A cross-media unmanned aerial vehicle propeller

Abstract

The utility model provides a kind of propeller of cross-media unmanned aerial vehicle, comprising: double-output shaft motor;First one-way bearing, with first inner ring and first outer ring, first inner ring is fixedly connected with first output shaft;First waterproof shell, inner wall is fixedly connected with first outer ring;Air propeller, fixedly connected with the side of first waterproof shell away from double-output shaft motor;Second one-way bearing, with the locking direction opposite to first one-way bearing, with second inner ring and second outer ring, second inner ring is fixedly connected with second output shaft;Second waterproof shell, with the shell fixed connection of double-output shaft motor, cover is located second one-way bearing outside;First transmission shaft, first end is connected with second outer ring, second end is rotatably connected with second waterproof shell;Underwater propeller, with the second end fixed connection of first transmission shaft.The utility model's propeller of cross-media unmanned aerial vehicle only uses a set of power source, by switching mechanical transmission structure, can adapt to the different working environment of air and underwater.

Description

Technical Field

[0001] This utility model relates to the field of cross-medium unmanned aerial vehicle (UAV) technology, and in particular to a propulsion device for a cross-medium UAV. Background Technology

[0002] A trans-medium unmanned aerial vehicle (UAV) is an unmanned system platform capable of freely navigating in both air and water, and smoothly transitioning between media. This type of UAV has broad application prospects in fields such as military reconnaissance, environmental monitoring, and marine exploration.

[0003] Due to the significant differences in physical properties such as density and viscosity between air and water, the design of cross-medium aircraft must balance the dual performance requirements of airborne and underwater navigation. This is particularly true for propulsion systems, whose operating characteristics differ fundamentally in different media: in air, propulsion systems typically require low torque and high speed output for efficient flight; while underwater, they require high torque and low speed operation to overcome fluid resistance and provide sufficient thrust. This contradiction makes it difficult for a single propulsion system to maintain efficient operation in both media, becoming a key technical challenge in the design of cross-medium UAVs.

[0004] Currently, the main solutions to the above problems can be divided into two categories, but each has certain limitations:

[0005] Multiple power source options: By configuring separate propulsion systems suitable for air and underwater (e.g., propellers for air and thrusters for underwater), optimal performance can be achieved in their respective media. However, this approach leads to structural redundancy, increased overall weight, increased system complexity, and higher manufacturing costs, which is detrimental to the lightweighting and integration of the system.

[0006] A single-propeller combined with a mechanical switching mechanism: This design uses a common set of blades, along with a clutch, transmission device, and other mechanical transmission structures, to switch operating modes in different media. While this design achieves a degree of structural compactness, the aerodynamic / hydrodynamic shape of the blades cannot simultaneously meet the requirements of high-speed propulsion in the air and high torque underwater. This often results in a decrease in propulsion efficiency in a particular medium, indicating a significant performance compromise.

[0007] In the prior art, the integrated water-air thruster with patent publication number CN109649618 A proposes a design scheme for dual-motor cooperative operation, and its operating mode is divided into two types according to the medium in which it operates:

[0008] In-flight propulsion mode: When operating in the air, only the high-speed motor is activated, while the low-speed motor remains idle. The high-speed motor directly drives the propeller to rotate at high speed, achieving high speed and low torque output through a ducted fan to meet the power requirements of aerial flight;

[0009] Underwater propulsion mode: After entering the underwater environment, the low-speed motor starts and drives the high-speed motor and propeller to run at low speed through the overrunning clutch, forming a ducted propeller structure to achieve low speed and high torque propulsion, ensuring stable underwater movement.

[0010] Although the scheme achieves adjustable propulsion parameters and has a certain degree of cross-medium adaptability, it still has obvious shortcomings: on the one hand, the dual-motor configuration increases the structural complexity and overall weight, raising manufacturing and maintenance costs; on the other hand, the ducted fan structure has poor fluid adaptability in the underwater environment, making it difficult to fully utilize propulsion efficiency and limiting the improvement of overall performance.

[0011] Therefore, how to achieve efficient, reliable, and automatic switching propulsion functions in both aerial and underwater conditions using fewer power sources, while ensuring good sealing and structural compactness, is a problem that urgently needs to be solved for the propulsion of cross-medium UAVs. Utility Model Content

[0012] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a propulsion device for a cross-medium unmanned aerial vehicle (UAV) that uses only one power source and can adapt to different working environments in the air and underwater by switching mechanical transmission structures.

[0013] To achieve the above and other related objectives, this utility model provides a propulsion device for a cross-medium unmanned aerial vehicle, comprising:

[0014] A dual-output-shaft motor, having a first output shaft and a second output shaft;

[0015] The first one-way bearing has a first inner ring and a first outer ring, wherein the first inner ring is fixedly connected to the first output shaft;

[0016] The inner wall of the first waterproof outer casing is fixedly connected to the first outer ring.

[0017] An aerial propeller is fixedly connected to the side of the first waterproof housing away from the dual-output shaft motor;

[0018] The second one-way bearing, which has the opposite locking direction to the first one-way bearing, has a second inner ring and a second outer ring, and the second inner ring is fixedly connected to the second output shaft;

[0019] The second waterproof housing is fixedly connected to the housing of the dual-output shaft motor and covers the outside of the second one-way bearing;

[0020] A first drive shaft, with its first end connected to the second outer ring and its second end rotatably connected to the second waterproof housing;

[0021] An underwater propeller is fixedly connected to the second end of the first drive shaft.

[0022] Preferably, the thruster of the cross-medium UAV further includes a first coupling and a first retaining ring. The first end of the first coupling is provided with a first shaft hole, and the first output shaft is fixedly connected to the first shaft hole. The second end of the first coupling is provided with a first retaining ring groove, a first shaft shoulder, and a first limiting key. The first retaining ring is installed in the first retaining ring groove. The axial ends of the first inner ring respectively abut against the first retaining ring and the first shaft shoulder. The first limiting key cooperates with the keyway on the first inner ring to limit the circumferential position of the first inner ring.

[0023] Preferably, the thruster of the cross-medium UAV further includes a second retaining spring, and the first waterproof housing includes:

[0024] The first top cover is circular in shape, and the aerial propeller is fixedly connected to the top surface of the first top cover;

[0025] The first sidewall is cylindrical in shape and extends downward from the edge of the first top cover. The inner wall is fixedly connected to the first outer ring. The inner side of the first sidewall is provided with a second snap ring groove and a second shoulder. The second snap ring is installed in the second snap ring groove. The two axial ends of the first outer ring respectively abut against the second snap ring groove and the second shoulder.

[0026] Preferably, the thruster of the cross-medium UAV further includes a first seal, which is disposed between the outer peripheral surface of the first coupling and the first sidewall to prevent external fluid from entering the interior of the first waterproof housing.

[0027] Preferably, the thruster of the cross-medium UAV further includes a second drive shaft, a third retaining ring, and a second coupling. The second drive shaft is provided with a third retaining ring groove, a third shoulder, and a third limiting key. The third retaining ring is installed in the third retaining ring groove. The axial ends of the second inner ring respectively abut against the third retaining ring and the third shoulder. The third limiting key cooperates with the keyway on the second inner ring to limit the circumferential position of the second inner ring. The second coupling connects the second output shaft and the second drive shaft.

[0028] Preferably, the thruster of the cross-medium UAV further includes a motor tray, the motor tray having a through hole for the second output shaft to pass through, a first end of the motor tray being fixedly connected to the dual output shaft motor, and a second end of the motor tray being fixedly connected to the second waterproof housing.

[0029] Preferably, the thruster of the cross-medium UAV further includes a bearing housing, a fourth retaining ring, and a fourth limiting key. The bearing housing is cylindrical in shape, and its inner wall is fixedly connected to the second outer ring. The inner side of the bearing housing is provided with a fourth retaining ring groove and a fourth shoulder. The fourth retaining ring is installed in the fourth retaining ring groove. The two axial ends of the second outer ring abut against the fourth retaining ring and the fourth shoulder, respectively. The fourth limiting key cooperates with the keyway on the second outer ring to limit the circumferential position of the second outer ring.

[0030] Preferably, the thruster of the cross-medium UAV further includes a bearing end cap and a reducer. The bearing end cap is fixedly connected to one axial end of the bearing housing. The reducer is located inside the second waterproof housing. The input shaft of the reducer is fixedly connected to the bearing end cap to receive the torque transmitted by the second outer ring. The output shaft of the reducer is connected to the first end of the first transmission shaft.

[0031] Preferably, the thruster of the cross-medium UAV further includes a third coupling connected between the first drive shaft and the output shaft of the reducer.

[0032] Preferably, the second waterproof housing is cylindrical in shape, and the thruster further includes a second seal and a third seal. The second seal is disposed between the first axial end of the second waterproof housing and the second output shaft, and the third seal is disposed between the second axial end of the second waterproof housing and the first drive shaft.

[0033] As described above, the propulsion system of this utility model for a cross-medium UAV uses only one power source, and by switching the mechanical transmission structure, it can adapt to different working environments in the air and underwater. Attached Figure Description

[0034] Figure 1 The diagram shown is a structural schematic of an embodiment of the present invention.

[0035] Figure 2 Displayed as Figure 1 Exploded view.

[0036] Figure 3 Displayed as Figure 1 Internal structure diagram of the upper middle section.

[0037] Figure 4 Displayed as Figure 1 Internal structure diagram of the lower half.

[0038] Figure 5 The diagram shown is a structural schematic of the first coupling according to an embodiment of the present invention.

[0039] Figure 6 The diagram shown is a structural schematic of the first waterproof outer shell according to an embodiment of the present invention.

[0040] Figure 7 The diagram shown is a structural schematic of the second transmission shaft according to an embodiment of the present invention.

[0041] Figure 8 The diagram shown is a structural schematic of a bearing housing according to an embodiment of the present invention.

[0042] Component designation explanation

[0043] 100. Dual-output shaft motor; 110. First output shaft; 120. Second output shaft; 200. First one-way bearing; 210. First coupling; 211. First shaft hole; 212. First circlip groove; 213. First shaft shoulder; 214. First limit key; 220. First circlip; 230. Second circlip; 300. First waterproof housing; 310. First top cover; 320. First side wall; 330. Second circlip groove; 340. Second shaft shoulder; 350. First mounting hole; 360. Second limit key; 400. Air propeller; 500. Second one-way bearing; 5 10. Second drive shaft; 511. Third snap ring groove; 512. Third shaft shoulder; 513. Third limit key; 520. Third snap ring; 530. Second coupling; 540. Motor tray; 550. Bearing housing; 551. Fourth snap ring groove; 552. Fourth shaft shoulder; 553. Fourth limit key; 554. Second mounting hole; 560. Fourth snap ring; 570. Bearing end cover; 600. Second waterproof housing; 700. First drive shaft; 710. Third coupling; 800. Underwater propeller; 900. Reducer; 910. Reducer cover; 911. Limit gear. Detailed Implementation

[0044] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0045] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0046] It should be noted that when a component is said to be "connected" to another component, it can be directly connected to the other component or it can be connected to a component in between. When a component is said to be "set on" another component, it can be directly set on the other component or it may be set to a component in between.

[0047] Please refer to Figures 1-4 This utility model provides a propulsion system for a cross-medium unmanned aerial vehicle, including a dual-output shaft motor 100, a first one-way bearing 200, a first waterproof housing 300, an aerial propeller 400, a second one-way bearing 500, a second waterproof housing 600, a first drive shaft 700, and an underwater propeller 800.

[0048] The dual-output shaft motor 100 has a first output shaft 110 and a second output shaft 120; the first one-way bearing 200 has a first inner ring and a first outer ring, the first inner ring being fixedly connected to the first output shaft; the inner wall of the first waterproof housing 300 is fixedly connected to the first outer ring; the aerial propeller 400 is fixedly connected to the side of the first waterproof housing 300 away from the dual-output shaft motor 100; the second one-way bearing 500 has a second inner ring and a second outer ring, the second inner ring being fixedly connected to the second output shaft 120; the second waterproof housing 600 is fixedly connected to the housing of the dual-output shaft motor and covers the outside of the second one-way bearing 500; the first end of the first drive shaft 700 is connected to the second outer ring, and the second end is rotatably connected to the second waterproof housing 600; the underwater propeller 800 is fixedly connected to the second end of the first drive shaft 700.

[0049] The dual-output shaft motor 100 in this embodiment is a waterproof motor, and the dual-output shaft motor 100 has two rotation directions, forward and reverse.

[0050] When the dual-output shaft motor 100 rotates forward, the first output shaft 110 drives the first inner ring (the inner and outer rings are not distinguished in the figure) of the first one-way bearing 200 to rotate forward. At this time, the first one-way bearing 200 is in a locked state, and the first inner ring of the first one-way bearing 200 drives the first outer ring of the first one-way bearing 200 to rotate forward. Since the first outer ring of the first one-way bearing 200 is fixedly connected to the inner wall of the first waterproof housing 300, the first outer ring of the first one-way bearing 200 drives the first waterproof housing 300 to rotate forward. The aerial propeller 400 is fixedly connected to the top of the first waterproof housing 300, and the first waterproof housing 300 drives the aerial propeller 400 to rotate forward.

[0051] Since the locking direction of the second one-way bearing 500 is opposite to that of the first one-way bearing 200, when the dual output shaft motor 100 rotates in the forward direction, the second one-way bearing 500 is in a free state, that is, the second inner ring and the second outer ring of the second one-way bearing 500 can rotate relative to each other, and the forward rotation torque output by the dual output shaft motor 100 cannot be transmitted to the underwater propeller 800 through the second output shaft 120.

[0052] When the dual-output shaft motor 100 rotates in reverse, the second output shaft 120 drives the second inner ring of the second one-way bearing 500 to rotate in reverse. At this time, the second one-way bearing 500 is in a locked state, and the second inner ring of the second one-way bearing 500 drives the second outer ring of the second one-way bearing 500 to rotate in reverse. The second outer ring of the second one-way bearing 500 drives the first drive shaft 700 to rotate in reverse, and the first drive shaft 700 drives the underwater propeller 800 to rotate in reverse.

[0053] Since the locking direction of the second one-way bearing 500 is opposite to that of the first one-way bearing 200, when the dual output shaft motor 100 rotates in the opposite direction, the first one-way bearing 200 is in a free state, that is, the first inner ring and the first outer ring of the first one-way bearing 200 can rotate relative to each other, and the reverse rotation torque output by the dual output shaft motor 100 cannot be transmitted to the air propeller 400 through the first output shaft 110.

[0054] This embodiment achieves the switching between aerial and underwater working modes simply by rotating the dual output shaft motors 100 in the forward and reverse directions. It does not require multiple power sources or complex electronically controlled clutch switching mechanisms, resulting in high space utilization, reduced size and weight of the UAV, energy efficiency, and meeting the miniaturization requirements of UAVs.

[0055] Please refer to Figure 2 , Figure 3 , Figure 5 In one embodiment of this application, the thruster of the cross-medium UAV further includes a first coupling 210 and a first retaining ring 220. The first end of the first coupling 210 has a first shaft hole 211, and a first output shaft 110 is fixedly connected within the first shaft hole 211. The second end of the first coupling 210 has a first retaining ring groove 212, a first shaft shoulder 213, and a first limiting key 214. The first retaining ring 220 is installed in the first retaining ring groove 212. The axial ends of the first inner ring respectively abut against the first retaining ring 220 and the first shaft shoulder 213. The first limiting key 214 engages with a keyway on the first inner ring to limit the circumferential position of the first inner ring. Specifically, the first output shaft 110 and the first shaft hole 211 are interference-fitted.

[0056] This embodiment connects the first output shaft 110 and the first one-way bearing 200 via a first coupling 210, improving the coaxiality between the motor output shaft and the first one-way bearing 200, enhancing the smoothness of the forward rotation torque transmission system, and providing buffering and protection for the dual-output shaft motor 100. This embodiment uses a first retaining ring 220 and a first shoulder 213 to axially position the first inner ring of the first one-way bearing 200, preventing axial loosening during high-speed forward rotation. This embodiment uses a first limiting key 214 to circumferentially position the first one-way bearing 200, preventing slippage between the first coupling 210 and the first inner ring. This ensures stable operation of the cross-medium UAV under long-term, high-load conditions.

[0057] Please refer to Figure 2 , Figure 6 In one embodiment of this application, the thruster of the cross-medium UAV further includes a second retaining ring 230, and the first waterproof housing 300 includes a first top cover 310 and a first sidewall 320.

[0058] The first top cover 310 is generally circular, and the air propeller 400 is fixedly connected to the top surface of the first top cover 310. The first side wall 320 is generally cylindrical, extending downward from the edge of the first top cover 310. The inner wall is fixedly connected to the first outer ring. The inner side of the first side wall is provided with a second snap ring groove 330 and a second shoulder 340. The second snap ring 230 is installed in the second snap ring groove 330. The axial ends of the first outer ring respectively abut against the second snap ring groove 330 and the second shoulder 340. Specifically, the first top cover 310 is provided with a first mounting hole 350, and the air propeller 400 is fixedly connected to the first top cover 310 by fasteners passing through the first mounting hole 350. The first side wall 320 is provided with a second limiting key 360, which cooperates with the keyway on the first outer ring to limit the circumferential position of the first outer ring.

[0059] In this embodiment, the first outer ring of the first one-way bearing 200 is axially positioned by the second retaining ring 230 and the second shoulder 340. In this embodiment, the first outer ring of the first one-way bearing 200 is circumferentially positioned by the second limiting key 360 and the keyway on the first outer ring, thereby ensuring that the first waterproof housing 300 rotates synchronously with the first outer ring of the first one-way bearing 200.

[0060] In one embodiment of this application, the thruster of the cross-medium UAV further includes a first seal (not shown), which is disposed between the outer peripheral surface of the first coupling 210 and the first sidewall 320 to prevent external fluid from entering the interior of the first waterproof housing 300.

[0061] Please refer to Figure 2 , Figure 4 , Figure 7In one embodiment of this application, the thruster of the cross-medium UAV further includes a second drive shaft 510, a third snap ring 520, and a second coupling 530. The second drive shaft 510 is provided with a third snap ring groove 511, a third shoulder 512, and a third limiting key 513. The third snap ring 520 is installed in the third snap ring groove 511. The axial ends of the second inner ring respectively abut against the third snap ring 520 and the third shoulder 512. The third limiting key 513 cooperates with the keyway on the second inner ring to limit the circumferential position of the second inner ring. The second coupling 530 is connected between the second output shaft 120 and the second drive shaft 510.

[0062] In this embodiment, the second output shaft 120 and the second one-way bearing 500 are connected by a second coupling 530, which improves the coaxiality between the motor output shaft and the second one-way bearing 500, enhances the smoothness of the transmission system for reverse rotation torque, and provides buffering and protection for the dual-output shaft motor 100. In this embodiment, the second inner ring of the second one-way bearing 500 is axially positioned using a third retaining ring 520 and a third shoulder 512, and the second inner ring of the second one-way bearing 500 is circumferentially positioned using a third limiting key 513.

[0063] Please refer to Figure 2 In one embodiment of this application, the thruster of the cross-medium UAV also includes a motor tray 540, which has a through hole for the second output shaft 120 to pass through. The first end of the motor tray 540 is fixedly connected to the dual output shaft motor 100, and the second end of the motor tray 540 is fixedly connected to the second waterproof housing 600.

[0064] In one embodiment of this application, the thruster of the cross-medium UAV further includes a mounting sleeve connected to the circumferential outer side of the motor tray. The mounting sleeve is used to mount the thruster onto the body of the cross-medium UAV.

[0065] Please refer to Figure 2 , Figure 4 , Figure 8 In one embodiment of this application, the thruster of the cross-medium UAV further includes a bearing housing 550 and a fourth retaining ring 560. The bearing housing 550 is cylindrical in shape. The inner wall of the bearing housing 550 is fixedly connected to the second outer ring. The inner side of the bearing housing 550 is provided with a fourth retaining ring groove 551, a fourth shoulder 552 and a fourth limiting key 553. The fourth retaining ring 560 is installed in the fourth retaining ring groove 551. The two axial ends of the second outer ring abut against the fourth retaining ring 560 and the fourth shoulder 552, respectively.

[0066] In this embodiment, the second outer ring of the second one-way bearing 500 is axially positioned by the fourth retaining ring 560 and the fourth shoulder 552, and the second outer ring of the second one-way bearing 500 is circumferentially positioned by the fourth limiting key 553.

[0067] Please refer to Figure 2 , Figure 4 In one embodiment of this application, the thruster of the cross-medium UAV further includes a bearing end cap 570 and a reducer 900. The bearing end cap 570 is fixedly connected to one axial end of the bearing housing 550. The reducer 900 is located inside the second waterproof housing 600. The input shaft of the reducer 900 is fixedly connected to the bearing end cap 570 to receive torque transmitted by the second outer ring. The output shaft of the reducer 900 is connected to the first end of the first drive shaft 700. Specifically, the bearing housing 550 is provided with a second mounting hole 554, and the bearing end cap 570 is connected to the bearing housing 550 by fasteners that pass through and are fixedly connected to the second mounting hole 554.

[0068] Please refer to Figure 2 In one embodiment of this application, the thruster of the cross-medium UAV further includes a third coupling 710, which is connected between the first drive shaft 700 and the output shaft of the reducer 900.

[0069] Please refer to Figure 2 In one embodiment of this application, the thruster of the cross-medium UAV further includes a reducer cover 910, which is fixedly connected to one end of the output shaft of the reducer 900 by fasteners. The outer periphery of the reducer cover 910 is provided with limiting teeth 911, and the inner wall of the second waterproof housing 600 is provided with a limiting groove that mates with the limiting teeth 911.

[0070] In one embodiment of this application, the second waterproof housing 600 is cylindrical in shape, and the thruster further includes a second seal and a third seal. The second seal is disposed between the first end of the second waterproof housing 600 in the axial direction and the second output shaft 120, and the third seal is disposed between the second end of the second waterproof housing 600 in the axial direction and the first drive shaft 700.

[0071] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification. When technical features of different embodiments are embodied in the same drawing, it can be regarded as the drawing also disclosing examples of combinations of the various embodiments involved.

[0072] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A propulsion system for a cross-medium unmanned aerial vehicle, characterized in that, include: A dual-output-shaft motor, having a first output shaft and a second output shaft; The first one-way bearing has a first inner ring and a first outer ring, wherein the first inner ring is fixedly connected to the first output shaft; The inner wall of the first waterproof outer casing is fixedly connected to the first outer ring. An aerial propeller is fixedly connected to the side of the first waterproof housing away from the dual-output shaft motor; The second one-way bearing, which has the opposite locking direction to the first one-way bearing, has a second inner ring and a second outer ring, and the second inner ring is fixedly connected to the second output shaft; The second waterproof housing is fixedly connected to the housing of the dual-output shaft motor and covers the outside of the second one-way bearing; A first drive shaft, with its first end connected to the second outer ring and its second end rotatably connected to the second waterproof housing; An underwater propeller is fixedly connected to the second end of the first drive shaft.

2. The thruster for a cross-medium unmanned aerial vehicle according to claim 1, characterized in that, The thruster of the cross-medium UAV also includes a first coupling and a first retaining ring. The first end of the first coupling is provided with a first shaft hole, and the first output shaft is fixedly connected to the first shaft hole. The second end of the first coupling is provided with a first retaining ring groove, a first shaft shoulder, and a first limiting key. The first retaining ring is installed in the first retaining ring groove. The axial ends of the first inner ring respectively abut against the first retaining ring and the first shaft shoulder. The first limiting key cooperates with the keyway on the first inner ring to limit the circumferential position of the first inner ring.

3. The thruster for a cross-medium unmanned aerial vehicle according to claim 2, characterized in that, The thruster of the cross-medium UAV also includes a second retaining spring, and the first waterproof housing includes: The first top cover is circular in shape, and the aerial propeller is fixedly connected to the top surface of the first top cover; The first sidewall is cylindrical in shape and extends downward from the edge of the first top cover. The inner wall is fixedly connected to the first outer ring. The inner side of the first sidewall is provided with a second snap ring groove and a second shoulder. The second snap ring is installed in the second snap ring groove. The two axial ends of the first outer ring respectively abut against the second snap ring groove and the second shoulder.

4. The thruster for a cross-medium unmanned aerial vehicle according to claim 3, characterized in that, The thruster of the cross-medium UAV also includes a first seal, which is disposed between the outer peripheral surface of the first coupling and the first sidewall to prevent external fluid from entering the interior of the first waterproof shell.

5. The thruster for a cross-medium unmanned aerial vehicle according to claim 1, characterized in that, The thruster of the cross-medium UAV also includes a second drive shaft, a third retaining ring, and a second coupling. The second drive shaft is provided with a third retaining ring groove, a third shoulder, and a third limiting key. The third retaining ring is installed in the third retaining ring groove. The axial ends of the second inner ring respectively abut against the third retaining ring and the third shoulder. The third limiting key cooperates with the keyway on the second inner ring to limit the circumferential position of the second inner ring. The second coupling connects the second output shaft and the second drive shaft.

6. The thruster for a cross-medium unmanned aerial vehicle according to claim 1, characterized in that, The thruster of the cross-medium UAV also includes a motor tray, which has a through hole for the second output shaft to pass through. The first end of the motor tray is fixedly connected to the dual output shaft motor, and the second end of the motor tray is fixedly connected to the second waterproof shell.

7. The thruster for a cross-medium unmanned aerial vehicle according to claim 1, characterized in that, The thruster of the cross-medium UAV also includes a bearing housing, a fourth retaining ring, and a fourth limiting key. The bearing housing is cylindrical in shape, and its inner wall is fixedly connected to the second outer ring. The inner side of the bearing housing is provided with a fourth retaining ring groove and a fourth shoulder. The fourth retaining ring is installed in the fourth retaining ring groove. The two axial ends of the second outer ring abut against the fourth retaining ring and the fourth shoulder, respectively. The fourth limiting key cooperates with the keyway on the second outer ring to limit the circumferential position of the second outer ring.

8. The thruster for a cross-medium unmanned aerial vehicle according to claim 7, characterized in that, The thruster of the cross-medium UAV also includes a bearing end cap and a reducer. The bearing end cap is fixedly connected to one axial end of the bearing housing. The reducer is located inside the second waterproof housing. The input shaft of the reducer is fixedly connected to the bearing end cap to receive the torque transmitted by the second outer ring. The output shaft of the reducer is connected to the first end of the first drive shaft.

9. The thruster for a cross-medium unmanned aerial vehicle according to claim 8, characterized in that, The propulsion system of the cross-medium UAV also includes a third coupling, which is connected between the first drive shaft and the output shaft of the reducer.

10. The thruster for a cross-medium unmanned aerial vehicle according to claim 1, characterized in that, The second waterproof housing is cylindrical in shape. The propeller also includes a second seal and a third seal. The second seal is disposed between the first axial end of the second waterproof housing and the second output shaft, and the third seal is disposed between the second axial end of the second waterproof housing and the first drive shaft.

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