directions, thereby enabling the entire rotor assembly to rotate freely in all directions. Since the outer rotor wheel and the inner deformable wheel are not a single structure, the forward and backward rotation of the outer rotor wheel driven by the rotor motor and the deformation rotation of the inner deformable wheel driven by the servo motor are independent of each other and can occur simultaneously. When flying in the air, the outer rotor wheel rotates while the inner deformable wheel remains stationary. During deformation, the inner deformable wheel achieves free omnidirectional rotation of the entire rotor assembly under the drive of the servo motor. When traveling in a straight line on land, since the diameter of the inner deformable wheel is smaller than that of the outer rotor wheel, the stationary inner deformable wheel will not obstruct the forward or backward rotation of the outer rotor wheel. When turning on land, the deformation rotation of the inner deformable wheel driven by the servo motor will drive the outer rotor wheel to turn synchronously without obstructing the forward or backward rotation of the outer rotor wheel at the same time.

[0030] Specific implementation process: This embodiment provides a land-air amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor, including a fuselage, a joint-like structure, and a rotor assembly.

[0031] The fuselage includes a system box 1, four electronic speed controllers (ESCs) (201, 202, 203, 204), and four rotor arms 3. The system box 1 is located inside the fuselage and includes a power system and a control system. The control system is used to communicate and control the four rotor motors (401, 402, 403, 404) and the four servo motors (501, 502, 503, 504) of the articulated structure of the amphibious UAV. The four ESCs (201, 202, 203, 204) are fixed at the four corners of the central platform 6 of the fuselage. The four rotor arms 3 are used to connect the articulated structure to the central platform 6 of the fuselage, and rotor assemblies are fixed at the ends of the rotor arms 3.

[0032] The articulated structure includes a fixed base 7 connected to the rotor arm 3 of the fuselage, a rotating component 9 connected to the fixed plate 8 of the rotor assembly, and four servos (501, 502, 503, 504) embedded in the fixed base 7 and the rotating component 9. The fixed base 7 is fixed to the end of the rotor arm 3. The fixed base 7 is a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section of the incomplete cylinder forms a 45° angle with the plane of the rotor arm 3. The elliptical cylinder forms a whole with the incomplete cylinder at the cross-section. A servo mounting slot 10 is designed in the fixed base 7. A wiring groove 11 is designed at the bottom; the rotating component 9 is also a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section of the incomplete cylinder forms a 45° angle with the plane where the rotor arm 3 is located. The elliptical cylinder also forms a whole with the incomplete cylinder at the cross-section. A rudder disk fixing groove 12 is designed in the elliptical cylinder of the rotating component 9 to drive the rotating component 9 to rotate relative to the fixed seat 7 and realize the function of precise control of the joint structure by the first to fourth servos (501, 502, 503, 504). The other end of the rotating component 9 is connected to the fixing plate 8 on the rotor assembly.

[0033] The rotor assembly consists of an outer rotor wheel 13, an inner deformable wheel 14, and rotor motors numbered one through four (401, 402, 403, and 404). The outer rotor wheel 13 is located on the outermost side of the rotor assembly. The inner rotor 15 is fixed at both ends to the outer rotor wheel 13, and the center of the rotor 15 is mounted on the output shaft of rotor motors numbered one through four (401, 402, 403, and 404) to ensure that the outer rotor wheel 13 can rotate in both land and air amphibious configurations. The inner deformable wheel 14 is located inside the rotor assembly, and its diameter is smaller than that of the outer rotor wheel 13. A fixed plate 8 is provided, with its two ends fixed to rotor motors 1-4 (401, 402, 403, 404) and the inner deformable wheel 14, respectively. The plate is connected in the middle to the rotating component 9 of the articulated structure, enabling omnidirectional deformation of the rotor assembly. The outer rotor wheel 13 and the inner deformable wheel 14 are connected via rotor motors 1-4 (401, 402, 403, 404). By controlling servos 1-4 (501, 502, 503, 504) in the articulated structure, the rotating component 9 of the articulated structure can rotate freely in all directions. The fixed plate 8 on the inner deformable wheel 14 of the rotor assembly drives the inner deformable wheel 14 to rotate freely in all directions, thereby enabling the entire rotor assembly to rotate freely in all directions. Since the outer rotor wheel 13 and the inner deformable wheel 14 are not an integral structure, the forward and backward rotation of the outer rotor wheel 13 driven by rotor motors 1 to 4 (401, 402, 403, 404) and the deformation rotation of the inner deformable wheel 14 driven by servo motors 1 to 4 (501, 502, 503, 504) are independent of each other and can occur simultaneously. During flight, the outer rotor wheel 13 rotates while the inner deformable wheel 14 remains stationary. When stationary, during deformation, the inner deformation wheel 14, driven by servos 1 to 4 (501, 502, 503, 504), enables the entire rotor assembly to rotate freely in all directions. When traveling straight on land, since the diameter of the inner deformation wheel 14 is smaller than that of the outer rotor wheel 13, the stationary inner deformation wheel 14 will not obstruct the forward or backward rotation of the outer rotor wheel 13. When turning on land, the deformation and rotation of the inner deformation wheel 14, driven by servos 1 to 4 (501, 502, 503, 504), will cause the outer rotor wheel 13 to turn synchronously without obstructing the forward or backward rotation of the outer rotor wheel 13 at the same time.

[0034] The working principle provided by this invention is as follows: An amphibious unmanned aerial vehicle (UAV) based on a quasi-articular omnidirectional deformable rotor achieves amphibious functionality through a three-level linkage system of "control system - quasi-articular structure - rotor assembly". The core logic is that after receiving instructions, the control system in system box 1 synchronously adjusts the rotation angles of the first to fourth servos (501, 502, 503, 504) in the four quasi-articular structures and the rotation speed of the corresponding rotor motors of rotor 15, so that the rotor assembly can be independently controllable and work collaboratively in both "attitude deformation" and "power output" dimensions. Specifically, The articulated servos 1 through 4 (501, 502, 503, 504) are responsible for changing the spatial angle of the rotor assembly (0°-360° continuously adjustable) through the inner deformable wheel 14. The rotor motors 1 through 4 (401, 402, 403, 404) are responsible for providing lift or driving force through the outer rotor wheel 13. The two are linked by the PID algorithm of the control system. At the same time, the gyroscope, acceleration sensor, pressure sensor and ultrasonic sensor on the fuselage provide real-time feedback of environmental and attitude data to ensure stable operation in various states. During flight, the control system sends a "flight mode" command. The four articulated servos (501, 502, 503, 504) synchronously drive the inner deformable wheel 14 to rotate the rotor assembly to a horizontal position (rotor 15 plane parallel to the ground). The rotor motors (401, 402, 403, 404) drive the outer rotor wheel 13 to rotate, generating upward lift. When hovering, the rotor motors (401, 402, 403, 404) rotate clockwise or counterclockwise at the same speed. The clockwise rotation (adjacent rotors 15 rotate in opposite directions to counteract the torque) balances lift and gravity through total speed adjustment. When flying forward or backward, the front rotor motors 401 and 404 and the rear rotor motors 402 and 403 form a speed difference, generating horizontal thrust by tilting the fuselage. When moving left or right, the left rotor motors 403 and 404 and the right rotor motors 401 and 402 form a speed difference, achieving lateral movement by tilting laterally.When switching to straight-line driving mode on land, the control system first reduces the rotor speed of rotor 15 to idle speed. At the same time, servo motors 1-4 (501, 502, 503, 504) drive the inner deformation wheel 14 to rotate the four rotor assemblies 90° to a vertical position (rotor 15 plane is perpendicular to the ground). When moving forward or backward in a straight line, rotor motors 1-4 (401, 402, 403, 404) drive the four outer rotor wheels 13 to rotate synchronously, generating driving force through friction with the ground. During acceleration, the rotor speed of rotor motors 1-4 is increased. The PWM duty cycle of the rotor motors (401, 402, 403, 404) is reduced during deceleration. During braking, the PWM duty cycle of rotor motors 1-4 (401, 402, 403, 404) is reduced. During braking, deceleration is achieved by reversing the rotation or reducing the speed of rotor motors 1-4 (401, 402, 403, 404). During land-based turning, the angles of the two front-end inner deformation wheels 14 are adjusted by controlling the front-end servo motors 501 and 504, thereby adjusting the angle of the rotor assembly to achieve turning. The bending function; since the outer rotor wheel 13 and the inner deformable wheel 14 are not an integral structure, the forward and backward rotation of the outer rotor wheel 13 driven by rotor motors 1 to 4 (401, 402, 403, 404) and the deformation rotation of the inner deformable wheel 14 driven by servos 1 to 4 (501, 502, 503, 504) are independent of each other and can be carried out simultaneously. During flight, the outer rotor wheel 13 rotates while the inner deformable wheel 14 remains stationary. During deformation, the inner deformable wheel 14 is driven by servos 1 to 4 (… Driven by servos 501, 502, 503, and 504, the entire rotor assembly can rotate freely in all directions. When traveling in a straight line on land, since the diameter of the inner deformable wheel 14 is smaller than that of the outer rotor wheel 13, the stationary inner deformable wheel 14 will not obstruct the forward or backward rotation of the outer rotor wheel 13. When turning on land, the deformation and rotation of the inner deformable wheel 14 driven by servos 1 to 4 (501, 502, 503, and 504) will drive the outer rotor wheel 13 to turn synchronously and will not obstruct the forward or backward rotation of the outer rotor wheel 13 at the same time.

[0035] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from its technical solution shall still fall within the protection scope of this utility model.

Claims

1. An amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor, characterized in that: Including the fuselage, articulated structure, and rotor assembly; The fuselage includes a system box, four electronic speed controllers (ESCs), and four rotor arms; The system box is located inside the fuselage and includes a power system and a control system. The control system is used to communicate and control the rotor motors and articulated servo motors of the amphibious unmanned aerial vehicle. The four electronic speed controllers are fixed at the four corners of the central platform of the machine body; The four rotor arms are all connected between the joint-like structure and the central platform of the fuselage, and rotor assemblies are installed at the ends of the rotor arms.

2. The amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor according to claim 1, characterized in that: The aforementioned joint-like structures all include a fixed base connected to the rotor arm of the fuselage, a rotating component connected to the fixed plate of the rotor assembly, and a servo motor embedded in the fixed base and the rotating component.

3. The amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor according to claim 2, characterized in that: The mounting bases are all fixed to the ends of the rotor arms, and the shape of the mounting base is a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section of the incomplete cylinder forms a 45° angle with the plane where the rotor arm is located, and the elliptical cylinder forms a whole with the incomplete cylinder at the cross-section. Each mounting base is provided with a servo mounting slot, and a wiring slot is provided at the bottom. The servo is fixedly connected to the servo mounting slot.

4. The amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor according to claim 3, characterized in that: The rotating component is also a whole composed of an incomplete cylinder and an elliptical cylinder. The cross-section of the incomplete cylinder forms a 45° angle with the plane where the rotor arm is located, and the elliptical cylinder also forms a whole with the incomplete cylinder at the cross-section. The elliptical cylinder of the rotating component is provided with a rudder disk fixing groove, which is fixedly connected to the output end of the servo motor to drive the rotating component to rotate relative to the fixed base and realize the function of servo motor to precisely control the free rotation of the joint-like structure. The other end of the rotating component is connected to the fixing plate on the corresponding rotor assembly.

5. The amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor according to claim 1, characterized in that: Each rotor assembly consists of an outer rotor wheel, an inner deformation wheel, and a rotor motor.

6. The amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor according to claim 5, characterized in that: The external rotor wheels are all located on the outermost side of the rotor assembly. The two ends of the internal rotor are fixed to the external rotor wheels, and the rotor center is installed on the output shaft of the rotor motor, so that the external rotor wheels can rotate in both land and air amphibious applications.

7. The amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor according to claim 6, characterized in that: The inner deformable wheels are all located inside the rotor assembly, and the diameter of the inner deformable wheels is smaller than that of the outer rotor wheels. A fixing plate is set inside the inner deformable wheel. The two ends of the fixing plate are fixed to the rotor motor and the inner deformable wheel, respectively, and the middle is connected to the rotating part of the joint-like structure to realize the omnidirectional deformation function of the rotor assembly.

8. The amphibious unmanned aerial vehicle based on a joint-like omnidirectional deformable rotor according to claim 7, characterized in that: The outer rotor wheel and the inner deformable wheel are connected by a rotor motor. By controlling the servo motor in the joint-like structure, the rotating parts of the joint-like structure can rotate freely in all directions. At the same time, the fixed plate on the inner deformable wheel of the rotor assembly drives the inner deformable wheel to rotate freely in all directions, thereby enabling the entire rotor assembly to rotate freely in all directions.

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