712results about "Amphibious vehicles" patented technology

The invention discloses a decoupling control method for motion coupling between a track and a propeller, relates to the technical field of robot control, and realizes accurate and intelligent regulation and control of motion of a sea-land amphibious robot by constructing a complete closed-loop strategy from sensing, recognition, prediction to control. And the motion stability of the robot in a complex mixed environment is obviously improved. According to the method, the undesirable coupling effect between the crawler belt and the propeller can be anticipated and quantified in a prospective mode, suppression is conducted actively through self-adaptive control, impact, vibration and attitude instability caused by power conflicts in land and water transition or rugged terrain are effectively avoided, and stability and safety of a robot platform and loads of the robot platform are guaranteed. The energy utilization efficiency of the robot is greatly improved. And it is ensured that the two power systems work in the optimal cooperative state at any moment, and invalid energy internal consumption and redundant output are avoided.

The invention relates to an amphibious vehicle body stability control method, system, equipment and medium, and belongs to the technical field of vehicle control, the amphibious vehicle body stability control method comprises the following steps: after a vehicle enters water, heeling angle data is acquired in real time; and when the heeling angle data exceeds a set threshold value and the maintaining time exceeds a preset duration, the volumes of air bags arranged on the two sides of the vehicle are adjusted in real time so that buoyancy distribution can be adjusted, and the purpose of stably controlling the vehicle body is achieved. According to the overwater vehicle body stability control method and system based on multi-sensor fusion and dynamic adjustment disclosed by the invention, the problems of turning, heeling and wave interference when the vehicle sails on the water surface are solved. The stability of amphibious vehicle sailing on water is greatly optimized, and the amphibious vehicle is suitable for development of intelligent amphibious vehicles in the future.

The invention relates to a composite deformation wheel type amphibious robot with wheel leg paddle functions. Comprising a sealed cabin, wheel-leg-paddle composite deformation wheels, a transmission structure, a settlement control structure, a visual module and a driving motor, the sealed cabin serves as a robot body support, and the four wheel-leg-paddle composite deformation wheels are symmetrically installed at the four corners of the bottom of the sealed cabin; the two transmission structures are symmetrically arranged on the two sides in the sealed cabin and are connected with the four wheel-leg-paddle composite deformation wheels through through holes in the two sides of the sealed cabin; two driving motors arranged in the sealed cabin drive two groups of wheel-leg-paddle composite deformation wheels on the same side to rotate through two groups of matched transmission structures, and each group of wheel-leg-paddle composite deformation wheels has a wheel type form, a leg type form and a paddle type form which can be switched; when entering a water area, the suspension depth is automatically adjusted through the settlement control structure. The amphibious robot realizes land rolling, obstacle crossing and underwater propelling movement, and is suitable for stable operation in a complex amphibious environment.

The invention relates to a pedal assembly and a vehicle. The pedal assembly comprises a pedal support used for being connected with a chassis of the vehicle; the pedal outer edge is connected with the pedal bracket; the movable pedal is movably mounted on the outer edge of the pedal; the adjusting mechanism is connected with the pedal outer edge and the movable pedal and used for driving the movable pedal to move or rotate relative to the pedal outer edge so as to adjust the posture of the movable pedal. According to the pedal assembly, the adjusting mechanism can drive the movable pedal to move or rotate relative to the outer edge of the pedal so as to adjust the posture of the movable pedal, so that the pedal assembly has the pedal function for people to get on and off a vehicle, and the driving posture of the vehicle can be adjusted by adjusting the posture of the movable pedal; a special posture adjusting device does not need to be additionally and independently arranged, so that the occupied vehicle installation space is effectively reduced, integration of the pedal function and the posture adjusting function is achieved, and the practicability and adaptability of the vehicle in the complex driving environment are improved.

The invention belongs to the technical field of mobile robots, and particularly relates to an amphibious hexapod robot which comprises a robot body, six walking feet, a protection box, propellers, a multi-sensor system and a central control unit. The six walking feet are arranged on the two sides of the robot body, and a waterproof driving joint is arranged at the tail end of each foot. The protection box is arranged at the root of the walking foot and internally integrated with propellers; the sensor system comprises a water depth sensor, an attitude sensor and a grounding detection module; the central control unit is used for collecting sensor data in real time, judging whether the current environment is a land or a water area, automatically switching a walking mode or a water propulsion mode, and meanwhile adaptively adjusting gaits and the rotating speed of propellers according to the water depth and the terrain. The robot has environment perception, mode decision, gait generation, grounding prevention protection and energy optimization strategies, full-autonomous and high-adaptability movement in the land and water environment is achieved, and the working capacity and safety of the robot in the complex environment are improved.

The utility model provides an on-water driving device of an amphibious vehicle, which comprises a connecting assembly, a hydraulic telescopic rod, a plate body and two groups of driving assemblies, and is characterized in that the connecting assembly is connected with a vehicle body of the amphibious vehicle; one end of the hydraulic telescopic rod is pivotally connected with the connecting assembly, and the other end of the hydraulic telescopic rod is pivotally connected with the plate body; the plate body is obliquely arranged, the plate body is attached to a vehicle body of the amphibious vehicle, two lining plates are symmetrically arranged on the plate body, and the lining plates are rotationally connected with the vehicle body of the amphibious vehicle; the two driving assemblies are symmetrically arranged on the two sides of the plate body. According to the overwater driving device of the amphibious vehicle, under the action of the hydraulic telescopic rod, the plate body can be attached to the tail of the vehicle body, and therefore the trafficability and the attractiveness of the amphibious vehicle are improved.

The invention discloses a folding crawler chassis of an amphibious pipeline robot, and relates to the technical field of pipeline machines. The device comprises a chassis assembly; the chassis assembly comprises a shell, four rotating plates connected through torque springs are hinged to the outer bottom of the shell, propellers are installed at the ends of the rotating plates, vertical plates are fixedly connected to the outer walls of the propellers, and first electromagnets are fixedly connected to the tops of the vertical plates; track assemblies are symmetrically and rotationally connected to the opposite side faces of the shell, each track assembly comprises a waterproof box, and a triangular block is fixedly connected to the outer top of each waterproof box. By using the device, the device can rapidly adapt to advancing on land and on a waterway in a pipeline, upward swinging of the crawler belt assemblies and unfolding of the propellers are synchronously achieved, the using convenience and the amphibious rapid switching efficiency are effectively improved, and then the working efficiency is improved.

The invention discloses an underwater operation nuclear industry robot which comprises an amphibious moving system, and the amphibious moving system comprises a chassis, a land moving module, an underwater moving module and an adsorption fixing module; the two sets of operation systems are installed on the front side of the top face of the chassis, each operation system comprises a multi-degree-of-freedom mechanical arm and a grabbing mechanical arm, the multi-degree-of-freedom mechanical arms are installed on the top face of the chassis, and the grabbing mechanical arms are installed at the ends of the multi-degree-of-freedom mechanical arms; the recovery and storage system is mounted on the top surface of the chassis; the visual recognition system is installed on the rear side of the top face of the chassis, and the visual recognition system comprises a supporting module, a lighting module and a recognition module; and the amphibious moving system, the operation system, the recovery and storage system and the visual identification system are all connected with the terminal controller. The underwater robot can flexibly enter an underwater operation area from the land, and is suitable for operation in various complex environments.

The invention relates to the technical field of amphibious robots, and discloses an amphibious robot which comprises a robot body, a pushing mechanism, a steering mechanism and a pitching mechanism, the pushing mechanism, the steering mechanism and the pitching mechanism are connected to the robot body, the robot body comprises an inner shell, a propeller and a rolling outer shell which are sequentially connected in a sleeved mode from inside to outside, and the inner shell is cylindrical; the pushing mechanism comprises a support, a driving motor and a first balancing weight, a stator of the driving motor is fixed to the side end of the support, the first balancing weight is fixed to the bottom of the support, the support is sleeved with the inner shell, one side end of the inner shell is connected with a rotor of the driving motor, and the other side end of the inner shell is rotationally connected with the support; according to the amphibious robot, the stator rotates to drive the first balancing weight to rotate, kinetic moment is provided for the robot body, the rotor rotates to drive the inner shell, the propeller and the rolling outer shell to rotate synchronously, the robot is pushed to move on the water surface / water by means of counter-acting force, and the driving system and the control system of the amphibious robot are simplified.

A buoyancy-adjustable amphibious humanoid robot underwater posture adjusting method comprises the following steps that an amphibious humanoid robot enters water in a cross-medium mode, and the water entering state of the amphibious humanoid robot is judged by conducting data detection through a first depth meter; after the amphibious humanoid robot is completely submerged in water, the underwater posture of the amphibious humanoid robot is adjusted through a buoyancy adjusting device and a posture adjusting propeller; when the amphibious humanoid robot goes out of water, the thrust of the propeller is adjusted to adjust the pitch attitude until the third depth gauge does not display corresponding data, it is indicated that the head of the amphibious humanoid robot goes out of water at the moment, then the buoyancy adjusting cabin is controlled to slide upwards to the topmost end, and the legs of the amphibious humanoid robot are controlled to rotate; and controlling the amphibious humanoid robot to walk out of the water surface until the first depth gauge does not display data, and indicating that the amphibious humanoid robot is completely discharged out of the water as a whole.

A robot for cleaning the outer wall face of an underwater pipeline comprises oppositely-arranged supporting frames, the two supporting frames define a circle, the connecting positions are connected through magnetic attraction quick buckles, the upper supporting frame and the lower supporting frame are each provided with two supporting frames, a plurality of limiting supporting plates distributed at intervals are fixedly installed between the upper supporting frame and the lower supporting frame, and a long round hole is formed in each limiting supporting plate. A sliding block is installed in the oblong hole in a matched mode, the hydraulic oil cylinder is vertically fixed, the output end of the hydraulic oil cylinder is fixed to the sliding block, spring connecting rods are symmetrically hinged to the two outer sides of the sliding block, and upper connecting rods are symmetrically hinged to the two outer sides above the limiting supporting plate; the deep-sea motor drives the crawler device to act, and the other ends of the spring connecting rod and the upper connecting rod are both mounted on the crawler device; a plurality of steel wire brushes are installed on the inner wall face of the supporting frame located at the top, 360-degree steering of thrust can be achieved, the thruster can be retracted into the platform light shell, cleaning is more effective, and working reliability is guaranteed.

The application relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, which comprise a plurality of large arms, one side of each large arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the large arm, a placing groove is formed in the side of the connecting box away from the large arm, and the air bag is fixedly connected in the placing groove; the large arm is sequentially connected with an air charging assembly, an air discharging assembly and a jetting assembly from top to bottom on one side; and the connecting box is connected with a closing assembly on one side. The robot leg walking mechanism and the quadruped robot utilize the floating assembly, the quadruped robot can float in a deep water area, the body is prevented from being completely immersed in water, the risk that a camera lens is splashed with water is reduced, the quality and accuracy of real-time image transmission are ensured, a clear field of vision and stable walking ability are provided for the quadruped robot, visual misjudgment or distortion is reduced, and the accuracy and efficiency of a patrol task are improved.

The invention discloses a movable flood drainage robot and a flood drainage method, and relates to the field of fire fighting equipment application. The movable flood drainage robot comprises track driving systems, a mounting frame is arranged between the track driving systems, a water pump is mounted at the top of the mounting frame, a water inlet is formed in one side of the water pump, and a soft water conveying pipe is arranged at the water inlet and connected with a movable water inlet pipe; the movable water pipe can be adjusted in height and rotated. By arranging the movable water inlet pipe capable of movably ascending, descending and rotating, the water pumping efficiency can be ensured, the situation that sludge, leaves and other impurities enter the water pump can be reduced, the movable water inlet pipe is adjusted to the position about 15-20 cm below the accumulated water liquid level through the lifting assembly, and the height of the movable water inlet pipe is synchronously reduced along with reduction of the liquid level; impurities floating on the liquid level are located above the movable water inlet pipe all the time and not prone to entering the water pump, when the movable water inlet pipe descends to the lowest working height, the movable water inlet pipe can turn over by 90 degrees to be perpendicular to the ground, and the impurities floating on the liquid level can be reduced and enter the water pump due to the filtering effect of the filtering assembly.

An inflatable carrier includes an inflatable main body, a foldable supporting device connected to the inflatable main body, and a plurality of elastic elements connected to the foldable supporting device and / or the inflatable main body. When the inflatable main body is inflated to expand, the foldable supporting device is forced to extend by the expanded inflatable main body and the elastic elements are deformed. When the inflatable main body is deflated, restoring forces of the elastic elements cause the foldable supporting device to be folded.

The invention discloses a vehicle control method, a computer readable storage medium, a controller and a vehicle, and the vehicle control method comprises the steps that when it is determined that the vehicle is in a floating state, a load module in the vehicle is controlled to move, so that the vehicle is adjusted to a second posture from a first posture. According to the vehicle control method, when it is determined that the vehicle is in the floating state, the load module in the vehicle is controlled to move, the gravity center of the whole vehicle is adjusted, control over the floating posture of the vehicle is achieved, and the vehicle control method has the advantages of being high in leveling speed, low in cost, good in platform expansibility, high in engineering application and low in matching work amount.

The invention discloses a base station and a swimming pool cleaning system.The base station comprises a supporting mechanism located on a pool bank and a moving mechanism connected with the supporting mechanism and further comprises a rail unit arranged on the supporting mechanism; when the relative position of the moving mechanism and the supporting mechanism is changed, the variable connecting point of the track unit and the moving mechanism is changed along the track of the track unit; the track of the track unit comprises a horizontal component and a vertical component; wherein the horizontal component can enable the variable connection point to move / change in the direction away from or close to the swimming pool; the vertical component may cause the variable connection point to rise or fall. The base station has the advantages of simple structure, high transportation efficiency and the like.

The invention discloses a self-adaptive deformation amphibious multi-mode robot system and a control method. The self-adaptive deformation amphibious multi-mode robot system comprises a body, an autopilot, a power module, a joint steering engine, a wheel arm device, a brushless driving motor, a deformation driving steering engine, a gearbox and a composite driving wheel. The autopilot and the power supply module are mounted in the body; the joint steering engines are fixed at four corners of the body and connected with the wheel arm devices; the gear box is fixed to the wheel arm device, and the wheel arm device is further provided with a brushless drive motor and a deformation drive steering engine. The composite driving wheel is fixed to an output shaft of the gearbox, a propeller is arranged in the composite driving wheel, a deformation block is arranged on the periphery of the composite driving wheel, and the brushless driving motor controls the driving wheel and the propeller to rotate. In the underwater mode, the deformation block is closed, and the propeller is propelled; in the ground mode, the driving wheels drive, the deformation blocks are unfolded to increase the road holding force when encountering obstacles, and the obstacle crossing ability is improved. The system is simple in structure, high in environmental adaptability, good in stability and high in maneuverability, has multi-mode operation capacity and is suitable for complex and severe scenes.

The invention belongs to the technical field of amphibious vehicles, and relates to a steering control mechanism of an amphibious vehicle. A gear shaft (30) of a gear (12) of the steering gear machine-liquid conversion oil cylinder (A) is fixedly connected with an output shaft of the steering gear (1), a gear shaft (30) of a gear (12) of the wheel steering gear-liquid conversion oil cylinder (B) is fixedly connected with an output swing arm (4), the output swing arm (4) is movably connected with a straight pull rod (5), and the straight pull rod (5) is connected with an axle (24). And the first oil port (20) of the steering gear machine-liquid conversion oil cylinder (A) is communicated with the first oil port (20) of the wheel steering gear machine-liquid conversion oil cylinder (B) through a first pipeline (22). According to the amphibious vehicle steering control mechanism, the structure is simple, a complex control mechanism is simplified, the technical barriers that an amphibious vehicle is complex in layout and insufficient in space are solved, and the problem of watertight design inside and outside a vehicle body of a supporting structural part is solved.

The invention discloses a full-electric unmanned multi-foot double-head reverse spiral ground pile driver for a low-adhesion environment and a cooperative control method of the full-electric unmanned multi-foot double-head reverse spiral ground pile driver. The pile driver comprises an equipment body (1), a full-electric driving system, a multi-foot type self-adaptive walking mechanism (2), a double-head independent driving pile driving (6a and 6b) system and an intelligent control system. The core of the robot lies in that net reaction torque is counteracted through reverse rotation of the double heads 6a and 6b, and through intelligent cooperative control, the posture of a walking mechanism is dynamically adjusted when loads of the double heads are not uniform (such as a machine body slightly tilts) to deeply balance the loads, so that the ultimate operation stability under the environments such as the seabed, ice and snow, mud flat and the like with extremely poor adhesive force is ensured. According to the invention, the low adhesive force constraint is overcome in principle, and an efficient, accurate and full-autonomous anchoring construction solution is provided.

The invention relates to the technical field of marine special equipment, and discloses a multi-metal nodule mining vehicle, a collecting mechanical arm and a mineral collecting system. The multi-metal nodule mining vehicle comprises a plurality of crawler-type advancing subsystems of special structures, effective dispersion of mine vehicle grounding specific pressure is achieved, traction force is improved, disturbance to soft seabed sediment is reduced, it is guaranteed that the crawler-type systems are matched with seabed frequently-fluctuating terrains as much as possible, the terrain adaptability and obstacle crossing ability are improved, and meanwhile the service life of the crawler-type advancing subsystems is prolonged. Based on a buoyancy control hardware architecture of the crawler-type advancing subsystem constructed by a vertical propulsion propeller, an ultrasonic distance sensor, a processor and a memory, an effective and enforceable hardware environment and software environment are created for intelligent local buoyancy control of the crawler-type advancing subsystems of various special structures.

The utility model relates to an overwater photovoltaic maintenance vehicle which comprises a sliding ship body, a lifting mechanism and a clamping mechanism, the lifting mechanism is arranged on the sliding ship body and comprises a first driving assembly and a bearing platform, and the first driving assembly is used for driving the bearing platform to move in the first direction; and a clamping mechanism is arranged on at least one of the two opposite sides of the bearing platform in the second direction and used for clamping a supporting column of the photovoltaic panel located on the water. According to the technical scheme provided by the invention, the sliding ship body can be prevented from shaking through the clamping mechanism, the maintenance efficiency of the photovoltaic panel is improved, and the stability of the sliding ship body and the safety of maintenance personnel are ensured.

The invention relates to the technical field of snakelike robots, and particularly discloses an amphibious snakelike robot which comprises a mechanical structure, a power system, a sensor system and a control and communication system. The mechanical structure comprises a main trunk unit which is a rigid section made of a high-strength lightweight alloy; the flexible connecting units are bendable joints made of tough composite materials and are used for connecting the adjacent main trunk units, and the main trunk units and the flexible connecting units are connected in series to form a snake-like bionic structure and provide basic support and power bearing; the motion executing mechanism comprises a wheel type driving assembly and a propelling assembly; according to the application, by adding the soil, underground water and hydrocarbon substance in-situ sensor system, the'rescue-monitoring 'integrated capability is formed, the environment detection dimension is expanded, 'rescue + risk assessment' dual-mode collaboration is realized, and meanwhile, the detection reliability and data representativeness in a complex environment can also be improved.

The invention discloses a terrain classification and self-adaptive gait switching method for a sea-turtle-imitating amphibious robot based on visual tactile perception. The method comprises the following steps: establishing a robot model carrying a pressure sensor and a waterproof camera; the method comprises the following steps: acquiring tactile time sequence data and visual images in various terrains such as broken stones and sand beaches, and constructing a training data set; establishing a multi-modal convolutional neural network, and fusing features through dual-channel feature extraction and an adaptive attention mechanism; motion energy consumption and speed under each terrain are collected, and the optimal gait is determined; and constructing a gait switching finite-state machine in combination with terrain physical attribute classification and the optimal gait. According to the method, a sensing-decision-driving closed loop is formed, the terrain is sensed through visual touch, the gait is decided through a finite-state machine, the gait driving motion is executed, and through experimental verification, the self-adaptive gait can improve the moving efficiency and speed, and the amphibious environment adaptability of the robot is enhanced.

The invention relates to the technical field of underwater dredging, in particular to a jet flow type maritime work dredging operation robot. The jet flow type maritime work dredging operation robot comprises a shell with an opening in the bottom, a frame is arranged in the shell and comprises a rectangular horizontal frame and four cylindrical supporting legs symmetrically arranged at the bottom of the horizontal frame, a jet flow spraying and sucking device and a power assembly box are arranged on the horizontal frame, a traveling device is arranged on the supporting legs, and the traveling device is connected with the jet flow spraying and sucking device. The advancing device comprises a horizontal rod and a hydraulic cylinder which are arranged on the supporting legs, the hydraulic cylinder is downwards and obliquely connected with the horizontal rod, a piston rod of the hydraulic cylinder is connected with the wheels, and the jet flow spraying and sucking device and the advancing device are respectively connected with the power assembly box. The robot is good in adaptability to a complex desilting scene in a water area, posture switching can be carried out among a contraction state, a walking state and a suspension state, different requirements of hoisting transportation, walking in a desilting area and advancing in the water area are met, desilting is carried out through jet flow spraying and suction, and the desilting efficiency is high.

The invention relates to an underwater robot advancing control method and device and a medium, and the method comprises the steps: detecting the sliding state of a crawler belt of a robot, and obtaining operation parameters; controlling a vertical propeller system of the robot according to the sliding state of the track to adjust the ground pressure of the track and stabilize the posture of the robot; in the process of controlling the vertical thruster system, thrust instructions of all vertical thrusters are calculated and output based on the real-time posture and motion state of the robot; according to the operation parameters, dynamic interference generated by the operation tool to the robot is calculated; on the basis of the dynamic interference, compensation thrust and compensation torque which need to be provided by the horizontal propeller system are calculated, and the rotation angle of the horizontal propeller is controlled to be aligned with the thrust direction; and the compensation thrust and the compensation torque are distributed to all the horizontal propellers, and thrust instructions of the corresponding horizontal propellers are output. According to the method, high stability, high trafficability and high operation efficiency of robot advancing are achieved in an uncertain complex seabed environment.

The utility model discloses a robot. The robot comprises a supporting part, a communication part, a power connection part and a body. Supporting frames are arranged at the upper ends of the supporting parts. The communication unit includes a floating device and a communication device. The floating device is supported by the supporting frame and floats on the water body under the condition that the floating device makes contact with the water body. The communication device is arranged in the floating device. The power connecting part comprises a driving device, a cable winding and unwinding device and a connecting cable. The driving device is fixed to the supporting part. The cable take-up and pay-off device is driven by a driving device to pay off or take up a cable. The connecting cable is wound around the cable take-up and pay-off device, and one end is connected to the floating device. The body comprises a base plate, a first positioning device and a walking device. The lower end of the supporting part is fixed to the upper surface of the substrate. The first positioning device is fixed on the upper surface of the substrate and is used for monitoring and transmitting a first positioning signal; the walking devices are arranged on the two opposite sides of the base plate. The robot transmits communication signals through the communication device, an umbilical cable is prevented from being used for transmitting the communication signals, and the detection range of the robot is enlarged.

The invention discloses a hydraulic building runner oil stain emergency disposal device which comprises an operation platform, and a water surface oil stain cleaning system and a runner cleaning system are arranged on the operation platform. The water surface oil stain cleaning system comprises a multi-stage oil-water separator and an oil skimming mechanism; the oil skimming mechanism is used for removing floating oil on the water surface; the multi-stage oil-water separator and the oil suction pump are fixedly connected to the working platform, and a water inlet of the multi-stage oil-water separator is connected with an outlet of the oil suction pump through a water pipe; oil and water extracted from water at a greasy dirt leakage position by the oil suction pump enters from a water inlet of the multi-stage oil and water separator and is subjected to oil and water separation treatment in the first-stage physical separation unit, the electrochemical reaction separation unit and the second-stage physical separation unit in sequence. The device disclosed by the invention is suitable for harmless cleaning and separation operation of oil stains on the surfaces of flow channel bottom plates and side walls of flood discharge facilities and floating oil on the water surface of a water accumulation area.

The present invention is an amphibious detection snake based on bionics. The present invention relates to the technical field of amphibious detection snakes. The present invention is mainly composed of an STM32F103ZET6 single-chip microcomputer main control component, a MIPI camera, an ESP8266WIFI module, a universal wheel, a servo, etc. The present invention can automatically switch between land mode and water mode according to changes in the external environment. When in land mode, the driving motor is driven by the main control component, and the rotation of the servo between the snake joints drives the universal wheel to generate forward rotational power, thereby realizing two-dimensional forward movement. When in water mode, the propeller automatically pops up, and multi-dimensional movement can be realized quickly. The camera detects real-time images in the water and transmits data to the remote control terminal according to the serial communication protocol. Based on the bionic principle, the present invention imitates the movement posture of the snake during movement to have better camouflage, and can realize reconnaissance and detection in a variety of environments.

The invention belongs to the technical field of transfer equipment, and particularly relates to an amphibious transfer trolley which comprises a trolley frame, two sets of walking wheel systems are connected to the lower end of the trolley frame, each walking wheel system comprises a plurality of symmetrically-distributed wheel supports, rotating frames are rotationally connected to the lower ends of the wheel supports, and fixing frames are rotationally connected to the lower ends of the rotating frames. Walking wheels are rotationally connected to the fixing frames, the rotating frames in the walking wheel system are divided into two symmetrical sets, connecting push rods are rotationally connected between the two adjacent rotating frames in the same set, the connecting push rod at one end is rotationally connected with a hydraulic telescopic rod, and the other end of the hydraulic telescopic rod is rotationally connected with the trolley frame. The front hydraulic telescopic rod and the rear hydraulic telescopic rod which are symmetrical are both connected with a pressure supply system connected to the trolley frame, and synchronous stretching and retracting of the two symmetrical hydraulic telescopic rods are achieved through the pressure supply system. And the practicability is high.

The utility model discloses a zipper storage type floating device which comprises a vehicle body, buoyancy assemblies and an air inlet and outlet valve, the foldable buoyancy assemblies are symmetrically arranged on the left side and the right side of the vehicle body, each buoyancy assembly comprises a floating bag and a storage sleeve arranged outside the floating bag, and a zipper is arranged on each storage sleeve in the length direction. According to the device, rigid connection and flexible storage are combined, on the premise that an original vehicle body framework is maintained, function expansion is achieved through reversible mechanical connection, the defect that a vehicle body structure needs to be damaged when a traditional amphibious vehicle is refitted is overcome, and the service life of the amphibious vehicle is prolonged. The floating stability is guaranteed, and meanwhile the characteristics of rapid storage, stable unfolding and modular maintenance are achieved.