CN112693583A

CN112693583A - Single-motor-driven full-freedom underwater micro unmanned aerial vehicle

Info

Publication number: CN112693583A
Application number: CN202011504424.3A
Authority: CN
Inventors: 姜晓勇; 黄朗月; 彭孟乐; 李忠义
Original assignee: Zhejiang Lover Health Science and Technology Development Co Ltd
Current assignee: Zhejiang Lover Health Science and Technology Development Co Ltd; Zhejiang University of Science and Technology ZUST
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-04-23
Anticipated expiration: 2040-12-18
Also published as: CN112693583B

Abstract

The invention discloses a single-motor-driven full-freedom underwater micro unmanned aerial vehicle. The unmanned aerial vehicle comprises an unmanned aerial vehicle shell, and a driving device, a forward and backward device, a left and right movement device and an up and down floating and sinking device which are arranged in the unmanned aerial vehicle shell; the front cavity and the rear cavity are respectively arranged in the shell of the unmanned aerial vehicle according to the front and the rear, the driving device is installed in the front cavity, the advancing and retreating device, the left and right movement device and the up and down floating and sinking device are installed in the rear cavity, the advancing and retreating device is connected with the driving device, and the left and right movement device and the up and down floating and sinking device are connected with the advancing and retreating device. The invention adopts the single motor to carry out transmission, reduces the space structure, lightens the weight, has good energy-saving property, adopts the permanent magnet coupler to realize power transmission, and provides convenience for related operations such as underwater shooting, monitoring and the like by static seal design.

Description

Single-motor-driven full-freedom underwater micro unmanned aerial vehicle

Technical Field

The invention relates to a single-motor driven full-freedom underwater micro unmanned aerial vehicle, in particular to a full-freedom underwater micro unmanned aerial vehicle controlled by a single-motor permanent magnet coupler.

Background

At present, the types of unmanned aerial vehicles are relatively more, and in the application of the underwater unmanned aerial vehicle, the waterproof performance is the most basic requirement, the waterproof under most in the current market adopts the dynamic seal to carry out the waterproof, such waterproof mode makes the motor intake very easily to the unmanned aerial vehicle of working under water for a long time, adopt single motor control to realize the motion of full degree of freedom can effectively avoid the limited problem of the power energy under water to the unmanned aerial vehicle under water simultaneously, and the unmanned aerial vehicle under water on the current market can also avoid the limited problem of the power energy under water to be very few when solving the leakproofness problem.

Disclosure of Invention

The invention solves the technical problem of overcoming the defects in the prior art and aims to provide a small unmanned underwater exploration and other works which are driven by a single motor and move with full freedom.

The technical scheme of the invention is as follows:

the invention comprises an unmanned aerial vehicle shell, a driving device, a forward and backward device, a left and right movement device and an up and down floating and sinking device, wherein the driving device, the forward and backward device, the left and right movement device and the up and down floating and sinking device are arranged in the unmanned aerial vehicle shell; the front cavity and the rear cavity are respectively arranged in the shell of the unmanned aerial vehicle according to the front and the rear, the driving device is installed in the front cavity, the advancing and retreating device, the left and right movement device and the up and down floating and sinking device are installed in the rear cavity, the advancing and retreating device is connected with the driving device, and the left and right movement device and the up and down floating and sinking device are connected with the advancing and retreating device.

The driving device comprises a servo motor and a permanent magnet coupler inner rotor, and the output end of the servo motor is connected with the permanent magnet coupler inner rotor;

the advancing and retreating device comprises a permanent magnet coupler outer rotor, a driving bevel gear, an advancing electromagnetic clutch and an advancing blade paddle, the permanent magnet coupler inner rotor is coupled with the permanent magnet coupler outer rotor, the permanent magnet coupler outer rotor is coaxially connected with the driving bevel gear through a driving transmission shaft, the driving bevel gear is coaxially connected with the advancing blade paddle through the advancing electromagnetic clutch, and the advancing blade paddle is positioned outside the shell of the unmanned aerial vehicle.

The left and right movement device comprises a left driven bevel gear, a right driven bevel gear, a left electromagnetic clutch, a right electromagnetic clutch, a left blade paddle and a right blade paddle, wherein the left driven bevel gear and the right driven bevel gear are respectively arranged on the left side and the right side of the rear cavity and are respectively meshed with the driving bevel gear on the two sides, the left driven bevel gear and the right driven bevel gear are respectively connected with the left blade paddle and the right blade paddle after passing through the left electromagnetic clutch and the right electromagnetic clutch, and the left blade paddle and the right blade paddle are positioned outside the shell of the unmanned aerial vehicle.

The up-down floating-sinking movement device comprises an up-down driven bevel gear, an external gear, an internal gear, a gear and an upper blade paddle and a lower blade paddle; the upper driven bevel gear and the lower driven bevel gear are meshed and connected with the driving bevel gear at the bottom of the rear cavity, the upper driven bevel gear and the lower driven bevel gear are coaxially connected with the outer gear through a floating and sinking transmission shaft, the outer peripheral surface of the outer gear is an outer gear surface, the outer periphery of the outer gear is provided with an inner gear, the inner gear is fixed on the outer end surfaces of the upper driven bevel gear and the lower driven bevel gear, the inner peripheral surface of the inner gear is an inner gear surface, a gear is arranged between the outer gear and the inner gear; the gear is respectively meshed with the inner gear surface of the inner gear or the outer gear surface of the outer gear through switching control of the magnetic electrifying assembly, and the upper blade paddle and the lower blade paddle are positioned outside the shell of the unmanned aerial vehicle.

The front cavity of the unmanned aerial vehicle shell is internally provided with a control module, a camera and a battery, and the control module is connected with a servo motor of the driving device.

The servo motor, the rotor in the permanent magnet coupler, the control module, the camera and the battery are sealed in the front cavity by adopting static seal.

The afterbody of unmanned aerial vehicle shell be equipped with the indent structure, the blade oar that advances is connected with the advancing after the electromagnetic clutch output stretches out the unmanned aerial vehicle shell, left and right electromagnetic clutch output stretches out the unmanned aerial vehicle shell after and left and right blade oar is connected, the electromagnetic clutch output is stretched out behind the unmanned aerial vehicle shell and is connected with upper and lower blade oar from top to bottom.

The magnetic electrifying assembly comprises a first carbon brush, a second carbon brush, a magnetic ring, a magnetic resistance ring, a first slip ring, a second slip ring, an insulating material, a spring and a coil; the two ends of the peripheral side part of the internal gear are respectively provided with a first carbon brush and a second carbon brush, the internal gear is made of an electromagnet material, a coil is arranged outside the internal gear, the two ends of the coil are respectively fixedly welded with a first slip ring and a second slip ring on the internal gear, insulating materials are arranged between the first slip ring and the internal gear and between the second slip ring and the internal gear, current is continuously electrified to the first slip ring and the second slip ring through the first carbon brush and the second carbon brush respectively, and then the current is led into the coil, so that the internal gear and the coil form an electrified spiral pipe, and magnetic rings are arranged.

The slip ring, the carbon brush, the magnetic ring, the magnetic resistance ring and the magnetic material form a magnetic adsorption module, and the gear meshing type is changed in an electromagnetic adsorption mode so as to realize the up-and-down floating and sinking of the unmanned aerial vehicle.

When current flows in from one carbon brush and flows out from the other carbon brush, the slip ring on the inner gear generates a magnetic field to attract an outer gear leftwards or rightwards to be internally meshed with the inner gear or externally meshed with the outer gear, and finally the outer gear is connected with the blade paddle through a transmission shaft, so that the forward and reverse rotation of the blade paddle is realized by changing the meshing mode of the gears to control the unmanned aerial vehicle to float upwards or sink downwards. "C (B)

The invention has the beneficial effects that:

the single motor is adopted for transmission, the overall space structure of the unmanned aerial vehicle is reduced, the overall weight of the unmanned aerial vehicle is reduced, the energy-saving performance is good, meanwhile, the permanent magnet coupler is adopted for power transmission, and the inner rotor of the permanent magnet coupler can be statically sealed with a power supply, a servo motor, a control module and the like, so that the sealing performance is good, and convenience is provided for related operations such as underwater shooting and monitoring.

Drawings

Fig. 1 is a front view of a single-motor-driven full-freedom underwater micro unmanned aerial vehicle.

Fig. 2 is a left view of the single-motor-driven full-freedom underwater micro unmanned aerial vehicle.

Fig. 3 is a detailed view of the up-down floating and sinking scheme of the single-motor driven full-freedom underwater micro unmanned aerial vehicle.

In the drawings: the device comprises a servo motor 1, a permanent magnet coupler inner rotor 2, a permanent magnet coupler outer rotor 3, a driving transmission shaft 4, a driving bevel gear 5, a forward electromagnetic clutch 6, a forward blade paddle 7, a left driven bevel gear 8, a left electromagnetic clutch 9, a left blade paddle 10, a right driven bevel gear 11, a right electromagnetic clutch 12, a right blade paddle 13, an upper driven bevel gear 14, a lower driven bevel gear 14, a sink-float transmission shaft 15, a control transmission shaft 16, an outer gear 17, an inner gear 18, a gear 19, an upper electromagnetic clutch 20, an upper blade paddle 21, a lower blade paddle 21, a control module 22, a camera 23, a battery 24, a left transmission shaft 25, a right transmission shaft 26, a first carbon brush 27, a second carbon brush 28, a magnetic ring 29, a magnetic resistance ring 30, a first sliding ring 31, a second sliding ring 32, an insulating.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, shall fall within the scope of protection of the present invention. It is to be understood that the terms "upper", "lower", "left", "right", and the like, if any, are used for convenience in describing the device based on the drawings and do not imply a particular, specific orientation of the device.

The invention is further explained below with reference to the drawings and the embodiments.

The robot comprises a robot shell, a driving device, a forward and backward device, a left and right movement device and an up and down floating device, wherein the driving device, the forward and backward device, the left and right movement device and the up and down floating device are arranged in the robot shell; the front cavity and the rear cavity are respectively arranged in the shell of the unmanned aerial vehicle according to the front and the rear, the driving device is installed in the front cavity, the advancing and retreating device, the left and right movement device and the up and down floating and sinking device are installed in the rear cavity, the advancing and retreating device is connected with the driving device, and the left and right movement device and the up and down floating and sinking device are connected with the advancing and retreating device.

The driving device comprises a servo motor 1 and a permanent magnet coupler inner rotor 2, and the output end of the servo motor 1 is connected with the permanent magnet coupler inner rotor 2;

referring to fig. 1 and 2, the forward and backward movement device comprises a permanent magnet coupler outer rotor 3, a driving bevel gear 5, a forward electromagnetic clutch 6 and forward blade paddles 7, wherein a servo motor 1 is installed at the front part of the unmanned aerial vehicle shell, a permanent magnet coupler inner rotor 2 is coupled with the permanent magnet coupler outer rotor 3 at a position between a front cavity and a rear cavity, the permanent magnet coupler outer rotor 3 is coaxially connected with the driving bevel gear 5 through a driving transmission shaft 4, the driving bevel gear 5 is coaxially connected with the forward blade paddles 7 through the forward electromagnetic clutch 6, and the forward blade paddles 7 are positioned outside the unmanned aerial vehicle shell; [ three-direction power transmission is performed by three-direction meshing of the driving bevel gear 5, and the axes of the power sources in the three directions are mutually vertical. "C (B)

The left and right movement device comprises a left driven bevel gear 8, a right driven bevel gear 11, a left electromagnetic clutch 9, a right electromagnetic clutch 12, a left blade paddle 10 and a right blade paddle 13, wherein the left driven bevel gear 8 and the right driven bevel gear 11 are respectively arranged on the left side and the right side of a rear cavity and are respectively meshed with a driving bevel gear 5 on the two sides, the left driven bevel gear 8 and the right driven bevel gear 11 are respectively connected with the left blade paddle 10 and the right blade paddle 13 after passing through the left electromagnetic clutch 9 and the right electromagnetic clutch 12, and the left blade paddle 10 and the right blade paddle 13 are positioned outside a shell of the unmanned aerial vehicle;

[ initiative bevel gear and the meshing of moving bevel gear, when one of them electromagnetic clutch switches on the electrical junction, when another electromagnetic clutch cuts off the electrical isolation, driven bevel gear passes through the transmission shaft and drives the rotation of blade oar, unmanned aerial vehicle to can accomplish the motion left or right. "C (B)

As shown in fig. 2 and 3, the up-down sinking and floating movement device comprises an up-down driven bevel gear 14, an external gear 17, an internal gear 18, a gear 19 and an upper-lower blade paddle 21; the upper and lower driven bevel gears 14 are meshed with the driving bevel gear 5 at the bottom of the rear cavity, the upper and lower driven bevel gears 14 are coaxially connected with an external gear 17 through a sink-float transmission shaft 15, the outer peripheral surface of the external gear 17 is an external gear surface, an internal gear 18 is arranged on the periphery of the external gear 17, the internal gear 18 is fixed on the outer end surfaces of the upper and lower driven bevel gears 14, the internal gear 18 is an annular structural wheel, the sink-float transmission shaft 15 penetrates through the internal gear 18, the inner peripheral surface of the internal gear 18 is an internal gear surface, a gear 19 is arranged between the external gear 17 and the internal gear 18, and the gear 19 is coaxially connected with an upper blade paddle 21 and a lower; the gear 19 is respectively meshed with the inner gear surface of the inner gear 18 or the outer gear surface of the outer gear 17 through switching control of a magnetic electrifying assembly, and the upper blade paddle 21 and the lower blade paddle 21 are positioned outside the unmanned aerial vehicle shell.

In the invention, the forward and backward device, the left and right movement device and the up and down floating and sinking device share one set of driving device and one motor. "C (B)

A control module 22, a camera 23 and a battery 24 are arranged in a front cavity of the unmanned aerial vehicle shell, and the control module 22 is connected with a servo motor 1 of a driving device.

The servo motor 1, the inner rotor 2 of the permanent magnet coupler, the control module 22, the camera 23 and the battery 24 are sealed in the front cavity by static sealing.

The advancing and retreating device, the left and right movement device and the up and down floating and sinking device are all sealed in a man-machine-free shell, and are all fixed in a sealed barrel together with the servo motor 1, the permanent magnet coupler, the control module 22, the camera 23 and the battery 24. "C (B)

The control module 22, the battery 24 and the servo motor 1 are all arranged at the front part of the sealed barrel, and the gear and the driving shaft sleeve are sealed at the rear half part of the barrel. The servo motor 1 is fixed at the bottom of the barrel, the control module 22 is fixed at the left side of the front bottom of the barrel, the battery 24 is fixed at the right side of the front bottom of the barrel, and the camera 23 is fixed at the foremost end of the barrel through a support. "C (B)

The afterbody of unmanned aerial vehicle shell is equipped with the indent structure, and the 6 output of advancing electromagnetic clutch stretches out behind the unmanned aerial vehicle shell and is connected with advancing blade oar 7, and left and right

electromagnetic clutch

9, 12 output stretch out behind the unmanned aerial vehicle shell and left and

right blade oar

10, 13 are connected, and the 20 output of upper and lower electromagnetic clutch stretches out behind the unmanned aerial vehicle shell and connects with upper and lower blade oar 21.

In the left-right movement device:

when the electromagnetic clutch 9 is connected in an electrified mode and the clutch 12 is in a power-off separation state, the left driven bevel gear 8 drives the blade propeller 10 to rotate through the left transmission shaft 25, and the unmanned aerial vehicle moves rightwards;

on the contrary, when the electromagnetic clutch 12 is connected electrically and the clutch 9 is disconnected electrically, the right driven bevel gear 11 drives the blade paddle 13 to rotate through the right transmission shaft 26, and the unmanned aerial vehicle moves leftwards.

In the up-down floating and sinking device:

when the gear 19 is meshed with the inner gear 18, the blade paddles 21 rotate positively, the unmanned aerial vehicle sinks, and when the gear 19 is meshed with the outer gear 17, the blade paddles 21 rotate negatively, and the unmanned aerial vehicle floats upwards. "C (B)

As shown in fig. 3, the magnetic energizing assembly includes a first carbon brush 27, a second carbon brush 28, a magnetic ring 29, a magnetic reluctance ring 30, a first slip ring 31, a second slip ring 32, an insulating material 33, a spring 34, and a coil 35; the inner gear 18 (close to the half circumference part of one side of the upper and lower driven bevel gears 14) is provided with a first carbon brush 27 and a second carbon brush 28 at both ends of the outer circumference side part, respectively, the first carbon brush 27 and the second carbon brush 28 are fixed at the front end of the rear cavity, the inner gear 18 is made of an electromagnet material, and a coil 35 is arranged outside the internal gear 18, two ends of the coil 35 are respectively fixedly welded with the first slip ring 31 and the second slip ring 32 on the internal gear 18, an insulating material 33 is arranged between the first slip ring 31 and the internal gear 18 and between the second slip ring 32 and the internal gear 18, current is respectively continuously electrified to the first slip ring 31 and the second slip ring 32 through the first carbon brush 27 and the second carbon brush 28 so as to lead the current into the coil 35, the internal gear 18 and the coil 35 form an electrified spiral pipe, magnetic rings 29 are arranged on two end faces of the gear 19, a magnetic resistance ring 30 is arranged inside the gear 19 on the inner side of the magnetic rings 29, and the magnetic rings 29 are permanent magnets.

The left end of the floating and sinking transmission shaft 25 extends out of the sealing barrel to be connected with the left blade paddle 10, a 0-shaped sealing ring is adopted at the left port to ensure the sealing in the movement, the right end of the control transmission shaft 26 extends out of the sealing barrel to be connected with the right blade paddle 13, and a 0-shaped sealing ring is also adopted at the right port to ensure the sealing in the movement. "C (B)

When current flows into the coil 35 from the first carbon brush 27 and the first slip ring 31 and flows out from the second slip ring 32 and the second carbon brush 28, the magnetic pole direction of the energized solenoid is opposite to the magnetic pole direction of the gear 19, and the gear 19 moves closer to the upper and lower driven bevel gears 14 and is engaged with the internal gear 18 (attracted leftwards);

when current flows into the coil 35 from the second carbon brushes 28 and the second slip ring 32 and flows out from the first slip ring 31 and the first carbon brushes 27, the magnetic pole direction of the energized solenoid is the same as the magnetic pole direction of the gear 19, and the gear 19 moves away from the up-down driven bevel gear 14 [ is attracted to the right ] and is engaged with the external gear 17. "C (B)

When the control module receives a command of moving left, the left clutch 9 is disconnected, the right clutch 12 is connected in a power-on mode, power is transmitted to the right blade paddle 13 through the right transmission shaft 26, at the moment, the right blade paddle 13 rotates, the left blade paddle 10 cannot rotate, and therefore the unmanned aerial vehicle moves left; when control module received the instruction of right motion, left clutch 9 circular telegram joint, right clutch 12 outage separation, power passes through left transmission shaft 25 and gives left blade oar 10, and left blade oar 10 rotates this moment, and right blade oar 13 is unable to rotate, therefore unmanned aerial vehicle moves right.

Referring to fig. 2 and 3, the power source of the up-down floating-sinking device of the present invention is also composed of a battery 24, a servo motor 1 and a permanent magnet coupler. Servo motor 1 is fixed on the anterior chamber bottom of unmanned aerial vehicle shell, and the motor shaft supports connection permanent magnet coupler inner rotor 2. Wherein, the upper end of the sinking and floating transmission shaft 15 is fixed on the upper wall of the back cavity of the unmanned aerial vehicle shell, the position of the sinking and floating transmission shaft 15 near the upper end supports the connecting gear 17, the lower end supports the upper and lower driven bevel gears 14, the lower half part of the control transmission shaft 16 is fixed on the left and right side walls of the back cavity of the unmanned aerial vehicle shell, the gear 19 is connected with the lower end of the control transmission shaft 16 and then is engaged with the internal gear 18 and the external gear 17 in exchange, so as to enhance the engaging rigidity, the upper half part of the control transmission shaft 16 is fixed on the upper wall of the back cavity of the unmanned aerial vehicle shell, the upper and lower clutches 20 are arranged on the control transmission shaft 16, the upper end extends out of the unmanned aerial vehicle shell and is connected with the upper and lower blade paddles 21, and the upper port adopts a 0-type sealing ring to ensure the sealing in, insulating materials 33 are arranged among the first sliding ring 31, the second sliding ring 32 and the internal gear 18, and since the carbon brushes have certain loss during working, in order to enable the carbon brushes and the sliding rings to be continuously contacted and electrified, the first carbon brush 27 and the second carbon brush 28 are compressed and fixed on the front end side wall of the rear cavity of the unmanned aerial vehicle shell through springs 34, and magnetic rings 29 and magnetic resistance rings 30 are arranged on two circumferential end faces of the gear 19.

When control module control sinks, upper and lower clutch 20 circular telegram is jointed, the power current is through first carbon brush 27 with the electric current last brush go into first sliding ring 31, first sliding ring 31 and coil 35 one end welded fastening, second sliding ring 32 and coil 35 other end welded fastening make the electric current can follow first sliding ring 31 and let in coil 35, go out the outflow from second sliding ring 32, and then make internal gear 18 and coil 35 constitute an circular telegram spiral pipe, 18 left side circle terminal surface of internal gear is the N utmost point this moment, right side circle terminal surface is the S utmost point, gear 19 is adsorbed and 18 internal gearing in the internal gear left, pass power for upper and lower blade oar 21 through control transmission shaft 16, upper and lower blade oar 21 corotation, unmanned aerial vehicle sinks.

When control module control come-up, upper and lower clutch 20 circular telegram is jointed, the power current is through second carbon brush 28 with the electric current last brush go into second sliding ring 32, second sliding ring 32 and coil 35 one end welded fastening, first sliding ring 31 makes the electric current can follow second sliding ring 32 and lets in the coil 35 with coil 35 other end welded fastening, go out from first sliding ring 31 and flow, and then also make internal gear 18 and coil 35 constitute an circular telegram spiral pipe, 18 left circle terminal surface of internal gear is the S utmost point this moment, right circle terminal surface is the N utmost point, gear 19 is adsorbed and is engaged with external gear 17 external gearing right, pass power for upper and lower blade oar 21 through control transmission shaft 16, upper and lower blade oar 21 reversal, unmanned aerial vehicle goes up heavy.

The specific operation mode of the invention is as follows: the method comprises the following steps: designing an underwater cruise detection route, and enabling a user to start working by driving the full-freedom underwater micro unmanned aerial vehicle by the single motor and putting the full-freedom underwater micro unmanned aerial vehicle into water by the single motor by turning on a power supply; step two: sending a camera shooting instruction to the control module through the mobile phone, and transmitting the camera shooting instruction to the camera to start a video recording function by the control module; step three: the method comprises the following steps that an instruction is sent to a control module through a mobile phone according to a given underwater cruise detection route to control the position of the unmanned aerial vehicle, if the unmanned aerial vehicle needs to drive rightwards, a right signal instruction is sent to the unmanned aerial vehicle control module through the mobile phone, the control module controls a left-right movement device of the unmanned aerial vehicle after receiving the right driving instruction, the unmanned aerial vehicle drives rightwards, and if the unmanned aerial vehicle needs to drive towards other directions, the operation method of the unmanned aerial vehicle is similar to the method for controlling the unmanned aerial vehicle to drive rightwards; step four: when the unmanned aerial vehicle drives underwater according to a set cruise detection route, an underwater camera starts to acquire and store real-time underwater images; step five: when the unmanned aerial vehicle reaches the terminal point according to the set cruise detection route, a camera shooting stopping instruction is sent to the control module through the mobile phone, the unmanned aerial vehicle is controlled to return to the initial position of the shore through the mobile phone, and the work is finished.

Therefore, the single motor is adopted for transmission, the overall space structure of the unmanned aerial vehicle is reduced, the overall weight of the unmanned aerial vehicle is reduced, the energy-saving performance is good, meanwhile, the permanent magnet coupler is adopted for power transmission, and the inner rotor of the permanent magnet coupler can be statically sealed with a power supply, a servo motor, a control module and the like, so that the permanent magnet coupler has good sealing performance, and convenience is brought to related operations such as underwater shooting and monitoring.

Claims

1. The utility model provides a single motor drive full degree of freedom miniature unmanned aerial vehicle under water which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle shell, and a driving device, a forward and backward device, a left and right movement device and an up and down floating and sinking device which are arranged in the unmanned aerial vehicle shell; the front cavity and the rear cavity are respectively arranged in the shell of the unmanned aerial vehicle according to the front and the rear, the driving device is installed in the front cavity, the advancing and retreating device, the left and right movement device and the up and down floating and sinking device are installed in the rear cavity, the advancing and retreating device is connected with the driving device, and the left and right movement device and the up and down floating and sinking device are connected with the advancing and retreating device.

2. The single motor driven full degree of freedom underwater micro unmanned aerial vehicle of claim 1, wherein: the driving device comprises a servo motor (1) and a permanent magnet coupler inner rotor (2), wherein the output end of the servo motor (1) is connected with the permanent magnet coupler inner rotor (2);

the advancing and retreating device comprises a permanent magnet coupler outer rotor (3), a driving bevel gear (5), an advancing electromagnetic clutch (6) and advancing blade paddles (7), the permanent magnet coupler inner rotor (2) is coupled with the permanent magnet coupler outer rotor (3), the permanent magnet coupler outer rotor (3) is coaxially connected with the driving bevel gear (5) through a driving transmission shaft (4), the driving bevel gear (5) is coaxially connected with the advancing blade paddles (7) through the advancing electromagnetic clutch (6), and the advancing blade paddles (7) are positioned outside the shell of the unmanned aerial vehicle;

the left and right movement device comprises a left driven bevel gear (8), a right driven bevel gear (11), a left electromagnetic clutch (9), a right electromagnetic clutch (12), a left blade paddle (10) and a right blade paddle (13), wherein the left driven bevel gear (8) and the right driven bevel gear (11) are respectively arranged on the left side and the right side of a rear cavity and are respectively meshed with the driving bevel gear (5) on the two sides, the left driven bevel gear (8) and the right driven bevel gear (11) are respectively connected with the left blade paddle (10) and the right blade paddle (13) after passing through the left electromagnetic clutch (9) and the right electromagnetic clutch (12), and the left blade paddle (10) and the right blade paddle (13) are positioned outside an unmanned aerial vehicle shell;

the up-down floating-sinking motion device comprises an up-down driven bevel gear (14), an external gear (17), an internal gear (18), a gear (19) and an upper blade paddle (21) and a lower blade paddle (21); the upper driven bevel gear and the lower driven bevel gear (14) are meshed and connected with the driving bevel gear (5) at the bottom of the rear cavity, the upper driven bevel gear and the lower driven bevel gear (14) are coaxially connected with an external gear (17) through a floating and sinking transmission shaft (15), the peripheral surface of the external gear (17) is an external gear surface, an internal gear (18) is arranged on the periphery of the external gear (17), the internal gear (18) is fixed on the outer end surfaces of the upper driven bevel gear and the lower driven bevel gear (14), the inner peripheral surface of the internal gear (18) is an internal gear surface, a gear (19) is arranged between the external gear (17) and the internal gear (18), and the gear (19) is coaxially connected with an upper blade paddle (21) and a; the gear (19) is respectively meshed with the inner gear surface of the inner gear (18) or the outer gear surface of the outer gear (17) through switching control of the magnetic electrifying assembly, and the upper blade paddle (21) and the lower blade paddle (21) are positioned outside the shell of the unmanned aerial vehicle.

3. The single motor driven full degree of freedom underwater micro unmanned aerial vehicle of claim 1, wherein: a control module (22), a camera (23) and a battery (24) are arranged in a front cavity of the unmanned aerial vehicle shell, and the control module (22) is connected with a servo motor (1) of the driving device.

4. The single motor driven full degree of freedom underwater micro unmanned aerial vehicle according to claim (2) or (3), wherein: the servo motor (1), the permanent magnet coupler inner rotor (2), the control module (22), the camera (23) and the battery (24) are sealed in the front cavity through static sealing.

5. The single motor driven full degree of freedom underwater micro unmanned aerial vehicle of claim 1, wherein: the afterbody of unmanned aerial vehicle shell be equipped with the indent structure, advance electromagnetic clutch (6) output and stretch out behind the unmanned aerial vehicle shell and advance blade oar (7) and connect, left and right electromagnetic clutch (9, 12) output stretch out behind the unmanned aerial vehicle shell and left and right blade oar (10, 13) are connected, upper and lower electromagnetic clutch (20) output stretch out behind the unmanned aerial vehicle shell and upper and lower blade oar (21) are connected.

6. The single motor driven full degree of freedom underwater micro unmanned aerial vehicle of claim 2, wherein: the magnetic electrifying assembly comprises a first carbon brush (27), a second carbon brush (28), a magnetic ring (29), a magnetic resistance ring (30), a first slip ring (31), a second slip ring (32), an insulating material (33), a spring (34) and a coil (35); two ends of the peripheral side portion of the internal gear (18) are respectively provided with a first carbon brush (27) and a second carbon brush (28), the internal gear (18) is made of electromagnet materials, a coil (35) is arranged outside the internal gear (18), two ends of the coil (35) are respectively fixedly welded with a first slip ring (31) and a second slip ring (32) on the internal gear (18), an insulating material (33) is arranged between the first slip ring (31) and the second slip ring (32) and the internal gear (18), current is respectively conducted to the first slip ring (31) through the first carbon brush (27) and the second carbon brush (28), the second slip ring (32) is continuously conducted, and then the current is conducted into the coil (35), so that the internal gear (18) and the coil (35) form a conduction spiral tube, and magnetic rings (29) are arranged on two end faces of the gear (19.