CN108437726A - A kind of airflight/amphibious mode changeover mechanism of land traveling for unmanned vehicle - Google Patents

Abstract

An air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles solves the technical problem that unmanned aerial vehicles generally only fly in the air and cannot realize the air flight/land travel amphibious mode conversion in the prior art. The steering gear of the conversion mechanism is respectively located on the left and right sides of the frame, the drive shaft of the paddle is fixed under the frame, the support frame is fixedly connected with the frame, the crawler gear is fixed under the frame, the crawler is sleeved on the support frame and the crawler gear, and the motor The output shaft of the reducer box is connected to the motor input shaft of the reducer box, and the left servo is used to control the synchronizer in the reducer box so that the motor input shaft of the reducer box is connected to output shaft one or output shaft two; output shaft two is used for Drive the crawler gear to rotate, output shaft 1 is used to drive the blade to rotate, and the right steering gear is used to drive the frame to rotate 90°, so that the plane where the blade is located is perpendicular to the ground. The invention has the advantages of ensuring the flight safety of the unmanned aerial vehicle and improving work efficiency.

Description

An air flight/land travel amphibious mode switch for unmanned aerial vehicles change agency

technical field

The invention relates to an air flight/land travel amphibious mode switching mechanism, which belongs to the technical field of power devices.

Background technique

An unmanned aerial vehicle is an unmanned aerial vehicle mainly controlled by radio remote control or by its own program. Its successful development and market application have opened a new chapter of "non-contact communication" dominated by long-distance flying unmanned intelligent transportation tools and information-based controlled aircraft. Compared with manned aircraft, it has the advantages of small size, low cost, convenient use, low requirements on the flying environment, and strong anti-destructive ability, and is favored by inventors from all over the world. In recent years, unmanned aerial vehicles have played an important role in many fields such as shooting, inspection, transportation and search due to their advantages of accuracy, efficiency and flexibility.

However, the unmanned aerial vehicles of the prior art generally only fly in the air and cannot travel on the ground, and in low areas or in bad weather conditions, the safety of the unmanned aerial vehicles passing through the barrier is reduced, and a slight accident may occur. Cause damage to the aircraft, and in severe cases, damage to high-precision instruments (such as cameras, etc.) on the aircraft. An unmanned aerial vehicle with an amphibious conversion mechanism has the ability to fly in the air and walk on the ground, and can be converted to a walking mode on the ground when it is not suitable for flying in the air, so that the aircraft can complete the designated work more safely and effectively.

Contents of the invention

The purpose of the present invention is to solve the technical problems that the unmanned aerial vehicles in the prior art generally only fly in the air, cannot travel on the ground, and cannot realize the conversion of air flight/land travel amphibious mode, and provide an unmanned aerial vehicle that flies in the air/land. The technical scheme of the amphibious mode conversion mechanism for land travel.

For reaching this purpose, the present invention adopts the following technical solutions:

The air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles includes a motor, a reducer box, blades and a support frame; it is characterized in that: the conversion mechanism also includes a left steering gear, a right side Steering gear, crawler gear, frame and track; the left steering gear and the right steering gear are respectively located on the left and right sides of the frame, the drive shaft of the paddle is fixed under the frame, and the paddle is located on the support frame center position, and the two are located in the same plane, the support frame is fixedly connected with the frame; the track gear is fixed below the frame, the track gear and the support frame are located in the same plane, and the rotation axis of the track gear and the The rotating shafts of the blades are located in the same plane; the track is sleeved on the support frame and the track gear, and a plurality of transmission wheels are arranged between the track and the support frame; the output shaft of the motor is connected with the motor input shaft of the reducer box , the gear box is provided with a synchronizer, output shaft one and output shaft two, and the left steering gear is used to control the synchronizer in the gear box so that the motor input shaft of the gear box is connected to the output shaft one or to the output shaft two; The second output shaft is used to drive the crawler gear to rotate, and the first output shaft is used to drive the blade to rotate; the right steering gear is used to drive the frame to rotate 90°, so that the plane where the blade is located is perpendicular to the ground.

Preferably, the paddle is an eight-inch paddle, and the outside of the paddle is fixedly connected to the hub.

Preferably, track clamps are provided on the support frame, and the track clamps are fixedly connected to the lower part of the frame for the fixed connection of the frame and the support frame while separating the track from the support frame.

Preferably, the reducer box also includes a synchronizer moving shaft, cylindrical gear one, cylindrical gear two, cylindrical gear three and cylindrical gear four; cylindrical gear one is fixed on the motor input shaft, and the end of the motor input shaft is connected to the synchronizer The movable part of the synchronizer is fixedly connected coaxially, the cylindrical gear three meshes with the cylindrical gear four, and the cylindrical gear four is fixedly connected at the end; the movable part of the synchronizer is fixedly connected with the end of the synchronizer moving shaft, and the synchronizer moves The head end of the shaft is connected to the driving end of the left steering gear, which is used to drive the moving shaft of the synchronizer to move back and forth in a straight line, so as to control the connection or separation of the movable part and the fixed part of the synchronizer. When the fixed part is connected, the first spur gear is not connected to the second spur gear, and when the movable part is separated from the fixed part, the first spur gear meshes with the second spur gear.

Preferably, the motor input shaft has a diameter of 4mm and a length of 83mm; the second output shaft has a diameter of 4mm and a length of 78.8mm; the first output shaft has a diameter of 4mm and a length of 199mm; the first modulus of the cylindrical gear is 0.5, the number of teeth is 18, the inner diameter is 4mm, the thickness of the gear is 10mm, the outer diameter of the connecting part of cylindrical gear 1 and the synchronizer is 12mm, and the thickness is 4.5mm; the modulus of the second cylindrical gear is 0.5, and the number of teeth is 36. The inner diameter is 4mm and the thickness is 8mm; the modulus of the third cylindrical gear is 0.5, the number of teeth is 18, the inner diameter is 4mm, and the thickness is 8mm. The outer diameter of the connecting part between the third cylindrical gear and the synchronizer is 12mm and the thickness is 4.5mm; The four modules of the cylindrical gear are 0.5, the number of teeth is 18, the inner diameter is 4mm, and the thickness is 8mm; the track gear has a module of 1, the number of teeth is 36, the inner diameter is 4mm, and the thickness is 8mm.

Preferably, the conversion mechanism further includes a coupling, and the output shaft of the motor is connected to the input shaft of the motor through the coupling.

Preferably, the conversion mechanism further includes a conical steering gear 1, and the conical steering gear 1 is arranged at the connection between the output shaft 1 and the rotating shaft of the blade, so as to realize the transmission direction changing effect.

Preferably, the conversion mechanism further includes a conical steering gear, and the second conical steering gear is arranged at the connection between the output shaft 2 and the rotation shaft of the crawler gear respectively, so as to realize the driving direction changing effect.

Preferably, the track width is 12mm.

The working principle of the present invention is: when the unmanned aerial vehicle is flying in the air, the rotation of the motor synchronously drives the input shaft of the motor to rotate, and the moving shaft of the synchronizer is in the initial state on the right side. The input shaft drives the synchronizer to rotate synchronously, so that the synchronizer and the three cylindrical gears move synchronously. The three cylindrical gears mesh with the four cylindrical gears. It drives the blades to rotate, thereby generating lift and driving the unmanned aerial vehicle to fly.

When controlling the unmanned aerial vehicle to change from air flight to land travel, the terminal issues instructions, the unmanned aerial vehicle lands slowly, the steering gear rotates, the left steering gear drives the synchronizer to move the axis to the left, and drives the synchronizer and cylindrical gear Once the connection is matched, at the same time, the right steering gear drives the frame and the support frame to rotate 90° clockwise, and the support frame becomes vertical to the original plane; at this time, the motor input shaft drives the synchronizer to rotate synchronously, so that the synchronizer and the cylindrical gear move synchronously , Cylindrical gear 1 meshes with cylindrical gear 2, and cylindrical gear 4 drives output shaft 2 to rotate. After the conical steering gear at the two ends of the output shaft turns 90°, it drives the crawler gear to rotate, and then drives the crawler to rotate. The friction between the crawler and the ground produces forward movement. motivation.

The air flight/land travel amphibious mode conversion mechanism for the unmanned aerial vehicle completes the conversion from the air mode to the land mode by controlling the rotation of the steering gear through a terminal such as a ground station or a remote control. In the same way, the external terminal sends an instruction to make the steering gear return to the position, and then the land travel mode can be transformed into the air flight mode.

The purpose of the present invention is to provide a mechanism that can realize the conversion of unmanned aerial vehicle air flight/land travel amphibious mode, and the amphibious travel modes can be freely switched to each other, thereby realizing the effect of unmanned aerial vehicle air flight/ground travel amphibious advance. The present invention can effectively avoid abnormal situations caused by untimely obstacle avoidance in a multi-obstacle environment, and at the same time, it can also switch to the land travel mode in time to continue moving forward in case of sudden short-term strong convective weather and other emergencies, thereby effectively ensuring unmanned driving Aircraft flight safety, improve work efficiency.

Description of drawings

Fig. 1 is a kind of overall structure schematic diagram of the amphibious mode conversion mechanism of air flight/land marching for unmanned aerial vehicle described in the present invention;

Fig. 2 is a schematic diagram of the internal structure of the present invention in the air flight mode;

Fig. 3 is a schematic diagram of the internal structure of the present invention in the land travel mode;

Fig. 4 is a schematic diagram of the internal structure of the reducer box;

Fig. 5 is a partial schematic view of the mechanism for flying in the air according to the present invention;

Fig. 6 is a partial schematic diagram of the mechanism for traveling on land according to the present invention.

In the figure: 1-left steering gear; 2-right steering gear; 3-motor; 4-reducer box; 401-synchronizer moving shaft; 402-motor input shaft; 403-output shaft two; 404-output shaft One; 405-cylindrical gear one; 406-cylindrical gear two; 407-cylindrical gear three; 408-cylindrical gear four; 409-bearing; 410-synchronizer; 5-track gear; 6-frame; 7-crawler; 8- Paddle; 901-conical steering gear one; 902-conical steering gear two; 10-support frame, 11-coupling.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific embodiments.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 1. Referring to FIG. 1 , this embodiment will be described. An air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles described in this embodiment, the conversion mechanism includes a motor 3, a reducer box 4, blades 8 and a support frame 10; it is characterized in that: The conversion mechanism also includes a left steering gear 1, a right steering gear 2, a crawler gear 5, a frame 6 and a crawler belt 7;

The left steering gear 1 and the right steering gear 2 are respectively located on the left and right sides of the frame 6, the drive shaft of the paddle 8 is fixed below the frame 6, and the paddle 8 is located at the center of the support frame 10, And both are located in the same plane, and the support frame 10 is fixedly connected with the frame 6;

The crawler gear 5 is fixed below the frame 6, the crawler gear 5 and the support frame 10 are located in the same plane, and the rotation axis of the crawler gear 5 and the rotation axis of the blade 8 are located in the same plane; 7 sets of crawler belts On the support frame 10 and the crawler gear 5, and between the crawler belt 7 and the support frame 10, a plurality of transmission wheels are arranged;

The output shaft of the motor 3 is connected with the motor input shaft 402 of the reducer box 4, and the reducer box is provided with a synchronizer 410, an output shaft one 404 and an output shaft two 403, and the left steering gear 1 is used to control the synchronization in the reducer box 4. The device 410 connects the motor input shaft 402 of the reduction box 4 to the first output shaft 404 or to the second output shaft 403; the second output shaft 403 is used to drive the track gear 5 to rotate, and the first output shaft 404 is used to drive the blades 8 rotations;

The right steering gear 12 is used to drive the frame 6 to rotate 90° so that the plane where the paddle 8 is located is perpendicular to the ground.

The operation steps of the amphibious mode conversion mechanism for unmanned aerial vehicle air flight/land travel described in the embodiment are as follows:

Step 1: The left steering gear 1 is in the first state, that is, the air flight mode. As shown in FIG. 2 , the left steering gear 1 controls the synchronizer 410 in the reduction box 4 so that the motor input shaft 402 of the reduction box 4 and the output shaft One 404 is connected, and the output shaft one 404 drives the blade 8 to rotate after changing direction to generate lift, and the aircraft flies in the air.

Step 2: The external terminal controls the rotation of the left steering gear 1. At this time, the left steering gear 1 is in the second state, that is, the land travel mode. As shown in Figure 3, the left steering gear 1 controls the synchronizer in the reduction box 4 410 connects the motor input shaft 402 of the reduction box 4 with the output shaft 2 403, and the output shaft 2 403 drives the track gear 5 to move after changing direction; at the same time, the right steering gear 2 drives the frame 6 and the support frame 10 to rotate 90° clockwise , the track 7 is in contact with the ground, the track gear 5 drives the track 7 to rotate around the support frame 10, and the track 7 rubs against the ground to make the aircraft travel on the ground.

Specific Embodiment 2. Referring to FIG. 5 , this embodiment will be described. This embodiment is a further limitation of the air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles described in the first embodiment. In this embodiment, the blades 8 are eight-inch paddles, and the blades 8 External fixed connection hub.

The hub plays the role of protecting the paddle 8 .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT III. Referring to FIG. 1 , this implementation manner will be described. This embodiment is a further limitation of the air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles described in the first specific embodiment. In this embodiment, the support frame 10 is provided with crawler clips, and the The crawler clamps are fixedly connected under the frame 6, and are used for the fixed connection of the frame 6 and the support frame 10 while separating the track 7 from the support frame 10.

When the right side steering gear 1 controls the frame 6 to twist, the frame 6 and the support frame 10 are fixedly connected by crawler clips, and the support frame 10 twists along with the frame 6 torsion.

Specific Embodiment 4. Referring to FIG. 4 , this embodiment will be described. This embodiment is a further limitation of the air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles described in the first embodiment. In this embodiment, the reducer box 4 also includes a synchronizer moving shaft 401 , cylindrical gear one 405, cylindrical gear two 406, cylindrical gear three 407 and cylindrical gear four 408; the motor input shaft 402 is fixed with a cylindrical gear one 405, and the end of the motor input shaft 402 is coaxially fixed with the movable part of the synchronizer 410 connection, the cylindrical gear three 407 meshes with the cylindrical gear four 408, and the cylindrical gear four 408 is fixedly connected to the end of 404; the movable part of the synchronizer 410 is fixedly connected to the end of the synchronizer moving shaft 401, and the synchronizer moves The head end of the shaft 401 is connected to the driving end of the left steering gear 1, and the left steering gear 1 is used to drive the moving shaft 401 of the synchronizer to move back and forth in a straight line, so as to control the connection or separation of the movable part and the fixed part of the synchronizer. When the movable part is connected to the fixed part, the first spur gear 405 is not connected to the second spur gear 406. When the movable part is separated from the fixed part, the first spur gear 405 meshes with the second spur gear 406.

As described in Embodiment 1, the specific working principle of the air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles is described as follows: when the unmanned aerial vehicle is flying in the air, at this time, the motor 3 rotates synchronously to drive the motor The input shaft 402 rotates, and the synchronizer moving shaft 401 is in the initial state on the right side. At this time, the synchronizer 410 is connected with the cylindrical gear three 407, and the motor input shaft 402 drives the synchronizer 410 to rotate synchronously, so that the synchronizer 410 and the cylindrical gear three 407 synchronous movement, cylindrical gear 3 407 and cylindrical gear 4 408 mesh transmission, cylindrical gear 4 408 drives output shaft 1 404 to rotate, after the conical steering gear 9 on the end side of output shaft 1 404 turns to 90°, it drives paddle 8 to rotate, thereby Generate lift to drive the unmanned aerial vehicle to fly in the air.

When the unmanned aerial vehicle is controlled to change from air flight to land travel, the external terminal issues an instruction, the unmanned aerial vehicle descends, and slowly lands on the designated ground, the left steering gear 1 rotates, driving the synchronizer moving shaft 401 to move to the left , at this time, the synchronizer 410 is connected with the spur gear one 405, and at the same time, the right steering gear control frame 6 and the support frame 10 rotate 90°, and the support frame 10 becomes perpendicular to the original plane; the motor input shaft 402 drives the synchronizer 410 Synchronous rotation, so that the synchronizer 410 and the cylindrical gear 1 405 move synchronously, the cylindrical gear 1 405 meshes with the cylindrical gear 2 406 for transmission, and the cylindrical gear 4 406 drives the output shaft 2 403 to rotate, through the conical steering at the end side of the output shaft 2 403 After the gear 9 turns to 90°, it drives the crawler belt 5 to rotate, and then drives the crawler belt 7 to rotate, and the friction between the crawler belt 7 and the ground generates forward power.

The air flight/land travel amphibious mode conversion mechanism for the unmanned aerial vehicle completes the conversion from the flight mode to the land mode. In the same way, the terminal issues a command to return the left steering gear 1 and the right steering gear 2, and then the land travel mode can be transformed into the air flight mode.

Specific Embodiment 5. Referring to FIG. 4, this embodiment will be described. This embodiment is a further limitation of the reducer box 4 described in Embodiment 4. In this embodiment, the motor input shaft 402 has a diameter of 4 mm and a length of 83 mm; the output shaft 2 403 has a diameter of 4 mm and a length of 83 mm. 78.8mm; the diameter of the output shaft 404 is 4mm, and the length is 199mm; the modulus of the cylindrical gear 405 is 0.5, the number of teeth is 18, the inner diameter is 4mm, and the thickness of the gear is 10mm. The cylindrical gear 405 is synchronized with the The outer diameter of the connection part of the device 410 is 12mm, and the thickness is 4.5mm; the modulus of the second cylindrical gear 406 is 0.5, the number of teeth is 36, the inner diameter is 4mm, and the thickness is 8mm; the modulus of the third cylindrical gear 407 is 0.5, and the number of teeth is 18. The inner diameter is 4 mm and the thickness is 8 mm. The outer diameter of the connecting part of the cylindrical gear 3 407 and the synchronizer 410 is 12 mm and the thickness is 4.5 mm; the modulus of the cylindrical gear 4 408 is 0.5, the number of teeth is 18, and the inner diameter is 4 mm. The thickness is 8 mm; the track gear 5 has a modulus of 1, a number of teeth of 36, an inner diameter of 4 mm, and a thickness of 8 mm.

Motor input shaft 402 as described in the fifth embodiment, output shaft two 403, output shaft one 404, spur gear one 405, spur gear two 406, spur gear three 407, spur gear four 408, synchronizer 410 and track gear 5 A certain length, modulus, number of teeth, inner diameter and thickness can ensure the meshing between gears and the mutual cooperation between shafts and achieve the effect of synchronous transmission.

Specific Embodiment Six. Referring to FIGS. 1 and 3 , this embodiment will be described. This embodiment is a further limitation of the air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles described in Embodiment 4. In this embodiment, the conversion mechanism also includes a coupling 11, a motor 3 The output shaft of the motor is connected with the motor input shaft 402 through the shaft coupling 11 .

In specific operation, when the motor 3 is working, the output shaft of the motor 3 is connected to the shaft coupling 11, and the shaft coupling 11 synchronously drives the motor input shaft 402 to rotate, and the shaft coupling 11 plays the role of transmitting torque, while buffering and damping role.

Specific Embodiment Seven. Referring to FIG. 5 , this embodiment will be described. This embodiment is a further limitation of the air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles described in Embodiment 4. In this embodiment, the conversion mechanism also includes a conical steering gear 1 901, so The conical steering gear one 901 is arranged at the connection between the output shaft one 404 and the rotating shaft of the blade 8, and is used for realizing the transmission and direction changing effect.

Embodiment 8. Referring to FIG. 6 , this embodiment will be described. This embodiment is a further limitation of the air flight/land travel amphibious mode conversion mechanism for unmanned aerial vehicles described in the fourth embodiment, the conversion mechanism also includes a conical steering gear 2 902, and the conical steering gear 2 902 is arranged at the joints of output shaft 2 403 and the rotating shaft of crawler gear 5 respectively, and is used to realize the effect of changing direction of transmission.

Although the present invention has been disclosed with definite data and examples, it is not intended to limit the present invention, anyone familiar with this technology can make appropriate parameter modifications without departing from the essential scope of the present invention, so the present invention The scope of protection should be defined by the claims.

Claims (8)

1. The amphibious mode changeover mechanism 1. a kind of airflight/land for unmanned vehicle is advanced, the switching mechanism Including motor (3), reduction-gear housing (4), blade (8) and supporting rack (10)；It is characterized in that：The switching mechanism further includes left side Steering engine (1), right side steering engine (2), crawler belt gear (5), frame (6) and crawler belt (7)；

   The left side steering engine (1) and right side steering engine (2) are located at the left and right sides of frame (6), and the rotary shaft of blade (8) is fixed Lower section in the frame (6), the blade (8) are located at the center of supporting rack (10), and in the two is generally aligned in the same plane, Support frame as described above (10) is fixedly connected with frame (6)；

   Crawler belt gear (5) is fixed on the lower section of frame (6), and the crawler belt gear (5) is located at approximately the same plane with supporting rack (10) It is interior, and the rotary shaft of the crawler belt gear (5) and the rotary shaft of blade (8) are located in approximately the same plane；Crawler belt (7) is sleeved on support On frame (10) and crawler belt gear (5), and multiple driving wheels are provided between the crawler belt (7) and supporting rack (10)；

   The output shaft of motor (3) is connect with the motor input shaft (402) of reduction-gear housing (4), and synchronizer is provided in reduction box (410), output shaft one (404) and output shaft two (403), left side steering engine (1) are used to control the synchronizer in reduction box (4) (410) so that the motor input shaft (402) of reduction box (4) connect with output shaft one (404) or connects with output shaft two (403) It connects；The output shaft two (403) is for driving crawler belt gear (5) to rotate, and the output shaft one (404) is for driving blade (8) Rotation；

   Right side steering engine (2) is rotated by 90 ° for driver framework (6) so that plane is perpendicular to ground where blade (8).
2. 2. according to claim 1 be used for unmanned vehicle flight/amphibious switching mechanism in land, which is characterized in that The blade (8) is eight cun of paddles, and blade (8) external stability is connected with wheel hub.
3. 3. according to claim 1 be used for unmanned vehicle flight/amphibious switching mechanism in land, which is characterized in that Support frame as described above (10) is pressed from both sides equipped with crawler belt, and the crawler belt folder is fixedly connected on the lower section of frame (6), for frame (6) and branch Support (10) being fixedly connected while detaching crawler belt (7) with supporting rack (10).
4. 4. a kind of airflight/land for unmanned vehicle according to claim 1 is advanced, amphibious pattern turns Converting mechanism, which is characterized in that the reduction-gear housing (4) further includes synchronizer shifting axle (401), roller gear one (405), cylinder Gear two (406), roller gear three (407) and roller gear four (408)；Motor input shaft is fixed with roller gear on (402) One (405), the end of the motor input shaft (402) and the movable part of synchronizer (410) are fixedly and coaxially connected, the roller gear three (407) it is engaged with roller gear four (408), the roller gear four (408) is fixedly connected on the end of (404)；The synchronization The movable part of device (410) is fixedly connected with the end of synchronizer shifting axle (401), the head end of the synchronizer shifting axle (401) with The driving end of left side steering engine (1) connects, the left side steering engine (1) be used to drive synchronizer shifting axle (401) do straight reciprocating, And then realize that the movable part of control synchronizer is connected or separated with fixed part, and under movable part and fixed part connection status, cylinder Gear one (405) and roller gear two (406) are connectionless, under movable part and fixed part discrete state, roller gear one (405) It is engaged with roller gear two (406).
5. 5. a kind of airflight/land for unmanned vehicle according to claim 4 is advanced, amphibious pattern turns Converting mechanism, which is characterized in that motor input shaft (402) a diameter of 4mm, length 83mm；The output shaft two (403) is straight Diameter is 4mm, length 78.8mm；The output shaft one (404) a diameter of 4mm, length 199mm；The roller gear one (405) modulus is 0.5, the number of teeth 18, internal diameter 4mm, and gear thickness is 10mm, roller gear one (405) and the synchronizer (410) coupling part outer diameter is 12mm, thickness 4.5mm；The roller gear two (406) modulus is 0.5, and the number of teeth 36 is interior Diameter is 4mm, thickness 8mm；The roller gear three (407) modulus is 0.5, the number of teeth 18, internal diameter 4mm, thickness 8mm, circle Stud wheel three (407) and the synchronizer (410) coupling part outer diameter be 12mm, thickness 4.5mm；The roller gear four (408) modulus is 0.5, the number of teeth 18, internal diameter 4mm, thickness 8mm；Crawler belt gear (5) modulus is 1, the number of teeth 36, internal diameter For 4mm, thickness 8mm.
6. 6. a kind of airflight/land for unmanned vehicle according to claim 4 is advanced, amphibious pattern turns Converting mechanism, which is characterized in that the switching mechanism further includes shaft coupling (11), output shaft and the motor input shaft of motor (3) (402) it is connected by the shaft coupling (11).
7. 7. according to claim 4 be used for unmanned vehicle flight/amphibious switching mechanism in land, which is characterized in that The switching mechanism further includes circular cone tooth sector one (901), and the circular cone tooth sector one (901) is arranged in output shaft one (404) it with the junction of the rotary shaft of blade (8), is acted on for realizing transmission deflecting.
8. 8. according to claim 4 be used for unmanned vehicle flight/amphibious switching mechanism in land, which is characterized in that The switching mechanism further includes circular cone tooth sector two (902), the circular cone tooth sector two (902) setting respectively with output The junction of axis two (403) and the rotary shaft of crawler belt gear (5), for realizing transmission deflecting effect.