Piezoelectric driving type land-air amphibious device based on variable-frequency variable-mode adjustment

The invention provides a piezoelectric driving type land-air amphibious device based on variable-frequency variable-mode adjustment, which comprises a machine body, at least one pair of crawling feet and flying wing parts connected with the machine body, and a control module arranged in the machine body, and is characterized in that the crawling feet and the flying wing parts are symmetrically distributed on two sides of the machine body; wherein the flight transmission hinge is used for converting the amplitude of the flight vibration wafer into the swing of the wings so as to provide flight power for the aircraft body; the horizontal vibration wafer and the vertical vibration wafer transmit front-back or up-down swing to the Sarrus hinge execution mechanism through the walking transmission hinge so as to provide power for walking of the machine body. Piezoelectric wafer driving is adopted, a traditional motor driving mode is changed, a flight transmission hinge and a walking transmission hinge are designed,