CN115556523A - Amphibious four-rotor unmanned aerial vehicle with folding arms - Google Patents
Amphibious four-rotor unmanned aerial vehicle with folding arms Download PDFInfo
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- CN115556523A CN115556523A CN202211422165.9A CN202211422165A CN115556523A CN 115556523 A CN115556523 A CN 115556523A CN 202211422165 A CN202211422165 A CN 202211422165A CN 115556523 A CN115556523 A CN 115556523A
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- 230000033001 locomotion Effects 0.000 abstract description 27
- 230000005540 biological transmission Effects 0.000 description 5
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- 238000005192 partition Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
- B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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Abstract
The invention relates to a folding arm amphibious four-rotor unmanned aerial vehicle, which comprises arms movably connected to two sides of a vehicle body, wherein a rotor connected with a rotor motor is arranged on the upper surface of the far end of each arm, wheels connected with the rotor motor through a reduction gear set are arranged on the lower surface of each arm, a deformation steering engine is arranged on the vehicle body, an output shaft of the deformation steering engine is connected with a linear steering arm, and two ends of the linear steering arm are respectively movably connected with a universal ball head support arranged on each arm through universal ball head connecting rods; the two ends of the linear rudder arm are driven to rotate around the output shaft through the deformation steering engine, and the universal ball head support and the horn are driven to move through the corresponding universal ball head connecting rod, so that the angle between the horn and the machine body is changed to realize unfolding or folding. On four rotor unmanned aerial vehicle's basis, increased wheeled robot's motion mode, possessed deformability, can switch between wheeled robot and four rotor unmanned aerial vehicle through folding deformation to make unmanned aerial vehicle can adapt to different operation task demands under ground scene and the aerial scene.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a folding arm amphibious quad-rotor unmanned aerial vehicle.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The unmanned aerial vehicle can be regarded as a robot capable of executing specific tasks and flying, and some operation tasks are not limited in the air, and air-ground combination may exist, so that the unmanned aerial vehicle has a single motion mode and a limited range of executing tasks; some unmanned aerial vehicle/mobile robot schemes with variable structures can perform multi-purpose operation, but are generally fixed structures and large in size, have unsatisfactory obstacle crossing capability, and still have the problem of limited executable task range; meanwhile, the intelligent degree of the existing unmanned aerial vehicle is not ideal, and the requirements of multi-motion mode, obstacle crossing capability and accurate control and autonomous decision making capability are difficult to meet simultaneously.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a folding arm amphibious quad-rotor unmanned aerial vehicle, which combines the structure of a wheeled robot and a quad-rotor unmanned aerial vehicle, so that the wheeled robot and the quad-rotor unmanned aerial vehicle can be switched through folding deformation, and the unmanned aerial vehicle can meet different operation task requirements in a ground scene and an air scene.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a folding arm amphibious four-rotor unmanned aerial vehicle, which comprises booms movably connected with two sides of a fuselage through hinge pins, wherein a rotor connected with a rotor motor is arranged on the upper surface of the far end of each boom, wheels connected with the rotor motor through a reduction gear set are arranged on the lower surface of each boom, a deformation steering engine is arranged on the fuselage, an output shaft of the deformation steering engine is connected with a linear steering arm, and two ends of the linear steering arm are respectively movably connected with a universal ball head support arranged on each boom through universal ball head connecting rods; the two ends of the linear rudder arm are driven to rotate around the output shaft through the deformation steering engine, and the universal ball head support and the horn are driven to move through the corresponding universal ball head connecting rod, so that the angle between the horn and the machine body is changed to realize unfolding or folding.
The machine body is provided with an airborne computer, a flight control board, a distribution board and a battery; the fuselage upper surface connection divides the electroplax, divides the electroplax top to be equipped with two-layer baffle, and the space that the baffle formed holds machine-carried computer and flight control board respectively from last to down, and the fuselage is inside to be equipped with the battery.
The near end of the horn is movably connected with the machine body through a hinge pin, and the middle part of the hinge pin is provided with a spring; the spring comprises a spiral spring body and two steel wires which are connected to two ends of the spring body and extend to the outer side, wherein one steel wire extends to the lower portion of the machine body, and the other steel wire extends to the lower portion of the machine body.
The upper surface of the machine arm is connected with a universal ball head support and a limiting support which rotate around a hinged shaft pin, the universal ball head support is movably connected with one end of a linear rudder arm through a corresponding universal ball head connecting rod, and the linear rudder arm and a connected deformation steering engine are both positioned on the upper surface of the machine body.
The top end of the limiting support is provided with a positioning rod which extends to the upper part of the machine body, and when the arm is unfolded to be in a horizontal state, the positioning rod is abutted against the machine body.
The universal ball head connecting rod comprises a first ball head rod movably connected to two ends of the straight rudder arm; the top end of the universal ball head support of each side of the machine arm is movably connected with a second ball head rod, and the ball head directions of the two groups of second ball head rods are opposite; the ball head of the first ball head rod is movably connected with the ball head of the second ball head rod at the top end of the universal ball head support at the same side through a connecting rod.
When the two ends of the linear rudder arm face the machine arms on the two sides of the machine body, the linear rudder arm drives the universal ball head connecting rod to apply force to the universal ball head support and the machine arms on the two sides, and the machine arms are pushed to be folded.
When the connecting line of the two ends of the linear rudder arm points to the axis of the machine body, the linear rudder arm drives the universal ball head connecting rod to apply force to the universal ball head support to the axis of the machine body, and the machine arm is pulled to be stretched to be in a horizontal state.
The rotor is connected to rotor motor's output shaft one end, and the wheel is connected through reduction gear group to the other end.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
1. on four rotor unmanned aerial vehicle's basis, the motion mode of wheeled robot has been increased to possess deformability, can switch between wheeled robot and four rotor unmanned aerial vehicle through folding deformation, thereby make unmanned aerial vehicle can adapt to the operation task demand of difference under ground scene and the aerial scene.
2. When the machine arm is folded, the side parts of the wheels contact the ground, so that the machine body can be away from the ground by a certain distance, and therefore, the machine arm avoids a bulge with a certain height on the ground and has a certain obstacle avoidance function; and when meeting obstacles such as the hole that can't pass under the flight state, pack up the horn at unmanned aerial vehicle rising stage and make it switch to fold condition in order to reduce unmanned aerial vehicle overall diameter, form the motion of freely throwing upward, after passing the hole, the horn expandes the recovery flight again to make it possess certain aerial obstacle-avoiding ability.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic view of a horizontal state, namely a top view structure in an aerial motion mode, of a rotary arm amphibious quad-rotor unmanned aerial vehicle according to one or more embodiments of the present invention;
fig. 2 is a schematic view of a front view structure of a rotary arm amphibious quad-rotor unmanned aerial vehicle in a horizontal state, namely in an aerial motion mode, according to one or more embodiments of the present invention;
fig. 3 is a schematic view of a folding deformation state of a rotary arm amphibious quad-rotor unmanned aerial vehicle according to one or more embodiments of the present invention, that is, a front view angle structure in a land motion mode;
FIG. 4 is a schematic structural view of a fuselage and a horn connected by a hinge pin according to one or more embodiments of the present invention;
fig. 5 is a schematic structural diagram of a longitudinal folding deformation structure formed by a deformation steering engine, a linear rudder arm and a universal ball head connecting rod according to one or more embodiments of the present invention;
FIG. 6 is a schematic structural view of a rotor aft shaft and wheel shaft, and a mating reduction gear set, according to one or more embodiments of the present invention;
fig. 7 is a schematic diagram of an electric control system architecture of a rotary arm amphibious quad-rotor unmanned aerial vehicle according to one or more embodiments of the present disclosure;
fig. 8 is a schematic diagram of obstacle avoidance movement of a rotary arm amphibious quad-rotor unmanned aerial vehicle according to one or more embodiments of the present invention;
in the figure, 1, a fuselage; 2. a horn; 3. a deformation steering engine; 4. a flight control panel; 5. an onboard computer; 6. a distributor plate; 7. a battery; 8. a hinge pin; 9. a linear rudder arm; 10. a universal ball head connecting rod; 11. a rotor motor; 12. a wheel; 13. a limiting support; 14. a universal ball head support; 15. a rear shaft is output; 16. a wheel shaft; 17. a reduction gear set; 18. a partition plate; 19. a slot; 20. a spring.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background art, an unmanned aerial vehicle as a task-executing unmanned aerial vehicle encounters an obstacle during flight, and the prior art relies on a complex control algorithm to achieve obstacle avoidance, so that the operation range of the unmanned aerial vehicle is limited.
Therefore, the following embodiment provides a folding arm amphibious quad-rotor unmanned aerial vehicle, the structure of a wheeled robot and the quad-rotor unmanned aerial vehicle are combined, the structure can be switched between the wheeled robot and the quad-rotor unmanned aerial vehicle through folding deformation, and therefore the unmanned aerial vehicle can meet different operation task requirements under ground scenes and aerial scenes.
The first embodiment is as follows:
as shown in fig. 1-8, a folding arm amphibious quad-rotor drone comprises: the aircraft body is movably connected with the aircraft arms on two sides of the aircraft body through hinged shaft pins, the upper surface of the far end of the aircraft arm is provided with a rotor wing connected with a rotor wing motor, the lower surface of the far end of the aircraft arm is provided with wheels connected with the rotor wing motor through a reduction gear set, the aircraft body is provided with a deformation steering engine, an output shaft of the deformation steering engine is connected with a linear-shaped steering arm, and two ends of the linear-shaped steering arm are respectively movably connected with a universal ball head support arranged on the aircraft arm through universal ball head connecting rods; the two ends of the linear rudder arm are driven to rotate around the output shaft through the deformation steering engine, and the universal ball head support is driven through the corresponding universal ball head connecting rod, so that the folding is realized by changing the angle between the machine arm and the machine body.
Specifically, the method comprises the following steps:
defining one side of the deformation steering engine 3 as the front side of the quad-rotor unmanned aerial vehicle; the machine body 1 is provided with a deformation steering engine 3 and a distribution plate 6, two layers of partition plates 18 are arranged above the distribution plate 6, a flight control plate 4 and an airborne computer 5 are respectively arranged from bottom to top, and a battery 7 is arranged inside the machine body 1; symmetrical machine arms 2 are arranged on two sides of a machine body 1, the machine arms 2 can rotate around hinge shaft pins 8 on two sides of the machine body, universal ball head supports 14 are arranged on the front sides of the machine arms 2, limiting supports 13 are arranged on the rear sides of the machine arms, a group of rotor wing motors 11 and wheels 12 are arranged at the front end and the rear end of each machine arm 2, and rear output shafts 15 of the rotor wing motors 11 and wheel shafts 16 are in transmission through a reduction gear set 17; the output shaft of the deformation steering engine 3 is provided with a linear rudder arm 9 which is connected with a universal ball head support 14 at the front side of the machine arm 2 through a universal ball head connecting rod 10, and the machine arms 2 at the two sides are driven to synchronously rotate by utilizing the central symmetry principle.
The machine body 1 and the two layers of partition plates 18 are supported and connected by M2.5 aluminum columns, and M2.5 holes for mounting screws are drilled on the corresponding positions of the machine body 1 and the partition plates 18. The distributor plate 6 is also fixed to the body 1 by screws.
The deformation steering engine 3 is fixed on a plate in front of the machine body 1 through an M4 screw, and the linear rudder arm 9 extends out of the machine body 1.
Deformation mechanism that universal ball combination pole 10 connects: the folding and the extension of the horn 2 are realized by the driving of the deformation steering engine 3 and the transmission of the deformation connecting mechanism. Because the rotation of the deformation steering engine 3 and the rotation of the horn 2 are not coplanar, the connection point is extremely unstable, and the conventional connection means can not meet the requirements, the universal ball head combination rod 10 is designed to connect the deformation steering engine 3 and the horn 2.
As shown in fig. 5, a straight rudder arm 9 is installed on an output shaft of the deformation steering engine 3, and each end of the straight rudder arm 9 is provided with a ball head rod respectively, and the ball head is downward; a ball head rod also extends out of the top end of the universal ball head support 14 of each side of the machine arm 2, the ball head of the left side machine arm faces forwards, and the ball head of the right side machine arm faces backwards; the ball at the tail end of the rudder arm and the ball at the top end of the universal ball support 14 on the same side are combined by a connecting rod to form the universal ball connecting rod 10.
As shown in fig. 1-2, the horn 2 is horizontal when the linear rudder arm 9 is in a fore-aft orientation, which is consistent with the appearance of a standard quad-rotor.
As shown in fig. 3, when the linear rudder arm 9 rotates counterclockwise, the rudder arm drives the universal ball connecting rod 10 to apply force to the universal ball support 14 to both sides, and the rudder arm 2 is pushed to fold downward.
When the I-shaped rudder arm 9 rotates anticlockwise and clockwise, the rudder arm drives the universal ball head connecting rod 10 to apply force to the universal ball head support 14 towards the center, and the horn 2 is pulled to extend upwards and restore to the horizontal state shown in the figures 1 and 2.
It can be seen that the deformation mechanism is stable, the corner of the steering engine and the corner of the horn 2 are in positive correlation and nonlinear relationship, and the closer the horn 2 is to the flattening state, the higher the efficiency of the change of the corner of the deformation steering engine 3 driving the change of the corner of the horn 2 is.
Spring and spacing support: as shown in fig. 4, the spring 20 is located in the center of the hinge pin 8 on each side, and is composed of a spiral spring body and two steel wires extending to the outside, wherein one steel wire extends to the lower part of the horn 2, and the other steel wire extends to the lower part of the body 1. When the horn 1 is in a non-horizontal state, the spring 20 applies an upward elastic force to the horn 2, so that the buffeting phenomenon caused by deformation due to friction, airflow and the like can be effectively relieved.
The top end of the limit support 13 is provided with a positioning rod which extends to the upper part of the machine body 1. When the arm 2 is unfolded to the horizontal state, the positioning lever abuts against the body 1, preventing the arm 2 from being further turned up.
A speed change gear set: as shown in fig. 6, the rotor motor 11 and the wheels 12 are combined into a novel integral structure through the reduction gear set 17, and one motor is used for driving the rotor and the wheels 12 simultaneously, so that the amphibious dual-mode movement mechanism is skillfully simplified, the number of actuators is reduced, and the volume and the weight of the platform are reduced.
The maximum rotation speed of the rotor motor 11 in flight is about 30000RPM, considering that the rotation of the rotor provides a lateral force when the ground moves, the rotation speed of the rotor motor 11 should not exceed 10000RPM, and the diameter of the wheel is 8mm, so 20 is selected to control the maximum operation speed of the ground to be about 2 m/s: a gear ratio of 1. According to the rotation direction of each rotor in a standard X-type four-rotor model, a front two-gear set adopts 2-stage transmission, and the transmission ratio is set to be 4:1 and 5:1; the rear side gear set adopts 3-stage transmission, namely, a step 1 is added: 1 to ensure that the direction of rotation of the four wheels is the same and that the forward direction of land motion is equivalent to the forward direction of air flight.
An electric control part:
a control component: as shown in fig. 7, the battery is used to power all components of the drone; the distribution plate is used for dividing the voltage of the battery into a plurality of strands for welding each component; the airborne computer is used for acquiring the flight state and experimental data of the unmanned aerial vehicle, and performing data processing or communicating with the ground station; the flight control panel is used for converting a control signal of an airborne computer or a remote controller into a PWM (pulse width modulation) signal of the rotor motor; the electronic regulator is used for converting the PWM signal into the input voltage of the rotor motor. Through the conduction of above-mentioned control assembly, external control signal finally turns into rotor motor's rotational speed, control unmanned aerial vehicle's motion.
Flight dynamics: the rotor is located unmanned aerial vehicle's four directions in front of the left side, back left, front right, back right respectively, is the rectangle and distributes. The control of all the postures and positions of the amphibious unmanned aerial vehicle in the flight mode is realized by adjusting the rotating speeds of the four driving motors. The motion state of the unmanned aerial vehicle is mainly divided into lifting motion (including hovering), rolling motion, pitching motion and yawing motion.
Lifting movement and hovering: under the condition that the rotating speeds of the rotors of the unmanned aerial vehicle are the same and the rotating speeds of the adjacent rotors are opposite in direction, the rotating speeds with the same size are increased/reduced for each rotor, so that the vertical motion of the unmanned aerial vehicle can be realized; the necessary condition for hovering is that the total lift of the four rotors is exactly equal to the weight of the drone.
And (3) rolling motion: the rolling motion is that the left and right side lift difference is formed by changing the rotating speed of the rotor wings at the left and right ends, so that a certain moment is formed on the rotating shaft in the front and back direction of the machine body, and angular acceleration is generated.
Pitching motion: the pitching motion is to form a front-back side lift difference by changing the rotating speed of the rotor wings at the front end and the rear end, so that a certain moment is formed on a transverse rotating shaft of the machine body, and angular acceleration is generated.
Yaw movement: yaw motion is achieved by varying the rotational speed of the two sets of diagonal rotors. When the sum of the rotating speeds of the two rotors of each group of diagonal lines is different from that of the other group of rotors, the imbalance of the reactive torque force can be caused due to the fact that the rotating directions of the two groups of rotors are different, the reactive force around the longitudinal rotating shaft can be generated at the moment, and the angular acceleration is generated.
Land kinematics: when the land moves, the movement of the land is similar to that of a fixed wheel four-wheel drive vehicle, and when the land moves, the wheels slide laterally and are subjected to unknown ground friction, so that an accurate kinematic model does not exist, but the land moves are approximately equivalent to a two-wheel differential motion model. Namely, the speed difference is generated by changing the rotating speeds of the wheels on the left side and the right side, so that the vehicle body is driven to steer.
The folding state of the machine arm forms a structure similar to a wheel type robot, and the rotary wing motor is used as power, and wheels are used as driving components to execute required operation tasks on the ground; the horn is traditional four rotor unmanned aerial vehicle under the state of expanding, carries out aerial operation task.
As shown in fig. 8, when the arm is folded, the side of the wheel contacts the ground, so that the body can be away from the ground by a certain distance, thereby avoiding a protruding object with a certain height on the ground and having a certain obstacle avoidance function; and when meeting obstacles such as the hole that can't pass under the flight state, pack up the horn at unmanned aerial vehicle rising stage and make it switch to fold condition in order to reduce unmanned aerial vehicle overall diameter, form the motion of freely throwing upward, after passing the hole, the horn expandes the recovery flight again to make it possess certain aerial obstacle-avoiding ability.
The aforesaid can be through folding the switching between wheeled robot and four rotor unmanned aerial vehicle that warp to make unmanned aerial vehicle can adapt to different operation task demands under ground scene and the aerial scene, and structure self possesses certain obstacle avoidance ability.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an amphibious four rotor unmanned aerial vehicle of folding arm which characterized in that: the aircraft comprises aircraft arms movably connected to two sides of an aircraft body through hinged shaft pins, wherein the upper surface of the far end of each aircraft arm is provided with a rotor wing connected with a rotor wing motor, the lower surface of each aircraft arm is provided with wheels connected with the rotor wing motor through a reduction gear set, the aircraft body is provided with a deformation steering engine, an output shaft of the deformation steering engine is connected with a linear rudder arm, and two ends of the linear rudder arm are respectively movably connected with a universal ball head support arranged on the aircraft arm through universal ball head connecting rods; the two ends of the linear rudder arm are driven to rotate around the output shaft through the deformation steering engine, and the universal ball head support and the horn are driven to move through the corresponding universal ball head connecting rod, so that the angle between the horn and the machine body is changed to realize unfolding or folding.
2. A folding arm amphibious quad-rotor drone according to claim 1, characterised in that: the fuselage upper surface connection divides the electroplax, divides the electroplax top to be equipped with two-layer baffle, and the space that the baffle formed holds machine-carried computer and flight control board respectively from last to down, and the fuselage is inside to be equipped with the battery.
3. A folding arm amphibious quad-rotor drone according to claim 1, characterised in that: the near end of the horn is movably connected with the machine body through a hinge pin, and a spring is arranged in the middle of the hinge pin.
4. A folded arm amphibious quad-rotor drone according to claim 3, characterised in that: the spring comprises a spiral spring body and two steel wires which are connected to two ends of the spring body and extend to the outer side, wherein one steel wire extends to the lower part of the machine arm, and the other steel wire extends to the lower part of the machine body.
5. A folding arm amphibious quad-rotor drone according to claim 1, characterised in that: the upper surface of the machine arm is connected with a universal ball head support and a limiting support which rotate around a hinged shaft pin, the universal ball head support is movably connected with one end of a linear rudder arm through a corresponding universal ball head connecting rod, and the linear rudder arm and a connected deformation steering engine are both positioned on the upper surface of the machine body.
6. A folding arm amphibious quad-rotor drone according to claim 5, characterised in that: the top end of the limiting support is provided with a positioning rod which extends to the upper part of the machine body, and when the arm is unfolded to be in a horizontal state, the positioning rod is abutted to the machine body.
7. A folding arm amphibious quad-rotor drone according to claim 1, characterised in that: the universal ball head connecting rod comprises a first ball head rod movably connected to two ends of the straight rudder arm; the top end of the universal ball head support of each side of the machine arm is movably connected with a second ball head rod, and the ball head directions of the two groups of second ball head rods are opposite; the ball head of the first ball head rod is movably connected with the ball head of the second ball head rod at the top end of the universal ball head support at the same side through a connecting rod.
8. A folding arm amphibious quad-rotor drone according to claim 1, characterised in that: when the two ends of the linear rudder arm face the machine arms on the two sides of the machine body, the linear rudder arm drives the universal ball head connecting rod to apply force to the universal ball head support and the machine arms on the two sides, and the machine arms are pushed to be folded.
9. A folding arm amphibious quad-rotor drone according to claim 1, characterised in that: when the connecting line of the two ends of the linear rudder arm points to the axis of the machine body, the linear rudder arm drives the universal ball head connecting rod to apply force to the universal ball head support to the axis of the machine body, and the machine arm is pulled to be stretched to be in a horizontal state.
10. A folding arm amphibious quad-rotor drone according to claim 1, characterised in that: rotor is connected to rotor motor's output shaft one end, and the wheel is connected through reduction gear set to the other end.
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