A amphibious robot driven by a retractable paddle type paddle wheel

Abstract

The application belongs to the technical field of robots, and discloses a scalable amphibious robot driven by a paddle wheel, which comprises a shell, four wheel shafts rotatably connected to the shell and distributed on the left and right sides of the shell, four independent driving mechanisms arranged in the shell, four driving mechanisms connected with the four wheel shafts to drive the wheels to rotate independently, a scalable paddle wheel mechanism contained in the wheel mechanism, the scalable paddle wheel comprising a wheel, an independent small wheel body, a plurality of paddle plates and a scalable mechanism; the scalable mechanism is used for the expansion and contraction of the paddle plates of the paddle wheel, so that the paddle plates of the paddle wheel can be retracted into the wheel and form an integral whole with the wheel, or be expanded into a paddle wheel mechanism and be used for rowing. The single power driving system is combined with the scalable paddle wheel structure, so that the rigidity and flexibility of the hub are ensured when the amphibious robot runs on land, and the energy utilization efficiency is improved when the amphibious robot sails on water.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a retractable, webbed, paddle wheel-driven amphibious robot. Background Technology

[0002] Amphibious robot technology is an important branch of robotics research in recent years. It aims to develop robots that can move freely in both land and water environments. Amphibious robot technology can be applied to fields such as environmental protection, resource surveys, hydrological exploration, coastal scientific research, fisheries administration, leisure and entertainment, and military reconnaissance.

[0003] In existing technologies, most amphibious robots adopt a design that combines two propulsion systems: the land propulsion system (such as wheeled or tracked) and the water propulsion system (such as propeller or jet propulsion) operate independently. This approach is complex in structure, has low energy efficiency, and high manufacturing costs.

[0004] Some amphibious robots adopt wheel-legged or foldable wheel-legged designs, which can replace wheels or transform into wheels for movement on land and have a certain obstacle-crossing ability, and can also maintain a certain degree of mobility in water; however, their structure is not rigid enough when moving on land, and their propulsion efficiency in water is not high.

[0005] Therefore, existing technologies still need improvement and development.

[0006] Based on the above analysis, the problems and defects of the existing technology are as follows: the existing technical solutions have complex structures, low energy efficiency, and high manufacturing costs; or they lack rigidity when driving on land and are not efficient in water propulsion.

[0007] To find the closest existing technology to the described amphibious robot solution and analyze its problems, we need to consider the key technologies in the field of amphibious robots. Currently, the closest existing technology is the traditional amphibious vehicle or robot design, which typically combines wheeled or tracked land-based mobility mechanisms with paddle or propeller-based propulsion mechanisms in water.

[0008] Existing technologies: traditional amphibious vehicles or robots

[0009] 1) Design features: These systems typically employ fixed wheeled or tracked mechanisms for land travel, and fixed paddle or propeller propulsion mechanisms for water travel.

[0010] 2) Structural configuration: In water, they rely on propellers or similar mechanisms for propulsion, while on land, they switch to wheels or tracks for travel.

[0011] Technical problems with existing technologies:

[0012] 1) Switching efficiency: When switching between amphibious environments, traditional designs usually require a complex mechanical transformation process, which leads to low operational efficiency.

[0013] 2) Structural complexity: Because these robots require two different propulsion systems (land and water), their designs are often more complex and bulky.

[0014] 3) Energy consumption problem: When using propeller propulsion in water, especially at low speeds, traditional amphibious robots encounter problems of low efficiency and high energy consumption.

[0015] 4) Limitations in adaptability and flexibility: These systems have limited adaptability and flexibility in specific environments (such as muddy ground or shallow water areas).

[0016] 5) Maintenance and durability issues: Due to their complex design, these robots require more frequent maintenance, and some components are prone to rapid wear and tear due to frequent use. Summary of the Invention

[0017] To address the problems existing in the prior art, this invention provides an amphibious robot driven by a retractable paddle wheel. By combining a single power drive system with a retractable paddle wheel structure, the robot ensures the rigidity and flexibility of the wheel hub when driving on land, and improves energy efficiency when navigating on water.

[0018] This invention is implemented as follows: a retractable paddlewheel-driven amphibious robot includes a shell, on which four wheel axles are rotatably connected and distributed on the left and right sides; four independent drive mechanisms are provided inside the shell, each connected to one of the four wheel axles to drive the wheels to rotate independently; the wheel mechanism includes a retractable paddlewheel mechanism; the retractable paddlewheel includes a wheel, an independent small wheel body, several paddles, and a retractable mechanism; the retractable mechanism is used for the extension and retraction of the paddles, allowing the paddles to retract into the wheel and form an integral part with the wheel, or to unfold into a paddlewheel mechanism for paddling.

[0019] Furthermore, the paddlewheel mechanism includes a wheel, independent small wheels, and a paddle plate. The wheel needs to be machined with hollow structures in the form of holes and plates for hinges with the paddle plate and for storage when the paddle plate is retracted. The hole-shaped structures are evenly distributed along the circumference (the diameter of the circle is D). Correspondingly, the independent small wheels have hole-shaped structures evenly distributed along the circumference (the diameter of the circle is also D) for hinges with the paddle plate. The paddle plate has two shafts, the center lines of which are coplanar and a distance of L, and are hinged to the wheel and the independent small wheels respectively. The distance between the center line of the wheel axle and the center line of the independent small wheels is also L. When the wheel and the independent small wheels move in a circle around their respective axes, the paddle plate moves in a circle around the midpoint between the wheel axle and the small wheel axle without rotating. When the plane of the paddle plate is perpendicular to the water surface, it can ensure that its entry angle into the water is always perpendicular to the direction of the water surface, greatly reducing water splashes and improving the efficiency of the paddlewheel drive.

[0020] Furthermore, the telescopic mechanism includes a linear guide rail, a drive motor, a threaded rod, a telescopic rod, and a crankshaft, used for the retraction and deployment of the paddlewheel mechanism. The drive motor is fixed to the housing together with the linear guide rail, and one end of the threaded rod is fixed to the motor's rotating shaft, performing rotational motion. The threaded rod and the telescopic rod are connected by a helical drive, and the telescopic rod is confined to the linear guide rail to perform linear motion. One end of the telescopic rod is splined to the crankshaft, and the other end of the crankshaft is hinged to the small wheel. When the mechanism extends, the wheel and the small wheel rotate along their respective axes, forming a paddlewheel mechanism with the paddle plate. The telescopic mechanism needs to retract at a specific position to facilitate the paddle plate entering the hollow groove on the wheel. When one end of the crankshaft also enters the slot at the wheel axle end, the telescopic shaft continues to retract and separates from the crankshaft. The wheel, paddle plate, small wheel, and crankshaft form a whole, rotating along the wheel's axis.

[0021] Based on the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solution to be protected by this invention are as follows:

[0022] First, when traveling on land, the paddlewheel mechanism is in a retracted state, integrated with the wheels to meet the high-intensity land travel requirements, while reducing the lateral width, reducing the drag coefficient, and increasing passability on land. When traveling on water, the paddlewheel mechanism effectively increases driving efficiency. Since the paddleboard is always perpendicular to the water surface, it effectively reduces the splashes when the paddleboard enters and exits the water, increasing stealth.

[0023] This invention improves the driving performance of amphibious robots on land and in water through a compact structural design; by combining a single power system with a retractable paddle wheel mechanism, the system structure is greatly optimized, the overall weight is reduced, the performance on land is guaranteed, the efficiency on water is improved, and the range of the equipment is increased.

[0024] Secondly, the expected benefits and commercial value of the technical solution of the present invention after transformation are as follows: The design of the present invention is simple and ingenious, with a compact structure and perfect performance. It is applicable to a variety of military and civilian fields, such as environmental protection, resource survey, hydrological exploration, coastal scientific research, fishery administration, leisure and entertainment, and military reconnaissance. It has a broad market prospect and can provide high-performance, high-value-added amphibious robots for military and civilian fields after mass production.

[0025] The technical solution of this invention fills a technological gap in the domestic and international industry: This invention is the first to propose a retractable paddlewheel drive structure for amphibious robots; compared with the paddlewheel structure used only for water navigation, the structure of this invention is more compact and suitable for both water and land environments; compared with the design that combines water and land propulsion systems, this invention has a simple structure, is lightweight, and has high energy efficiency; compared with the existing retractable propeller structure and deformable wheel-leg structure, this invention has higher drive efficiency and stronger hub rigidity when traveling on land; through a compact and ingenious structural design, this invention simultaneously obtains the advantages of a high-strength land hub and a paddlewheel structure for water navigation, filling a technological gap in high-performance amphibious drive.

[0026] The technical solution of this invention solves a long-standing technical problem that people have long desired to solve but have never been able to: amphibious robots need to balance performance on both land and water, making it difficult to simultaneously satisfy excellent land and water performance, simple structure, low manufacturing cost, and high energy efficiency. Current solutions can only meet some of these requirements. When the land propulsion system and the water propulsion system operate independently, the structure is complex, energy efficiency is low, and manufacturing cost is high. When using wheel-leg or foldable wheel-leg designs, the structure lacks rigidity when traveling on land and the propulsion efficiency in water is low. This invention, by combining a power system with a retractable paddle wheel structure, simultaneously ensures the amphibious robot's performance on both land and water, resulting in a compact structure, low manufacturing cost, and high energy efficiency.

[0027] The technical solution of this invention overcomes technical bias: it is difficult for amphibious robots to adopt a simple structure and obtain high-efficiency drive in both land and water environments at the same time, and existing technologies will inevitably sacrifice some performance requirements; this invention achieves amphibious robots that maintain high-performance drive on land and water in a compact structure by adopting a combination of a power system and a retractable paddle wheel structure.

[0028] Third, the significant technological advancements achieved in each structural component of the amphibious robot solution provided by this invention can be summarized as follows:

[0029] 1) Retractable paddlewheel mechanism

[0030] Technological advancements: Traditional amphibious robots use fixed propulsion mechanisms, while this new structure can automatically adjust to the environment, achieving higher efficiency and adaptability. In water, it unfolds into webbed feet, providing powerful thrust; on land, it retracts, reducing drag and volume, and improving land mobility.

[0031] Impact: This design significantly improves the robot's operational efficiency and flexibility in different environments, while also reducing energy consumption.

[0032] 2) Connection design between the housing and the wheel axle

[0033] Technological advancement: This design allows the wheel axles to rotate flexibly on the housing, enhancing the robot's maneuverability and mobility. Compared to traditional designs, this connection method makes the robot more suitable for complex and varied terrain.

[0034] Impact: Improved the reliability and safety of robots in complex terrains, especially in environments with frequently changing terrain.

[0035] 3) Independent drive mechanism

[0036] Technological advancements: Independent drive for each wheel allows for precise power control and improved handling. This is especially useful in challenging terrain and emergency situations, providing a more accurate response.

[0037] Impact: It enhances the robot's mobility and adaptability, especially in situations requiring rapid response and high-precision control.

[0038] 4) Hollow structures in the shape of holes and plates of wheels

[0039] Technological advancement: This structural design provides storage space for the retractable paddles while maintaining the structural strength of the wheels. It makes the robot more compact and stable when moving on land.

[0040] Impact: This design improves the robot's efficiency and stability when switching between different modes, while also reducing the robot's overall weight.

[0041] 5) Design of telescopic mechanisms (including linear guides, drive motors, etc.)

[0042] Technological advancements: Through precise mechanical control, the retractable mechanism can accurately control the deployment and retraction of the paddlewheel, providing excellent power transmission and conversion capabilities.

[0043] Impact: This design increases the robot's adaptability, enabling it to operate efficiently in a variety of different environments, while reducing maintenance requirements and failure rates.

[0044] These technological advancements have generally improved the performance of amphibious robots, making them more adaptable to changing environments, while also enhancing energy efficiency and operational flexibility. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the overall structure of the retractable paddle wheel-driven amphibious robot provided in an embodiment of the present invention.

[0047] Figure 2 This is an exploded view of the retractable paddle wheel mechanism provided in an embodiment of the present invention;

[0048] Figure 3 These are schematic diagrams of two states of the retractable paddle wheel mechanism provided in this embodiment of the invention; wherein, (a) is the retracted state and (b) is the extended state.

[0049] Figure 4 This is a schematic diagram of the retractable paddle wheel mechanism provided in the embodiments of the present invention in its retracted and extended states; wherein, (a) is a cross-sectional view in the retracted state, (b) is a cross-sectional view in the extended state, (c) is a top view in the retracted state, and (d) is a top view in the extended state.

[0050] Figure 5 This is a reference diagram showing the usage state of the retractable paddle wheel-driven amphibious robot when it is traveling on land, as provided in an embodiment of the present invention.

[0051] Figure 6 This is a reference diagram showing the usage state of the retractable paddle wheel-driven amphibious robot during water navigation, provided in an embodiment of the present invention.

[0052] In the diagram: 1. Housing; 21. Drive motor; 22. Drive gear; 23. Wheel; 3. Paddlewheel mechanism; 31. Linear guide rail; 32. Drive motor; 33. Threaded rod; 34. Telescopic rod; 35. Permanent magnet; 36. Crankshaft; 37. Paddle plate; 38. Small wheel body; 4. Battery pack; 5. Circuit board; 6. Cover. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0054] I will provide two specific embodiments of the amphibious robot design proposed in this invention, along with their respective implementation schemes:

[0055] Example 1: Urban Water Environment Monitoring Robot

[0056] 1) Design purpose: For environmental monitoring of urban water bodies (such as rivers and lakes), including water quality testing and ecological monitoring.

[0057] 2) Wheel and axle design: Lightweight alloy materials are used to improve the robot's mobility and durability.

[0058] 3) Paddlewheel mechanism: When in water, the paddlewheel structure unfolds to provide efficient underwater propulsion; on land, the paddlewheel structure retracts to reduce drag and volume, making it easy to drive along urban waterfronts.

[0059] 4) Sensor integration: Equipped with a variety of water quality detection sensors and environmental monitoring equipment to collect key data.

[0060] 5) Automatic control system: Combining GPS and automatic navigation system, it ensures that the robot can automatically cruise on the predetermined route, while collecting and transmitting data in real time.

[0061] Example 2: Coastline Search and Rescue Robot

[0062] 1) Design purpose: For coastline rescue, including searching for people in distress and transporting relief supplies.

[0063] 2) Structure and Materials: Corrosion-resistant, high-strength materials are used to adapt to the seawater environment. The wheel axles and housings are designed to be more robust to withstand the impact of waves.

[0064] 3) Paddlewheel mechanism: The paddlewheel structure provides powerful propulsion in the water, ensuring the robot moves stably in the waves; on terrain such as beaches or rocks, the paddlewheel retracts to move efficiently on different terrains.

[0065] 4) Rescue equipment: Equipped with life detectors, emergency medical kits, communication equipment and other rescue equipment.

[0066] 5) Advanced navigation and communication system: Combining satellite navigation, wireless communication and autonomous decision-making algorithms, the robot can navigate autonomously in complex environments and maintain real-time communication with the rescue team.

[0067] The two embodiments provided in this invention, targeting different application scenarios, demonstrate the potential applications of amphibious robots in environmental monitoring and emergency rescue. Each embodiment specifically considers the required functionality, environmental adaptability, and necessary technical configuration.

[0068] To address the problems existing in the prior art, the present invention provides a retractable, paddle-wheel-driven amphibious robot. The present invention will be described in detail below with reference to the accompanying drawings.

[0069] The amphibious robot provided by this invention includes a shell with four wheel axles rotatably connected to it, distributed on the left and right sides of the shell. The shell is designed to be robust yet lightweight to adapt to various terrain environments. The retractable, paddlewheel mechanism within the wheel axles, through a special design, provides effective propulsion in both water and land, enabling the robot to smoothly transition and operate in different environments.

[0070] Each wheel axle is connected to an independent drive mechanism, allowing each wheel to rotate independently. This design enhances the robot's maneuverability and adaptability, enabling more precise directional control and improved mobility in complex terrain.

[0071] Each wheel consists of an independent small wheel body and several retractable paddles. These paddles can intelligently extend and retract according to environmental needs to optimize underwater propulsion efficiency and land driving performance. In water, the paddles unfold to form fins, providing powerful paddling power; on land, the paddles retract to ensure the robot's stable movement.

[0072] The wheels have a hollow, perforated and plate-like structure to store the retracted paddles. This structural design not only improves the structural strength of the wheels but also ensures the robot's compactness and stability when moving on land, while facilitating the extension, retraction, and storage of the paddles.

[0073] The individual small wheels have perforated structures that hinge to the paddles. This design allows the paddles to align precisely when extended or retracted, ensuring efficient transmission and stable operation of the robot when switching between different modes.

[0074] It features a retractable mechanism consisting of a linear guide, drive motor, threaded rod, telescopic rod, and crankshaft. This mechanism can precisely control the deployment and retraction of the paddlewheel mechanism, thus adapting to different driving conditions and environments.

[0075] One end of the crankshaft is connected to the telescopic rod via a spline, while the other end is hinged to the small wheel body. This connection method not only ensures the synchronous movement of the paddles but also enhances the stability and durability of the overall structure, enabling the robot to operate in a variety of complex environments.

[0076] When the robot is in water, the paddleboard plane can be perpendicular to the water surface. This design ensures optimal entry angle, thereby reducing water splash and improving the efficiency of the paddle wheel drive. This feature makes the robot more efficient and energy-saving when moving in water, while reducing disturbance to the aquatic ecosystem.

[0077] This invention provides a retractable, paddle-wheel-driven amphibious robot, such as... Figure 1 As shown, the retractable paddlewheel-driven amphibious robot includes a shell 1, with four wheels 23 rotatably connected to the shell 1 and distributed on the left and right sides of the shell 1; four independently operating drive mechanisms are provided inside the shell 1, including drive motors 21 and drive gears 22, and the four drive mechanisms drive the four wheel axles to rotate independently respectively; the wheel mechanism contains a retractable paddlewheel mechanism 3; all mechanisms are controlled by a circuit board 5, and a battery pack 4 provides driving power; it is sealed by a cover 6 to prevent dust and water.

[0078] like Figure 2 , Figure 3 , Figure 4 As shown, the retractable paddlewheel includes a paddlewheel mechanism and a telescopic mechanism. The paddlewheel mechanism includes a wheel 23, an independent small wheel body 38, and several paddle plates 37. The paddle plates 37 have two axles, the center lines of which are coplanar and a distance of L, and are hinged to the wheel 23 and the independent small wheel body 38, respectively. The wheel 23 has hollow structures in the form of holes and plates. The larger hollow structure in the form of holes is used for the hinge between one axle of the wheel 23 and the paddle plate 37, and the thinner hollow structure in the form of plates is used to store the paddle plate 37 when it is retracted. The hollow structures in the form of holes are evenly distributed along the circumference (the diameter of the circumference is D). The independent small wheel body 38 has corresponding hollow structures in the form of holes evenly distributed along the circumference (the diameter of the circumference is also D), which are used for the hinge with the other axle of the paddle plate 37. The distance between the center line of the wheel 23 and the center line of the small wheel body 38 is also L.

[0079] The telescopic mechanism includes a linear guide rail 31, a drive motor 32, a threaded rod 33, a telescopic rod 34, a wheel 23, and a crankshaft 36, and is used for the retraction and expansion of the paddlewheel mechanism. The drive motor 32 and the linear guide rail 32 are fixed to the housing 1. One end of the threaded rod 33 is fixed to the rotating shaft of the motor 32 and rotates. The threaded rod 33 and the telescopic rod 34 are connected by a helical transmission. The telescopic rod 34 is confined to the linear guide rail and moves linearly. The other end of the telescopic rod 34 is square and contains a permanent magnet 35. One end of the crankshaft 36 is square, and the other end is hinged to the small wheel body 38.

[0080] like Figure 4 As shown in (b), when the telescopic mechanism extends, one end of the telescopic rod 34 containing the permanent magnet 35 is inserted into the square hole of the crankshaft 36, thereby pushing the entire paddlewheel mechanism to unfold, as shown in (b). Figure 3As shown in the right figure; the wheel 23 is driven by the drive motor 21, and then the wheel 23 drives the paddle 37 to rotate, which in turn drives the small wheel 38 to rotate; the crankshaft 36 is fixed on the telescopic rod 34, and the small wheel 38 rotates along the center line of the hinge with the crankshaft; the paddle 37 makes a circular motion at the midpoint between the axis of the wheel 23 and the axis of the small wheel 38, and does not rotate itself; therefore, when the initial state of the paddle 37 is set to be perpendicular to the water surface, the paddle 37 can always remain perpendicular to the water surface, thus ensuring that its entry / exit angle is always perpendicular to the water surface direction, greatly reducing water splashes when entering / exiting the water, and improving the working efficiency of the paddle wheel mechanism.

[0081] When the amphibious robot driven by the retractable paddle wheel moves from water to land, the telescopic rod 34 needs to be retracted when the paddle 37 and the hollow structure of the wheel 23 are aligned. At this time, the connection between the telescopic rod 34 and the crankshaft 36 is maintained by the magnetic attraction between the permanent magnet 35 and the crankshaft 36. When the paddle wheel mechanism is fully retracted, the paddle 37 is completely fixed in the hollow structure of the wheel 23, and one end of the crankshaft 36 is also fixed in the square slot at the axle end of the wheel 23. The paddle wheel structure and the wheel 23 form a whole. As the telescopic rod 34 continues to retract, the tension generated by the threaded transmission is much greater than the magnetic attraction of the permanent magnet 35, causing the telescopic rod 34 to separate from the crankshaft 36. Starting the drive motor 21 allows the wheel 23 to drive normally on land.

[0082] Figure 5 , Figure 6 The diagrams show the amphibious robot's state when traveling on land and navigating in water, respectively, driven by a retractable paddlewheel. It can be seen that the wheel structure maintains its integrity and has high rigidity. When the paddlewheel structure retracts into the wheel 23, the vehicle width narrows, providing better environmental mobility. When the amphibious robot described in this invention travels from land to water, the paddlewheel mechanism unfolds, and the same motor system drives the paddlewheel structure to rotate. The propellers provide power for water navigation. During this process, because the paddles are always perpendicular to the water surface, higher paddlewheel drive efficiency is achieved, and water splashes when the paddles enter and exit the water are significantly reduced, improving stealth.

[0083] This invention employs a single power system, which can effectively improve energy efficiency and increase usability in various application scenarios; the scalable structural design gives the amphibious robot better maneuverability, which helps to expand its range of operations when applied to scientific research observation or military reconnaissance.

[0084] To meet various mission requirements, this invention has excellent scalability; by adopting an innovative structure, it saves the space required for the basic motion module, and can then add other observation modules as needed to improve the amphibious robot's information acquisition capabilities.

[0085] This invention can be applied to hydrological and ecological environment surveys along rivers and lakes, and in marshes. Because the water navigation utilizes a paddlewheel structure with movable paddles, it ensures optimal entry and exit angles, significantly reducing splashes and noise, thus minimizing impact on the observed objects and better facilitating the completion of scientific research tasks. This invention can also be used in recreational equipment. Due to its simple design, compact structure, low manufacturing cost, and strong scalability, and its inherent aesthetic appeal, it can be applied to recreational equipment such as amphibious children's toys and amphibious amusement boats.

[0086] Compared with existing technologies that use both land and water propulsion systems, this invention combines a single drive system with a retractable paddle wheel structure, achieving a compact structure, light weight, high energy efficiency, high-performance land travel, and efficient water navigation.

[0087] When navigating on land, the retractable paddlewheel structure is in a retracted state, reducing the rotation of the crankshaft 36, paddles 37, and small wheels 38. This not only increases stability on land but also reduces wind resistance and improves maneuverability in confined spaces. It can also enhance the quality and range of land-based reconnaissance in military applications and expand its civilian applications. When navigating on water, the retractable paddlewheel structure is in an extended state. The paddlewheel rotates, propelling the amphibious robot by pushing off the water with the paddles. During rotation, the paddles remain perpendicular to the water surface, significantly reducing splashes during entry and exit from the water compared to a fixed paddlewheel structure. In military reconnaissance, this greatly improves the stealth capabilities of the amphibious robot.

[0088] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0089] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An amphibious robot, characterized in that, The robot comprises a housing with four wheels rotatably connected to it on the left and right sides. Inside the housing are four independently operating drive mechanisms, including drive motors and drive gears, which independently drive the four wheel axles to rotate. The wheel mechanism includes a retractable paddle wheel mechanism. All mechanisms are controlled by a circuit board, and a battery pack provides the driving power. The entire robot is sealed by a cover. The paddlewheel mechanism includes a wheel, a separate small wheel body, and several paddle plates. Each paddle plate has two axles, the centerlines of which are coplanar and the distance between their centerlines is equal to the distance between the wheel axle centerline and the small wheel body axle centerline. These axles are hinged to the wheel and the small wheel body, respectively. The wheel has hollow structures in the form of holes and plates to hold the paddle plates during retraction; the holes are evenly distributed along the circumference. Correspondingly, the small wheel body has evenly distributed holes along the circumference for hinged to the other axle of the paddle plate. The telescopic mechanism includes a linear guide rail, a drive motor, a threaded rod, a telescopic rod, and a crankshaft, used to control the retraction and extension of the paddlewheel mechanism. The drive motor and the linear guide rail are fixed to the housing, and one end of the threaded rod is fixed to the rotating shaft of the motor to achieve rotational motion. The threaded rod and the telescopic rod are connected by a helical drive, and the telescopic rod is confined to the linear guide rail to achieve linear motion. The other end of the telescopic rod is square and contains a permanent magnet. One end of the crankshaft is square, and the other end is hinged to the small wheel body. When the telescopic mechanism is in operation, the square end of the telescopic rod can be disassembled and plugged into the crankshaft.

2. The amphibious robot of claim 1, characterized in that, One end of the crankshaft is connected to the telescopic rod via a spline, and the other end is hinged to the small wheel body.

3. The amphibious robot of claim 1, characterized in that, When the robot is in water, the paddle plane can be perpendicular to the water surface.

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