A multi-habitat robot with variable posture and cross-medium capability

Abstract

The present invention discloses a variable-posture cross-medium multi-habitat robot, which belongs to the field of robotics. The variable-posture cross-medium multi-habitat robot includes a bracket and two sets of drive components symmetrically arranged on both sides of the bracket. Each set of drive components includes a multi-habitat motion mechanism and a posture switching mechanism. The multi-habitat motion mechanism can rotate in a vertical plane relative to the bracket. The posture switching mechanism is used to drive the multi-habitat motion mechanism to rotate relative to the bracket, so that the robot can switch between multiple driving postures corresponding to multiple medium motion modes. The present invention realizes motion in multiple media using the same set of drive motors through a variable-posture three-habitat motion mechanism, and the posture switching mechanism can realize the switching of motion modes. The overall integration is high, and the volume and weight are relatively small.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a posture-variable, cross-medium, multi-habitat robot. Background Art

[0002] At present, there are many research and development results of cross-media amphibious robots, and the product forms are diverse. There are few domestic research and development results of amphibious robots for the three media of water, land and air. With the development of science and technology and the subdivision and deepening of the field of robot research and development, the ever-changing special environment and complex operation requirements, the demand for amphibious robots is increasing, and amphibious robots will play an important role in more scenarios.

[0003] While existing amphibious vehicles and drones address the challenges of water entry and exit and multi-media mobility faced by traditional cross-medium vehicles, most utilize multiple independent motion mechanisms for both aerial and underwater movement, similar to a building block design approach. This results in relatively weak system integrity and integration. These solutions also reduce underwater propulsion efficiency and increase payload weight during aerial flight. Furthermore, the increased number of power components increases the aircraft's size. Furthermore, existing solutions focus primarily on amphibious movement and are unable to achieve cross-medium operation capable of operating in all three media. Summary of the Invention

[0004] The invention discloses a posture-variable cross-medium multi-habitat robot, which solves the problem of poor environmental adaptability of traditional single-medium or amphibious robots.

[0005] According to an embodiment of the present invention, there is provided a variable-posture cross-medium multi-robot, comprising a bracket and two groups of drive assemblies symmetrically arranged on both sides of the bracket, each group of drive assemblies comprising a multi-robot motion mechanism and a posture switching mechanism, the multi-robot motion mechanism being rotatable in a vertical plane relative to the bracket, the posture switching mechanism being used to drive the multi-robot motion mechanism to rotate relative to the bracket, so that the robot switches between a plurality of driving postures corresponding to a plurality of medium motion modes; the multi-robot motion mechanism comprising a power mechanism and a power switching mechanism, the power mechanism comprising a driving motor, a driving shaft assembly, a first propeller and a second propeller, the driving shaft assembly comprising a hollow shaft and a core shaft passing through the hollow shaft, the proximal end of the core shaft being connected to the output shaft of the driving motor, the distal end of the core shaft being connected to the first propeller, and the distal end of the hollow shaft being connected to the second propeller; the hollow shaft also A movable coupling component is provided, which is fixed relative to the core shaft in the circumferential direction and slidably mounted on the hollow shaft relative to the hollow shaft in the axial direction, and the core shaft is also provided with a fixed coupling component; when the posture switching mechanism drives the multi-functional motion mechanism to rotate relative to the bracket, it drives the power switching mechanism to move, and then drives the movable coupling component to slide along the hollow shaft, so that the movable coupling component engages or disengages with the fixed coupling component; wherein, when the movable coupling component engages with the fixed coupling component, the core shaft transmits the power from the output shaft of the drive motor to the hollow shaft via the fixed coupling component and the movable coupling component, so as to drive the first propeller and the second propeller at the same time; when the movable coupling component is separated from the fixed coupling component, the power of the output shaft of the drive motor is only used to drive the first propeller through the core shaft.

[0006] In some other embodiments, the first propeller is a propeller for providing flight power; the second propeller is an integrated wheel-paddle propeller, whose outer circumference is a wheel structure that provides ground walking function, and the internal hub is distributed with multiple blades for providing water power.

[0007] In some other embodiments, the fixed coupling component is a spline groove arranged near the proximal end of the core shaft; the proximal end of the hollow shaft forms a polyhedron structure, and the movable coupling component is a spline plate mounted on the polyhedron structure, and the teeth of the spline plate are arranged corresponding to the spline groove.

[0008] In some other embodiments, each driving assembly includes a mechanism connection base, which is fixedly connected to the bracket, and the proximal end of the power mechanism is connected to the mechanism connection base through a first hinge; the power switching mechanism includes a connecting rod and a fork, and the proximal end of the connecting rod is connected to the mechanism connection base through a second hinge, and the fork is arranged at the distal end of the connecting rod and coupled to the movable coupling component. When the power mechanism rotates around the first hinge relative to the bracket, the connecting rod rotates around the second hinge to drive the movable coupling component to slide toward the distal end or proximal end of the hollow shaft through the fork.

[0009] In some other embodiments, the mechanism connection base includes a middle arm and side arms located on both sides of the middle arm, the proximal end of the power mechanism is connected to the middle arm through the first hinge, the two side arms are respectively connected to the connecting rod through the second hinge, and the two forks arranged at the far ends of the two connecting rods are coupled to the movable coupling component from both sides.

[0010] In some other embodiments, the first hinge is a damping hinge with an adjustable damping value.

[0011] In some other embodiments, each drive assembly includes two multi-functional motion mechanisms and an attitude switching mechanism, wherein the attitude switching mechanism is arranged in the middle of one side of the bracket, and the two multi-functional motion mechanisms are located on both sides of the attitude switching mechanism. The attitude switching mechanism includes a servo and a rotating connecting rod driven by the servo to rotate relative to the bracket in a vertical plane, and the rotating connecting rod is respectively connected to the two multi-functional motion mechanisms.

[0012] In some other embodiments, the posture switching mechanism is arranged in the middle of one side of the bracket through a fixing bracket, and the lower end of the fixing bracket extends out of the bottom surface of the bracket by a predetermined distance.

[0013] In some other embodiments, the multiple driving postures include: a first driving posture corresponding to an aerial flight motion mode, in which the posture switching mechanism drives the amphibious motion mechanism to rotate to a +90° position relative to the bracket; a second driving posture corresponding to a ground walking motion mode, in which the posture switching mechanism drives the amphibious motion mechanism to rotate to a 0° position relative to the bracket; and a third driving posture corresponding to an underwater motion mode, in which the posture switching mechanism provides a horizontal driving force when driving the amphibious motion mechanism to rotate to a 0° position relative to the bracket, and provides a vertical driving force when driving the amphibious motion mechanism to rotate to an inclined position of a predetermined angle relative to the bracket.

[0014] In some other embodiments, the bracket includes an upper frame, a lower frame, and a support column for connecting the upper frame and the lower frame, and the upper frame and the lower frame are both integrally formed carbon fiber plates.

[0015] The present invention realizes movement in multiple media using the same set of drive motors through a three-dimensional motion mechanism with variable posture, and the motion mode can be switched by adopting a posture switching mechanism. The overall integration is high, and the volume and weight are relatively small.

[0016] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] In the attached figure:

[0019] Figure 1 Schematic diagram of the overall structure of a variable-posture, cross-medium, multi-habitat (tri-habitat) robot according to an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a bracket structure according to an embodiment of the present invention;

[0021] Figure 3 Schematic diagram of the structure of the posture switching mechanism (single side) according to an embodiment of the present invention;

[0022] Figure 4 、 5 Schematic diagram of the multi-functional motion mechanism according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the working principle of the posture switching mechanism;

[0024] Figure 7 This is a schematic diagram of the robot's flight motion mode;

[0025] Figure 8 Schematic diagram of the robot's ground motion mode;

[0026] Figure 9 Schematic diagram of the robot's underwater movement mode. DETAILED DESCRIPTION

[0027] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. It should be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention, its application, or use.

[0028] To address the shortcomings of existing solutions, the present invention proposes a robot capable of motion in three media: water, land, and air. This expands its application scope to accommodate diverse terrains in natural environments. To this end, the present invention proposes a novel structure that enables posture changes and power switching, allowing a single power source to drive different end-of-body motion components in diverse media conditions. Compared to traditional solutions, this invention offers a smaller size and weight, fewer motion control variables, and higher system reliability.

[0029] Figure 1 Schematic diagram of the overall structure of a variable-posture, cross-medium, multi-habitat (tri-habitat) robot according to an embodiment of the present invention. Figure 1 As shown, the variable-posture cross-medium multi-robot includes a support 3 and two sets of drive assemblies symmetrically arranged on either side of the support. Each set of drive assemblies includes a multi-robot motion mechanism 1 and a posture switching mechanism 2. The multi-robot motion mechanism can rotate in a vertical plane relative to the support. The posture switching mechanism is used to drive the multi-robot motion mechanism to rotate relative to the support, allowing the robot to switch between multiple drive postures corresponding to multiple medium motion modes.

[0030] Figure 2 Schematic diagram of the support structure according to an embodiment of the present invention. Figure 2 As shown, the bracket 3 includes an upper frame 31, a lower frame and a support column 34 for connecting the upper frame and the lower frame. The upper frame and the lower frame are both integrally formed carbon fiber plates.

[0031] In the present invention, the robot bracket adopts carbon fiber plate as the frame component. The upper frame 31 and the lower frame of the bracket are made of carbon fiber plate and are integrally processed and formed. The support column 34 is used as a connecting part between the upper frame and the lower frame to connect the upper and lower frames into an integral structure, while increasing the strength and stability of the frame.

[0032] Two sets of attitude switching mechanism mounting brackets 32 are symmetrically arranged in the middle of the double-layer carbon fiber plate. These brackets are used to mount the servos that secure the attitude switching mechanisms. In one example, the lower ends of the attitude switching mechanism mounting brackets 32 extend a predetermined distance beyond the bottom surface of the bracket 3, providing support for the robot's takeoff and landing during flight.

[0033] Figure 3FIG. 1 is a schematic diagram of a top view of a variable-posture cross-medium multi-habitat robot according to an embodiment of the present invention. Figure 1 、 3 As shown, in this embodiment, each drive assembly includes two multi-functional motion mechanisms 1 and a posture switching mechanism 2. The posture switching mechanism is located in the middle of one side of the bracket, and the two multi-functional motion mechanisms are located on both sides of the posture switching mechanism. The posture switching mechanism includes a servo 21 and a rotating link 23 driven by the servo to rotate relative to the bracket in a vertical plane. The rotating link 23 is connected to each of the two multi-functional motion mechanisms 1. The servo 21 is mounted on the bracket 1 via a servo fixing plate 22.

[0034] Figure 4 、 Figure 5 The following is a schematic diagram of the structure of a multi-functional motion mechanism according to an embodiment of the present invention. As shown in the figure, the multi-functional motion mechanism includes a power mechanism and a power switching mechanism. The power mechanism includes a drive motor 19, a drive shaft assembly, a first propeller 11, and a second propeller 12. The drive shaft assembly includes a hollow shaft 118 and a core shaft 112 extending therethrough. The proximal end of the core shaft is connected to the output shaft of the drive motor 19, the distal end of the core shaft is connected to the first propeller 11, and the distal end of the hollow shaft is connected to the second propeller 12.

[0035] The hollow shaft is also provided with a movable coupling component, which is fixed relative to the hollow shaft in the circumferential direction and slidably mounted on the hollow shaft in the axial direction. The core shaft 112 is also provided with a fixed coupling component. When the attitude switching mechanism drives the multi-functional motion mechanism to rotate relative to the bracket, it drives the power switching mechanism to move, and then drives the movable coupling component to slide along the hollow shaft, so that the movable coupling component engages or disengages with the fixed coupling component. When the movable coupling component engages with the fixed coupling component, the core shaft transmits the power from the output shaft of the drive motor to the hollow shaft via the fixed coupling component and the movable coupling component, so as to drive the first propeller and the second propeller 12 at the same time. When the movable coupling component is separated from the fixed coupling component, the power of the output shaft of the drive motor is only used to drive the first propeller 11 through the core shaft.

[0036] In one embodiment, the fixed engagement member is a spline slot 113 provided near the proximal end of the core shaft. The proximal end of the hollow shaft forms a polyhedron structure, and the movable engagement member is a spline clamping plate 116 sleeved on the polyhedron structure, with the teeth of the spline clamping plate corresponding to the spline slot.

[0037] In the present invention, the first propeller is a propeller for providing flight power. The second propeller is a wheel-paddle integrated propeller, the outer circumference of which is a wheel-type structure that provides the function of walking on the ground, and the internal hub is distributed with multiple blades for providing power in the water. The robot's rotor motion assembly is the main power source for the flight of the main body. The motor drives the rotor to rotate at high speed, changing the air pressure difference around the drone body, providing the drone with power to rise or move. The robot's underwater propeller provides power for the drone to move underwater. Through the rotation of the underwater propeller, the water pressure difference around the body is changed, providing the drone with power for underwater navigation. The outer ring of the underwater propeller is a wheel-type structure, which can realize the function of walking on land.

[0038] In this invention, the multi-functional motion mechanism is designed with two propeller systems: a flight propeller and a wheel-paddle propeller, to accommodate different motion media. The flight propeller provides propulsion for the drone during flight. The wheel-paddle propeller features a wheel-like outer circumference with multiple propeller blades distributed within the hub, enabling both land travel and underwater motion.

[0039] The flying propeller and the integrated wheel-paddle propeller are arranged on the same axis, and the centers of rotation are collinear. The flying propeller and the integrated wheel-paddle propeller are respectively fixed on the inner and outer shafts (core shaft and hollow shaft). The hollow shaft is an internal hollow structure, and the core shaft extends from the internal hollow structure of the hollow shaft.

[0040] The flight propeller is fixedly mounted on the end (distal end) of the core shaft 112, and the other end (proximal end) of the core shaft 112 is connected to the drive motor through a coupling 110. The wheel-paddle integrated propeller is fixedly mounted on the end (distal end) of the hollow shaft 118, and a movable spline clamp is arranged at the other end (proximal end) of the hollow shaft, which can rotate synchronously with the hollow shaft. A spline slot 113 is fixed at one end of the core shaft. One end of the hollow shaft is designed as a polyhedron (e.g., a hexahedron) rotary structure, and a movable spline clamp 116 is installed on the rotary structure. The movable spline clamp can rotate synchronously with the hollow shaft, and at the same time, under the driving force of an external force, the movable spline clamp can move along the hexahedron rotary structure. When the teeth of the spline clamp are stuck in the corresponding position of the spline slot, the spline clamp and the spline slot are engaged together, and the core shaft transmits motion and power to the hollow shaft.

[0041] In one embodiment, each drive assembly includes a mechanism connection base 13, which is fixedly connected to the bracket 3. The proximal end of the power mechanism is connected to the mechanism connection base 13 via a first hinge 15. The power switching mechanism includes a connecting rod 18 and a shift fork 114. The proximal end of the connecting rod 18 is connected to the mechanism connection base 13 via a second hinge 14. The shift fork 114 is disposed at the distal end of the connecting rod 18 and is coupled to a movable engagement component (spline clamp 116). When the power mechanism rotates relative to the bracket 3 about the first hinge 15, the connecting rod 18 rotates about the second hinge 14, driving the movable engagement component to slide toward the distal or proximal end of the hollow shaft 118 via the shift fork.

[0042] like Figure 4 、 5 As shown, the mechanism connection base 13 includes a middle arm and side arms located on both sides of the middle arm. The proximal end of the power mechanism is connected to the middle arm through a first hinge 15, and the two side arms are connected to a connecting rod through a second hinge 14 respectively. The two forks 114 arranged at the far ends of the two connecting rods 18 are coupled to the moving coupling parts (spline clamping plate 116) from both sides respectively.

[0043] Furthermore, the mechanism connection base 13 is connected and fixed to the robot frame. The power mechanism also includes a housing for carrying various components, consisting of a lower housing 16 and an upper housing 17. The power mechanism housing is hinged to the mechanism connection base 13 via a damping hinge 15. The drive motor 19 is arranged inside the housing of the multi-functional motion mechanism and, through the attitude switching mechanism, drives different blades to rotate at different speeds in different media.

[0044] In the present invention, the first hinge 15 is a damping hinge with adjustable damping value. During posture changes, the multi-functional motion mechanism's rotary axis utilizes a damping hinge as a rotating component. The damping value of the damping hinge is mechanically adjustable and can be adjusted within a certain range. The damping hinge ensures smooth movement and high rotational precision, while also allowing the mechanism to stop at any position and providing a certain degree of anti-rotational damping.

[0045] In the present invention, the second hinge 14 can be, for example, a pin mechanism. Specifically, the connecting rod 18 is hingedly connected to the mechanism connection base 13 through the pin 14.

[0046] In the present invention, the attitude switching mechanism 2 is used as the execution component for switching attitudes, and the two sets of coaxially arranged propeller devices of the robot are powered. Figure 6As shown, the attitude switching mechanism is based on the principle of a slider-crank mechanism, using a servo 21 as a driving component. This drives the rotating connecting rod 23, which in turn drives the multi-functional motion mechanism to rotate about the rotation center of the damping hinge 15 (first hinge). During the rotation of the multi-functional motion mechanism, the connecting rod 18 rotates around the pin 14 (second hinge). During this rotation, the other end of the connecting rod 18 drives the shift fork 114 in a linear direction. The shift fork 114 drives the movable spline clamping plate 116 in a linear direction, achieving separation or engagement with the spline clamping groove 113, thereby switching between different motion modes. This allows only the flight propeller to move during flight, while both the flight propeller and the wheel-propeller propeller rotate simultaneously when the robot is moving underwater or on land.

[0047] Based on the above-mentioned mechanism, the cross-media amphibious robot provided by the present invention has multiple driving postures, including: a first driving posture corresponding to the aerial flight motion mode, the posture switching mechanism drives the amphibious motion mechanism to rotate to a +90° position relative to the bracket; a second driving posture corresponding to the ground walking motion mode, the posture switching mechanism drives the amphibious motion mechanism to rotate to a 0° position relative to the bracket; a third driving posture corresponding to the underwater motion mode, when the posture switching mechanism drives the amphibious motion mechanism to rotate to a 0° position relative to the bracket, it provides a horizontal driving force, and when the posture switching mechanism drives the amphibious motion mechanism to rotate to an inclined position of a predetermined angle relative to the bracket, it provides a vertical driving force.

[0048] like Figure 7 As shown, when the attitude switching mechanism drives the amphibious motion mechanism to the +90° position, the amphibious motion mechanism's housing rotates to a mechanical limit stop, and the robot enters aerial flight mode. At this point, the motor is connected to the flight propeller via a small shaft. When the motor rotates, only the flight propeller rotates, resulting in high motor efficiency. The flight propellers rotate, driving the robot for takeoff and landing. During aerial movement, the motor's direction and speed control enable the robot's rotation and altitude adjustment.

[0049] like Figure 8 As shown, in the land mode, when the attitude switching mechanism drives the amphibious motion mechanism to rotate to the 0° position, the wheel-paddle integrated propeller serves as the execution component of the motion. The outer ring of the wheel-paddle integrated propeller is a wheel structure, which is consistent with the land structure. The motor drives the wheel-paddle integrated propeller to rotate, which can realize walking, retreating, turning, circling, etc. on land.

[0050] like Figure 9 As shown in the figure, when the robot moves in water, the attitude switching mechanism drives the amphibious motion mechanism to rotate to the ±45° position. At this time, the motor drives the wheel-paddle integrated propeller to move. The middle form of the wheel-paddle integrated propeller is the propeller structure, which serves as a mechanism for driving the water medium. Figure 9(a)), can provide the robot with horizontal driving force to achieve forward, backward, turning, etc. in the water. When the position is not 0° within the range of ±45° (such as Figure 9 (b) provides the robot with a driving force in the horizontal direction and can also provide the robot with power to rise or dive.

[0051] The cross-medium amphibious robot provided by this invention can achieve cross-medium movement across water, land, and air. The robot utilizes a single drive mechanism to achieve different motion modes in different media. The robot's three-dimensional motion mechanism offers reusable powertrains, reducing overall size, weight, and system complexity. This facilitates storage, transportation, deployment, and recovery, and improves the robot's overall endurance.

[0052] The cross-media amphibious robot provided by the present invention can provide multiple and rapid air, land and underwater support. It has the shielding properties of submarine navigation, which can avoid the air threat of electromagnetic anti-UAV weapons to the body, and the long cruising characteristics of ground vehicles and surface ships, as well as the advantage of the height of aircraft.

[0053] In application scenarios such as inspection, monitoring, and communication relay, the cross-media amphibious robot provided by the present invention can replace multiple unmanned systems to work together, thereby improving operational reliability and mission success rate.

[0054] The cross-medium amphibious robot provided by the present invention adopts a centrally symmetrical structure as a whole and can be symmetrically deformed, avoiding the problem of failure of the traditional unmanned boat's capsizing function. It can complete tasks such as patrolling and communication relay under natural disaster conditions such as typhoons and tsunamis.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solutions of the present invention, they should all be included in the scope of the technical solutions for which protection is sought in the present invention.

Claims

1. A multi-functional robot with a variable posture across media, comprising a support and two drive assemblies symmetrically arranged on either side of the support. The support utilizes a carbon fiber plate as a frame component. Each drive assembly includes a multi-functional motion mechanism and a posture switching mechanism. The multi-functional motion mechanism is rotatable relative to the support in a vertical plane. The posture switching mechanism is configured to drive the multi-functional motion mechanism to rotate relative to the support, thereby enabling the robot to switch between multiple driving postures corresponding to multiple media motion modes. The robot is characterized in that: The multi-functional motion mechanism includes a power mechanism and a power switching mechanism. The power mechanism includes a drive motor, a drive shaft assembly, a first propeller, and a second propeller. The drive shaft assembly includes a hollow shaft and a core shaft passing through the hollow shaft. The proximal end of the core shaft is connected to the output shaft of the drive motor, the distal end of the core shaft is connected to the first propeller, and the distal end of the hollow shaft is connected to the second propeller. The hollow shaft is further provided with a movable joint component, which is fixed relative to the core shaft in the circumferential direction and can be slid relative to the hollow shaft in the axial direction. The core shaft is also provided with a fixed joint component. When the posture switching mechanism drives the multi-functional movement mechanism to rotate relative to the bracket, the power switching mechanism is driven to move, thereby driving the movable joint component to slide along the hollow shaft, so that the movable joint component engages with or disengages from the fixed joint component; When the movable engaging part is engaged with the fixed engaging part, the core shaft transmits power from the output shaft of the drive motor to the hollow shaft via the fixed engaging part and the movable engaging part, thereby simultaneously driving the first propeller and the second propeller; when the movable engaging part is disengaged from the fixed engaging part, the power of the output shaft of the drive motor is only used to drive the first propeller through the core shaft; Each driving assembly includes a mechanism connecting base, which is fixedly connected to the bracket, and the proximal end of the power mechanism is connected to the mechanism connecting base through a first hinge; the power switching mechanism includes a connecting rod and a shift fork, and the proximal end of the connecting rod is connected to the mechanism connecting base through a second hinge, and the shift fork is arranged at the distal end of the connecting rod and coupled to the movable coupling component. When the power mechanism rotates relative to the bracket about the first hinge, the connecting rod rotates about the second hinge to drive the movable coupling component to slide toward the distal end or proximal end of the hollow shaft through the shift fork.

2. The posture-adaptable cross-medium multi-habitat robot according to claim 1, characterized in that: The first propeller is used to provide flight power; the second propeller is a wheel-propeller integrated propeller, whose outer circumference is a wheel structure that provides ground walking function, and the internal hub is distributed with multiple blades for providing water power.

3. The posture-adaptable cross-medium multi-habitat robot according to claim 1, characterized in that: The fixed engaging component is a spline slot arranged near the proximal end of the core shaft; the proximal end of the hollow shaft forms a polyhedron structure, and the movable engaging component is a spline clamping plate sleeved on the polyhedron structure, and the teeth of the spline clamping plate are arranged corresponding to the spline slot.

4. The posture-adaptable cross-medium multi-habitat robot according to claim 1, characterized in that: The mechanism connection base includes a middle arm and side arms located on both sides of the middle arm. The proximal end of the power mechanism is connected to the middle arm through a first hinge, and the two side arms are respectively connected to a connecting rod through a second hinge. The two forks arranged at the far ends of the two connecting rods are coupled to the movable coupling parts from both sides.

5. The posture-adaptable cross-medium multi-habitat robot according to claim 1, characterized in that: The first hinge is a damping hinge with an adjustable damping value.

6. The posture-adaptable cross-medium multi-habitat robot according to claim 1, characterized in that: Each drive assembly includes two multi-functional motion mechanisms and an attitude switching mechanism. The attitude switching mechanism is arranged in the middle of one side of the bracket, and the two multi-functional motion mechanisms are located on both sides of the attitude switching mechanism. The attitude switching mechanism includes a servo and a rotating connecting rod driven by the servo to rotate relative to the bracket in a vertical plane. The rotating connecting rod is respectively connected to the two multi-functional motion mechanisms.

7. The posture-adaptable cross-medium multi-habitat robot according to claim 6, characterized in that: The posture switching mechanism is arranged in the middle of one side of the bracket through a fixing bracket, and the lower end of the fixing bracket extends out of the bottom surface of the bracket by a predetermined distance.

8. The posture-adaptable cross-medium multi-habitat robot according to claim 1, characterized in that: The multiple driving postures include: a first driving posture corresponding to the aerial flight motion mode, in which the posture switching mechanism drives the amphibious motion mechanism to rotate to a +90° position relative to the bracket; a second driving posture corresponding to the ground walking motion mode, in which the posture switching mechanism drives the amphibious motion mechanism to rotate to a 0° position relative to the bracket; a third driving posture corresponding to the underwater motion mode, in which the posture switching mechanism provides a horizontal driving force when driving the amphibious motion mechanism to rotate to a 0° position relative to the bracket, and provides a vertical driving force when driving the amphibious motion mechanism to rotate to an inclined position of a predetermined angle relative to the bracket.

9. The posture-adaptable cross-medium multi-habitat robot according to claim 1, characterized in that: The bracket includes an upper frame, a lower frame and a support column for connecting the upper frame and the lower frame. The upper frame and the lower frame are both integrally formed carbon fiber plates.

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