Foldable storage type triphibian robot

Abstract

According to the foldable storage type triphibian robot, through the front baffle device, the middle baffle device and the rear baffle device, on the premise that the overall motion performance is guaranteed, motion space is provided for a deformation mechanism under the three motion modes of flying, submerging and crawling, the structure is simple, the sealing performance is good, and the overall size and the structural complexity are reduced. And the folding wings with the streamline appearance can be deformed and folded for three times, so that the space occupied by the interior of the shell is greatly reduced on the premise of ensuring the flying capability. One of the two foldable mechanical legs is a foldable mechanical leg without a rotating motor, and the other two foldable mechanical legs are arranged on the front lower portion and the rear lower portion of the bottom shell and play roles in keeping balance and controlling the movement direction; one type is foldable mechanical legs with rotating motors, four foldable mechanical legs with rotating motors are arranged on the left side and the right side of the bottom shell at intervals and play a role in providing advancing power, and the mechanical legs with the rotating motors can be converted into a horizontal state from a vertical state in the storage process; the storage space required by the mechanical leg is greatly reduced under the combined action of the interval distribution and the rotating motor, and when the two mechanical legs do not work, the two mechanical legs can be completely stored in the bottom shell in a folding mode, so that the movement performance is not influenced. Compared with the prior art, the device is small in size, simple in structure and suitable for complex and changeable environment working conditions, and has the remarkable movement performance advantage.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a foldable and storable amphibious robot. Background Art

[0002] In today's era of rapid technological development, robotics is being integrated into all walks of life with unprecedented breadth and depth. From military reconnaissance, emergency rescue, agricultural production to operations in extreme environments, robots play an irreplaceable role with their unique advantages. However, most robots currently only have a single walking, flying or navigating ability, which significantly limits their motion efficiency and adaptability when facing complex and changing environmental challenges. Although some amphibious robots have tried to integrate the three modes of motion of water, land and air, they often have complex structures, large volumes, and deformation mechanisms that affect motion performance, which reduces flexibility and practicality and makes it difficult to meet the needs of efficient operations. Therefore, it is particularly important to design a foldable and retractable amphibious robot. The robot can flexibly adjust its motion characteristics according to environmental changes while maintaining excellent motion performance. The volume can be reduced through a folding and retractable design, thereby improving its flexible deployment capabilities and overall practicality in a variety of mission scenarios. Summary of the invention

[0003] The purpose of the present invention is to design a foldable amphibious robot that can adjust its motion characteristics according to different environments without affecting its motion performance, and can reduce its own volume by folding and storing.

[0004] The present invention comprises a mechanical leg without a rotating motor 1, a mechanical leg with a rotating motor 2, a folding wing 3, an intermediate baffle device 4, a front baffle device 5, a rear baffle device 6, an air flying propeller 7, an upper shell 8, an underwater diving propeller 9, a bottom shell 10, an electric push rod and a motor fixing bolt 11, an electric push rod 12, an air flying propeller motor 13, an air flying propeller motor fixing bolt 14, a front baffle device fixing bolt 15, a rear baffle device fixing bolt 16, an underwater diving propeller motor 17, an underwater diving propeller motor fixing bolt 18, a folding wing fixing bolt 19, an intermediate baffle device fixing bolt 20, an electric push rod fixing bolt 21, The bottom shell 10 is composed of a teardrop-shaped shell with a streamlined shape, which can reduce the influence of resistance whether in the air or in water. A square hole is opened on the left and right sides and the front and back of the bottom shell 10 for the unfolding and folding of the six mechanical legs. The front and rear ends of the bottom shell 10 each have a motor support platform, and the motor support platform has threaded holes for fixing the motor. There is a boss in the middle part of the bottom shell 10, and the middle part of the boss has 4 evenly distributed through holes, and each through hole has 4 threaded holes around it for installing a mechanical leg 2 with a rotating motor. The boss There is a square hole at the front and rear of the platform, each of which contains two threaded holes for installing the non-rotating motor mechanical leg 1. The top of the boss has a longitudinal groove and two transverse grooves, and 8 threaded holes are distributed around the longitudinal grooves for installing the folding wing 3, the middle baffle device 4, the front baffle device 5 and the rear baffle device 6. The two transverse grooves are left for the action space when the middle baffle device 4 rotates the baffle; the upper shell 8 has the same appearance as the bottom shell 10, and there are also motor support platforms at the front and rear ends. The difference is that only smaller square holes are opened on both sides of the upper shell 8 for the unfolding and folding storage of the folding wing 3. The upper shell 8 is fixedly connected to the bottom shell 10; the space The mid-flight propeller motor 13 is fixedly connected to the front motor support platform of the bottom shell 10 and the upper shell 8 by the aerial flight propeller motor fixing bolts 14, and the shaft of the aerial flight propeller motor 13 is connected to the aerial flight propeller 7 by a flat key, driving the movement of the aerial flight propeller 7 with a streamlined shape and two flight blades; the underwater diving propeller motor 17 is fixedly connected to the rear motor support platform of the bottom shell 10 and the upper shell 8 by the underwater diving propeller motor fixing bolts 18, and the shaft of the underwater diving propeller motor 17 is connected to the underwater diving propeller 9 by a flat key, driving the movement of the underwater diving propeller 9 with a streamlined shape and three diving blades.

[0005] There are two non-rotating motor mechanical legs 1, each of which is fixedly connected to the front and rear ends of the middle boss of the bottom shell 10 by two mechanical leg fixing bolts 22. Each non-rotating motor mechanical leg 1 is composed of a mechanical foot 1-1, 8 mechanical feet and drive motor steering disc fixing bolts 1-2, drive motor I1-3, drive motor connecting plate 1-4, 4 drive motors and drive motor connecting plate fixing bolts 1-5, drive motor II 1-6, 12 drive motor connecting seats and drive motor steering disc fixing bolts 1-7, drive motor fixing plate 1-8, 2 drive motor fixing plates and drive motor fixing bolts 1-9, drive motor III1-10, 6 drive motor steering discs 1-11, and drive motor connecting seat 1-12. The drive motor fixing plate 1-8 is fixedly connected to the drive motor III1-10 through the drive motor fixing plate and the drive motor fixing bolts 1-9. Drive motor I 1-3, drive motor II 1-6 is connected to the shaft of the driving motor III1-10 with the driving motor steering disc 1-11 through a flat key, wherein two driving motor steering discs 1-11 are fixedly connected to the mechanical foot 1-1 through the mechanical foot and the driving motor steering disc fixing bolts 1-2, and the remaining four driving motor steering discs 1-11 are fixedly connected to the driving motor connecting seat and the driving motor steering disc fixing bolts 1-7 and the driving motor connecting seat 1-12, and the driving motor I1-3 and the driving motor II 1-6 are fixedly connected to the driving motor connecting plate 1-4 through the driving motor and the driving motor connecting plate fixing bolts 1-5. The mechanical leg 1 without a rotating motor can be unfolded, folded and adjusted in action under the action of the above three driving motors.

[0006] There are 4 mechanical legs 2 with rotating motors, each of which uses 2 electric push rods and motor fixing bolts 11 to fix 2 electric push rods 12 with the rotating motor 2-11 in the mechanical leg 2 with rotating motors. The electric push rods 12 are fixedly connected to both sides of the middle boss of the bottom shell 10 through the electric push rod fixing bolts 21. The connection combinations of the mechanical legs 2 with rotating motors and the electric push rods 12 are distributed at intervals on both sides of the middle boss of the bottom shell 10, with two groups on each side. The mechanical leg 2 with rotating motors consists of a mechanical foot 2-1, 8 mechanical feet and drive motor steering wheel fixing bolts 2-2, drive motor I 2-3, 4 drive motors and drive motor connecting plate fixing bolts 2-4, drive motor connecting plate 2-5, drive motor II The present invention is composed of 12 drive motor connecting seats and drive motor steering disc fixing bolts 2-7, drive motor III 2-8, 2 drive motors and rotating sleeve fixing bolts 2-9, rotating sleeve 2-10, rotating motor 2-11, 6 drive motor steering discs 2-12, and drive motor connecting seat 2-13. The shaft of rotating motor 2-11 is connected to rotating sleeve 2-10 through a flat key. Rotating sleeve 2-10 is fixedly connected to drive motor III 2-8 through drive motor and rotating sleeve fixing bolts 2-9. Drive motor I 2-3, drive motor II 2-6 and drive motor III 2-8 are connected to drive motor steering disc 2-12 through flat keys. Among them, 2 drive motor steering discs 2-12 are fixedly connected to drive motor steering disc fixing bolts 2-2 and mechanical feet 2-1 through mechanical feet. The remaining 4 drive motor steering discs 2-12 are fixedly connected to drive motor connecting seat and drive motor steering disc fixing bolts 2-7 and drive motor connecting seat 2-13 through drive motor connecting seat. Drive motor I 2-3 is fixedly connected to the driving motor II 2-6 through the driving motor and the driving motor connecting plate fixing bolts 2-4 and the driving motor connecting plate 2-5. The mechanical leg 2 with the rotating motor can be unfolded, folded and adjusted in motion under the action of the three driving motors, and can be rotated as a whole under the action of the rotating motor 2-11.

[0007] The folding wing 3 is fixedly connected to the bottom shell 10 by the folding wing fixing bolts 19. The folding wing 3 is a symmetrical mechanism, which consists of two front wings 3-1, two front wing drive motors 3-2, two middle wings 3-3, two middle wing drive motors 3-4, two rear wings 3-5, six wing connecting bolts 3-6, eight active rod support seat fixing bolts 3-7, two active rod support seats 3-8, a wing base 3-9, two connecting rods 3-10, two active rods 3-11, two wing motors 3-12, and four wing motor fixing bolts 3-13. The active rod support seat 3-8 is fixedly connected to the wing base 3-9 by the active rod support seat fixing bolts 3-7. The wing motor 3-12 is fixed to the active rod support seat 3-8. The interior is fixedly connected to the wing base 3-9 by the wing motor fixing bolts 3-13, the shaft of the wing motor 3-12 is connected to the active rod 3-11 by a flat key, the active rod 3-11, the connecting rod 3-10, and the rear wing 3-5 are hinged by the wing connecting bolts 3-6, the middle wing drive motor 3-4 is fixedly connected to the middle wing 3-3, the shaft of the middle wing drive motor 3-4 is connected to the rear wing 3-5 by a flat key, the front wing drive motor 3-2 is fixedly connected to the front wing 3-1, and the shaft of the front wing drive motor 3-2 is connected to the middle wing 3-3 by a flat key. Under the action of the wing motor 3-12, the front wing drive motor 3-2 and the middle wing drive motor 3-4, the wing can be deformed and folded three times, greatly reducing the required storage space.

[0008] The intermediate baffle device 4 is fixedly connected to the bottom shell 10 by the intermediate baffle device fixing bolts 20. The intermediate baffle device 4 is composed of the intermediate right baffle 4-1, two short-stroke electric push rods and the baffle fixing bolts 4-2, two short-stroke electric push rods 4-3, two long-stroke electric push rods and the fixing bolts 4-4 of the push rod connecting plate, two push rod connecting plates 4-5, two long-stroke electric push rods 4-6, a double-headed motor 4-7, two intermediate baffle rotating sleeves 4-8, four short-stroke electric push rod fixing bolts 4-9, and the intermediate right baffle 4-1. The left baffle plate 4-10 and four long-stroke electric push rod fixing bolts 4-11 are composed of the double-head motor 4-7, the shaft is connected to the middle baffle rotating sleeve 4-8 through a flat key, the long-stroke electric push rod 4-6 is fixedly connected to the middle baffle rotating sleeve 4-8 through the long-stroke electric push rod fixing bolts 4-11, the push rod connecting plate 4-5 is fixedly connected to the long-stroke electric push rod 4-6 through the fixing bolts 4-4 of the long-stroke electric push rod and the push rod connecting plate, and the short-stroke electric push rod 4-3 is fixedly connected to the short-stroke electric push rod Bolt 4-9 is fixedly connected to push rod connecting plate 4-5, and middle right baffle 4-1 and middle left baffle 4-10 are fixedly connected to short-stroke electric push rod 4-3 through short-stroke electric push rod and baffle fixing bolt 4-2. In diving and crawling mode, middle baffle device 4 stays in initial position, and middle right baffle 4-1 and middle left baffle 4-10 with the same shape as upper shell 8 close the square holes on both sides of upper shell 8. When transitioning to flight mode, short-stroke electric push rod 4-3 acts first to move baffles on both sides to The inside of the shell shrinks a given distance, and then the double-headed motor 4-7 drives the middle baffle rotating sleeve 4-8 to rotate the long-stroke electric push rod 4-6 and the short-stroke electric push rod 4-3 downward to a given angle, and finally the long-stroke electric push rod 4-6 shrinks the baffles on both sides to a given position, opens the square holes on both sides of the upper shell 8, and leaves space for unfolding and folding the folding wings 3. When transitioning to the diving and crawling modes, the action sequence when transitioning to the flight mode is reversed, and the baffle closes the square holes on both sides of the upper shell 8.

[0009] The front baffle device 5 is fixed to the bottom shell 10 by the front baffle device fixing bolts 15. The front baffle device 5 is composed of a front lower baffle 5-1, a front lower baffle and a long-stroke electric push rod fixing bolt 5-2, a long-stroke electric push rod 5-3, a rotating rod 5-4, a rotating sleeve 5-5, a motor 5-6, a middle-stroke electric push rod 5-7, a middle-stroke electric push rod and a push rod connecting plate fixing bolt 5-8, a push rod connecting plate 5-9, two short-stroke electric push rod fixing bolts 5-10, a short-stroke electric push rod 5-11, a front left baffle and a short-stroke electric push rod fixing bolt 5-12, a front left baffle 5-13, two long-stroke electric push rod fixing bolts 5-14, and two middle-stroke electric push rod fixing bolts 5-15. The shaft of the motor 5-6 is connected to the bottom shell 10. The long-stroke electric push rod 5-3 is fixedly connected to the rotating rod 5-4 through a flat key, the rotating sleeve 5-5 is connected to the rotating rod 5-4 with a clearance fit, the long-stroke electric push rod 5-3 is fixedly connected to the rotating rod 5-4 through a long-stroke electric push rod fixing bolt 5-14, the front lower baffle 5-1 is fixedly connected to the long-stroke electric push rod 5-3 through the front lower baffle and the long-stroke electric push rod fixing bolt 5-2, the middle-stroke electric push rod 5-7 is fixedly connected to the rotating sleeve 5-5 through the middle-stroke electric push rod and the push rod connecting plate fixing bolt 5-8, and the short-stroke electric push rod 5-11 is fixedly connected to the push rod connecting plate through the short-stroke electric push rod fixing bolt 5-10. On the connecting plate 5-9, the front left baffle 5-13 is fixedly connected with the short-stroke electric push rod fixing bolt 5-12 and the short-stroke electric push rod 5-11 through the front left baffle. In the flight and diving modes, the front baffle device 5 stays in the initial position, and the front lower baffle 5-1 and the front left baffle 5-13 having the same shape as the bottom shell 10 close the square holes on the front lower and left side of the bottom shell 10. When transitioning to the crawling mode, the long-stroke electric push rod 5-3 first moves to shrink the front lower baffle 5-1 into the shell by a given distance, and then the motor 5-6 drives the rotating rod 5-4 to drive the long-stroke electric push rod 5-3 and the front lower baffle 5-1 to rotate left to the limit position of the rotating sleeve 5-5, and the short-stroke electric push rod 5-11 drives the front left baffle 5-13 to the shell The body shrinks a given distance, then the motor drives the rotating rod 5-4 again to drive the long-stroke electric push rod 5-3, the front lower baffle 5-1, the rotating sleeve 5-5, the medium-stroke electric push rod 5-7, the push rod connecting plate 5-9, the short-stroke electric push rod 5-11 and the front left baffle 5-13 to rotate to the left at a given angle, and finally the long-stroke electric push rod 5-3 shrinks the front lower baffle 5-1 to a given position, and the medium-stroke electric push rod 5-7 shrinks the front left baffle 5-13 to a given position, opening the front lower and left square holes of the bottom shell 10 to leave space for the extension and folding of the mechanical legs. When transitioning to the flight and diving modes, the action sequence when transitioning to the crawling mode is reversed, and the baffle closes the front lower and left square holes of the bottom shell 10.

[0010] The rear baffle device 6 is fixed to the bottom shell 10 by the rear baffle device fixing bolts 16. The rear baffle device 6 is composed of a rear lower baffle 6-1, a rear lower baffle and a long-stroke electric push rod fixing bolt 6-2, a long-stroke electric push rod 6-3, a rotating rod 6-4, a rotating sleeve 6-5, a motor 6-6, a middle-stroke electric push rod 6-7, a middle-stroke electric push rod and a push rod connecting plate fixing bolt 6-8, a push rod connecting plate 6-9, two short-stroke electric push rod fixing bolts 6-10, a short-stroke electric push rod 6-11, a rear right baffle and a short-stroke electric push rod fixing bolt 6-12, a rear right baffle 6-13, two long-stroke electric push rod fixing bolts 6-14, and two middle-stroke electric push rod fixing bolts 6-15. The shaft of the motor 6-6 is connected to the rear baffle 6-14. The long-stroke electric push rod 6-3 is fixedly connected to the rotating rod 6-4 through a flat key, the rotating sleeve 6-5 is connected to the rotating rod 6-4 with a clearance fit, the long-stroke electric push rod 6-3 is fixedly connected to the rotating rod 6-4 through a long-stroke electric push rod fixing bolt 6-14, the rear lower baffle 6-1 is fixedly connected to the long-stroke electric push rod 6-3 through the rear lower baffle and the long-stroke electric push rod fixing bolt 6-2, the middle-stroke electric push rod 6-7 is fixedly connected to the rotating sleeve 6-5 through the middle-stroke electric push rod and the push rod connecting plate fixing bolt 6-8, and the short-stroke electric push rod 6-11 is fixedly connected to the push rod connecting plate through the short-stroke electric push rod fixing bolt 6-10 On the connecting plate 6-9, the rear right baffle 6-13 is fixedly connected with the short-stroke electric push rod fixing bolt 6-12 and the short-stroke electric push rod 6-11 through the rear right baffle. In the flight and diving modes, the rear baffle device 6 stays in the initial position, and the rear lower baffle 6-1 and the rear right baffle 6-13 having the same shape as the bottom shell 10 close the square holes at the rear lower and right side of the bottom shell 10. When transitioning to the crawling mode, the long-stroke electric push rod 6-3 first moves to shrink the rear lower baffle 6-1 into the shell by a given distance, and then the motor 6-6 drives the rotating rod 6-4 to drive the long-stroke electric push rod 6-3 and the rear lower baffle 6-1 to rotate right to the limit position of the rotating sleeve 6-5, and the short-stroke electric push rod 6-11 drives the rear right baffle 6-13 to the shell The body shrinks a given distance, then the motor drives the rotating rod 6-4 again to drive the long-stroke electric push rod 6-3, the rear lower baffle 6-1, the rotating sleeve 6-5, the medium-stroke electric push rod 6-7, the push rod connecting plate 6-9, the short-stroke electric push rod 6-11 and the rear right baffle 6-13 to rotate to the right a given angle, and finally the long-stroke electric push rod 6-3 shrinks the rear lower baffle 6-1 to a given position, and the medium-stroke electric push rod 6-7 shrinks the rear right baffle 6-13 to a given position, opening the rear lower and right side square holes of the bottom shell 10 to leave space for the extension and folding storage of the mechanical legs. When transitioning to the flight and diving modes, the action sequence when transitioning to the crawling mode is reversed, and the baffle closes the rear lower and right side square holes of the bottom shell 10.

[0011] The foldable and retractable amphibious robot has three movement modes: flight, diving and crawling. When taking off, the middle baffle device 4 opens the square holes on both sides of the upper shell 8 under the joint action of the double-headed motor 4-7, the short-stroke electric push rod 4-3 and the long-stroke electric push rod 4-6, and the folding wings 3 are unfolded under the joint action of the wing motor 3-12, the front wing drive motor 3-2 and the middle wing drive motor 3-4, and the foldable and retractable amphibious robot is transformed into the flight mode; when about to enter the water, the folding wings 3 are folded and stored into the shell under the joint action of the wing motor 3-12, the front wing drive motor 3-2 and the middle wing drive motor 3-4, and the middle baffle device 4 is unfolded under the joint action of the double-headed motor The square holes on both sides of the upper shell 8 are closed by the joint action of the motor 4-7, the short-stroke electric push rod 4-3 and the long-stroke electric push rod 4-6, and the foldable and retractable amphibious robot is transformed into a diving mode; when it is about to touch the seabed, the front baffle device 5 opens the front lower and left square holes of the bottom shell 10 under the joint action of the long-stroke electric push rod 5-3, the motor 5-6, the middle-stroke electric push rod 5-7 and the short-stroke electric push rod 5-11, and the rear baffle device 6 opens the rear lower and right square holes of the bottom shell 10 under the joint action of the long-stroke electric push rod 6-3, the motor 6-6, the middle-stroke electric push rod 6-7 and the short-stroke electric push rod 6-11, and the non-rotating motor mechanical leg 1 is driven by the drive motor I1-3 and the drive motor II 1-6 and drive motor III1-10 are unfolded, and the mechanical leg 2 with a rotating motor is unfolded under the joint action of drive motor I 2-3, drive motor II2-6, drive motor III2-8 and rotating motor 2-11, and the foldable and retractable amphibious robot is transformed into a crawling mode.

[0012] The folding wing 3, when in the diving and crawling modes, the folding wing 3 maintains the initial folding state. When transitioning to the flight mode, the wing motor 3-12 drives the active rod 3-11 to rotate, the active rod 3-11 drives the connecting rod 3-10 to rotate, the connecting rod 3-10 drives the rear section wing 3-5 to rotate 90° in the horizontal plane, and rotates out from the square holes reserved on both sides of the upper shell 8, so that the rear section wing 3-5 and the wing base 3-9 are located on the same horizontal line, and then the middle section wing driving motor 3-4 drives the middle section wing 3-3 to rotate 180° in the horizontal plane, and rotates out from the storage space in the rear section wing 3-5, so that the middle section wing 3-3 and the wing base 3-9 are located on the same horizontal line. The rear wing 3-5 is located on the same horizontal line, and finally the front wing driving motor 3-2 drives the front wing 3-1 to rotate 180° in the horizontal plane and rotate out of the storage space in the middle wing 3-3, so that the front wing 3-1 and the middle wing 3-3 are located on the same horizontal line, and the folding wing 3 is fully unfolded. The design of the three wings is streamlined and has good air flight performance. When transitioning to the diving and crawling modes, the action sequence of the transition to the flight mode is reversed, and the folding wing 3 is completely stored in the shell. The above-mentioned folding method greatly reduces the space occupied by the folding wing 3 in the shell.

[0013] The non-rotating motor mechanical leg 1 and the rotating motor mechanical leg 2 are in an initial folded state when in flight and diving mode. When transitioning to the crawling mode, the electric push rods 12 on both sides of each rotating motor mechanical leg 2 drive the rotating motor mechanical leg 2 in the folded state to move outward a given distance, and then the rotating motor mechanical legs 2 spaced apart on the left and right sides of the central boss of the bottom shell 10 rotate clockwise from a horizontal state to a vertical state under the drive of the rotating motor 2-11. Thereafter, the two non-rotating motor mechanical legs 1 are unfolded under the action of three driving motors and extend out from the square holes reserved on the front and rear sides of the bottom shell 10. The driving motors III1-10 in the non-rotating motor mechanical leg 1 control the left and right movement, the driving motors II 1-6 control the up and down movement, and the driving motors I 1-3 controls forward and backward movement, the front and rear two mechanical legs 1 without rotating motors play the role of maintaining balance and controlling the direction of movement, the four mechanical legs 2 with rotating motors are unfolded under the action of three driving motors, and extend from the square holes reserved on the left and right sides of the bottom shell 10. The driving motors III2-8 in the mechanical legs 2 with rotating motors control the left and right movement, the driving motors II2-6 control the up and down movement, and the driving motors I 2-3 control the forward and backward movement. The four mechanical legs 2 with rotating motors on the left and right sides play the role of providing forward power. When transitioning to the diving and flight modes, the action sequence when transitioning to the crawling mode is reversed. The above-mentioned arrangement method and rotation method greatly reduce the internal space of the shell required for the folding and storage of the mechanical legs.

[0014] The working process of the present invention is as follows:

[0015] This device has three movement modes: flight, diving and crawling. When taking off, the short-stroke electric push rod 4-3 in the middle baffle device 4 moves first to shrink the baffles on both sides into the shell by a given distance, and then the double-headed motor 4-7 drives the middle baffle rotating sleeve 4-8 to rotate the long-stroke electric push rod 4-6 and the short-stroke electric push rod 4-3 downward by a given angle, and finally the long-stroke electric push rod 4-6 shrinks the baffles on both sides to a given position, opens the square holes on both sides of the upper shell 8, and leaves space for the unfolding and folding storage of the folding wings 3, and the action of the middle baffle device 4 ends; the wing motor 3-12 in the folding wing 3 drives the active rod 3-11 to rotate, the active rod 3-11 drives the connecting rod 3-10 to rotate, and the connecting rod 3-10 drives the rear section machine The wing 3-5 rotates 90° in the horizontal plane and rotates out from the square holes reserved on both sides of the upper shell 8, so that the rear wing 3-5 and the wing base 3-9 are located on the same horizontal line, and then the middle wing driving motor 3-4 drives the middle wing 3-3 to rotate 180° in the horizontal plane and rotates out from the storage space in the rear wing 3-5, so that the middle wing 3-3 and the rear wing 3-5 are located on the same horizontal line, and finally the front wing driving motor 3-2 drives the front wing 3-1 to rotate 180° in the horizontal plane and rotates out from the storage space in the middle wing 3-3, so that the front wing 3-1 and the middle wing 3-3 are located on the same horizontal line, and the folding wing 3 is fully unfolded, and the foldable and retractable amphibious robot is transformed into flight mode.

[0016] When about to enter the water, the folding wing 3 is performed in reverse order according to the action sequence of the transition to the flight mode, that is, the front wing driving motor 3-2 first drives the front wing 3-1 to rotate 180° in the horizontal plane and transfer to the storage space in the middle wing 3-3, and then the middle wing driving motor 3-4 drives the middle wing 3-3 to rotate 180° in the horizontal plane and transfer to the storage space in the rear wing 3-5, and finally the wing motor 3-12 drives the active rod 3-11 to rotate, the active rod 3-11 drives the connecting rod 3-10 to rotate, and the connecting rod 3-10 drives the rear wing 3-5 to rotate 90° in the horizontal plane, and the upper shell 8 is pre-folded from both sides. The square hole is completely turned into the shell, and the folding wings 3 are folded and stored; the middle baffle device 4 also performs the action sequence in reverse order when changing to the flight mode, that is, the long-stroke electric push rod 4-6 first extends the baffles on both sides to a given position, and then the double-headed motor 4-7 drives the middle baffle rotating sleeve 4-8 to rotate the long-stroke electric push rod 4-6 and the short-stroke electric push rod 4-3 upward by a given angle, and finally the short-stroke electric push rod 4-3 extends the baffles on both sides to the outside of the shell by a given distance, and the middle baffle device 4 closes the square holes on both sides of the upper shell 8, and the foldable and storable amphibious robot is transformed into a diving mode.

[0017] When it is about to touch the seabed, the long-stroke electric push rod 5-3 in the front baffle device 5 moves first, shrinking the front lower baffle 5-1 into the shell by a given distance, and then the motor 5-6 drives the rotating rod 5-4 to drive the long-stroke electric push rod 5-3 and the front lower baffle 5-1 to rotate left to the limit position of the rotating sleeve 5-5, and the short-stroke electric push rod 5-11 drives the front left baffle 5-13 to shrink into the shell by a given distance, and then the motor drives the rotating rod 5-4 again to drive the long-stroke electric push rod 5-3 , the front lower baffle 5-1, the rotating sleeve 5-5, the middle-stroke electric push rod 5-7, the push rod connecting plate 5-9, the short-stroke electric push rod 5-11 and the front left baffle 5-13 are rotated to the left at a given angle, and finally the long-stroke electric push rod 5-3 retracts the front lower baffle 5-1 to a given position, and the middle-stroke electric push rod 5-7 retracts the front left baffle 5-13 to a given position, and the front lower and left square holes of the bottom shell 10 are opened to leave space for the extension and folding storage of the mechanical legs, and the front baffle device 5 is actuated. At the same time, the long-stroke electric push rod 6-3 in the rear baffle device 6 moves first, shrinking the rear lower baffle 6-1 into the shell by a given distance, and then the motor 6-6 drives the rotating rod 6-4 to drive the long-stroke electric push rod 6-3 and the rear lower baffle 6-1 to rotate right to the limit position of the rotating sleeve 6-5, and the short-stroke electric push rod 6-11 drives the rear right baffle 6-13 to shrink a given distance into the shell, and then the motor drives the rotating rod 6-4 again to drive the long-stroke electric push rod 6-3 and the rear lower baffle 6-1 to rotate right to the limit position of the rotating sleeve 6-5. The baffle 6-1, the rotating sleeve 6-5, the middle-stroke electric push rod 6-7, the push rod connecting plate 6-9, the short-stroke electric push rod 6-11 and the rear right baffle 6-13 are rotated to the right by a given angle, and finally the long-stroke electric push rod 6-3 retracts the rear lower baffle 6-1 to a given position, and the middle-stroke electric push rod 6-7 retracts the rear right baffle 6-13 to a given position, and the rear lower and right side square holes of the bottom shell 10 are opened to leave space for the extension and folding storage of the mechanical legs, and the action of the front baffle device 6 is completed;Then the electric push rods 12 on both sides of each mechanical leg 2 with a rotating motor drive the mechanical leg 2 with a rotating motor in the folded state to move outward a given distance, and then the mechanical legs 2 with rotating motors spaced apart on the left and right sides of the middle boss of the bottom shell 10 rotate clockwise from a horizontal state to a vertical state under the drive of the rotating motor 2-11, and then the two mechanical legs 1 without rotating motors are unfolded under the action of three driving motors, and extend out from the square holes reserved on the front and back sides of the bottom shell 10, the driving motor III1-10 of the mechanical legs without rotating motors 1 controls the left and right movement, the driving motor II 1-6 controls the up and down movement, and the driving motor I 1-3 controls the front and back movement, and the front and rear two mechanical legs 1 without rotating motors play the role of maintaining balance and controlling the direction of movement, and the four mechanical legs 2 with rotating motors are unfolded under the action of three driving motors, and extend out from the square holes reserved on the left and right sides of the bottom shell 10, the driving motor III2-8 of the mechanical legs 2 with rotating motors controls the left and right movement, the driving motor II 2-6 controls the up and down movement, and the driving motor I 2-3 controls the forward and backward movement, and the four mechanical legs 2 with rotating motors on the left and right sides provide the forward power, and the foldable and retractable amphibious robot is transformed into the crawling mode. ;

[0018] The beneficial effects of the present invention are:

[0019] The invention provides a foldable and retractable amphibious robot, which has three movement modes: flying, diving and crawling. The present invention provides movement space for deformation mechanisms in different modes by means of three baffle devices, namely, front, middle and rear, while ensuring overall motion performance. The present invention has a simple structure, good sealing performance, and reduces the overall volume and structural complexity. The folding wing with a streamlined shape in the present invention can be deformed and folded three times, and the space occupied inside the present invention is greatly reduced while ensuring flight capability. The present invention has two types of foldable mechanical legs, one is a foldable mechanical leg without a rotating motor, a total of two of which are arranged at the front lower part and the rear lower part of the present invention, which play a role in maintaining balance and controlling the direction of movement, and the other is a foldable mechanical leg with a rotating motor, a total of four of which are arranged at intervals on the left and right sides of the present invention, which play a role in providing forward power. The mechanical leg with a rotating motor can be changed from a vertical state to a horizontal state during storage. The above-mentioned interval distribution and the combined effect of the rotating motor greatly reduce the storage space required for the mechanical leg. When not working, the above-mentioned two types of mechanical legs can be completely stored in the present invention by folding, so the motion performance of the present invention in the flight mode and the diving mode will not be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Axonometric diagram of the structure of the mechanical leg 1 without a rotating motor

[0021] Figure 2A front view schematic diagram of the structure of the mechanical leg 1 without a rotating motor

[0022] Figure 3 Axonometric diagram of the structure of the mechanical leg 2 with a rotating motor

[0023] Figure 4 Axonometric diagram of the structure of the mechanical leg 2 with a rotating motor

[0024] Figure 5 It is the structural schematic diagram of the rotating sleeve 2-10

[0025] Figure 6 The structure of the driving motor steering wheel 1-11 is shown in FIG. The structure of the driving motor steering wheel 2-12 is the same as that of the driving motor steering wheel 1-11.

[0026] Figure 7 This is a schematic diagram of the structure of the drive motor connection seat 1-12. The structure of the drive motor connection seat 2-13 is the same as that of the drive motor connection seat 1-12.

[0027] Figure 8 Schematic diagram of the fully unfolded folding wing 3 structure

[0028] Fig. 9 Schematic diagram of the structure of the folding wing 3 after the first folding

[0029] Fig.10 Schematic diagram of the structure of the folding wing 3 after the second folding

[0030] Fig.11 The schematic diagram of the structure of the folding wing 3 after the third folding

[0031] Fig.12 The schematic diagram of the structure of the wing base 3-9 is shown in FIG.

[0032] Fig.13 Schematic diagram of the structure of the active rod support seat 3-8, the wing motor 3-12 and the wing motor fixing bolt 3-13 fixedly connected

[0033] Fig.14 The schematic diagram of the structure of the rear section wing 3-5

[0034] Fig.15 The schematic diagram of the structure of the middle wing 3-3 is shown in FIG.

[0035] Fig.16 The schematic diagram of the structure of the front wing 3-1 is shown in FIG.

[0036] Fig.17 Axonometric diagram of the structure of the intermediate baffle device 4

[0037] Fig.18 Axonometric diagram of the structure of the intermediate baffle device 4

[0038] Fig.19 The schematic diagram of the structure of the middle right baffle 4-1 is shown in FIG.

[0039] Fig. 20 The schematic diagram of the structure of the middle left baffle 4-10 is shown in FIG.

[0040] Fig.21 A schematic diagram of the axonometric structure of the front baffle device 5

[0041] Fig. 22 A schematic diagram of the axonometric structure of the front baffle device 5

[0042] Fig.23 The schematic diagram of the structure of the front lower baffle 5-1 is shown in FIG.

[0043] Fig.24 The schematic diagram of the structure of the front left baffle 5-13 is shown in FIG.

[0044] Fig.25 A schematic diagram of the axonometric structure of the tailgate device 6

[0045] Fig.26 A schematic diagram of the axonometric structure of the tailgate device 6

[0046] Fig. 27 The schematic diagram of the structure of the rear lower baffle 6-1 is shown in FIG.

[0047] Fig.28 The structural diagram of the rear right baffle 6-13 is shown in FIG.

[0048] Fig.29 The structure of the rotating rod 5-4 is shown in FIG. 6-4. The structure of the rotating rod 6-4 is the same as that of the rotating rod 5-4.

[0049] Fig.30 The structure of the rotating sleeve 5-5 is shown in FIG. 6-5. The structure of the rotating sleeve 6-5 is the same as that of the rotating sleeve 5-5.

[0050] Fig.31 Schematic diagram of the structure of the rotating rod 5-4 and the rotating sleeve 5-5 in clearance fit connection, and schematic diagram of the structure of the rotating rod 6-4 and the rotating sleeve 6-5 in clearance fit connection Fig.29 same

[0051] Fig.32 Axonometric diagram of a foldable amphibious robot in crawling mode

[0052] Fig.33 Axonometric diagram of a foldable amphibious robot in crawling mode

[0053] Fig.34 An exploded schematic diagram of the crawling mode structure of a foldable and retractable amphibious robot

[0054] Fig.35 An exploded schematic diagram of the crawling mode structure of a foldable and retractable amphibious robot

[0055] Fig.36 It is a structural diagram of the fixed connection between the mechanical leg 1 without a rotating motor, the mechanical leg 2 with a rotating motor and the bottom shell 10

[0056] Fig.37 It is a structural diagram of the fixed connection between the mechanical leg 1 without a rotating motor, the mechanical leg 2 with a rotating motor and the bottom shell 10

[0057] Fig.38 It is a structural diagram of the mechanical leg 2 with a rotating motor, the electric push rod and the motor fixing bolt 11, the electric push rod 12 and the electric push rod fixing bolt 21 are fixedly connected

[0058] Fig.39 A schematic diagram of the axonometric view of the bottom shell 10 structure

[0059] Fig.40 A schematic diagram of the axonometric view of the bottom shell 10 structure

[0060] Fig.41 Axonometric diagram of the upper shell 8 structure

[0061] Fig.42 A schematic top view of the upper shell 8 structure

[0062] Fig.43 Axonometric diagram of the flight mode structure of a foldable amphibious robot

[0063] Fig.44 A top view of the flight mode structure of a foldable amphibious robot

[0064] Fig.45 It is an exploded schematic diagram of the flight mode structure of a foldable and retractable amphibious robot. Partial view a is the fixed connection between the folding wing 3 and the folding wing fixing bolt 19, and partial view b is the fixed connection between the intermediate baffle device 4 and the intermediate baffle device fixing bolt 20.

[0065] Fig.46 Axonometric diagram of the structure of a foldable amphibious robot in submerged mode

[0066] Fig.47 Axonometric diagram of the structure of a foldable amphibious robot in submerged mode

[0067] Fig.48 An exploded schematic diagram of the structure of a foldable amphibious robot in submerged mode

[0068] Among them: 1. Mechanical leg without rotating motor, 1-1. Mechanical foot, 1-2. Fixing bolts between mechanical foot and driving motor steering disc, 1-3. Driving motor I, 1-4. Driving motor connecting plate, 1-5. Fixing bolts between driving motor and driving motor connecting plate, 1-6. Driving motor II, 1-7. Fixing bolts between driving motor connecting seat and driving motor steering disc, 1-8. Driving motor fixing plate, 1-9. Driving motor fixing plate and driving motor fixing bolts, 1-10. Driving motor III, 1-11. Driving motor steering disc, 1-12. Driving motor connecting seat, 2. Mechanical leg with rotating motor, 2-1. Mechanical foot, 2-2. Fixing bolts between mechanical foot and driving motor steering disc, 2-3. Driving motor I, 2-4. Driving motor and driving 2-1. Driving motor connecting plate fixing bolts, 2-5. Driving motor connecting plate, 2-6. Driving motor II, 2-7. Driving motor connecting seat and driving motor steering wheel fixing bolts, 2-8. Driving motor III, 2-9. Driving motor and rotating sleeve fixing bolts, 2-10. Rotating sleeve, 2-11. Rotating motor, 2-12. Driving motor steering wheel, 2-13. Driving motor connecting seat, 3. Folding wing, 3-1. Front wing, 3-2. Front wing driving motor, 3-3. Middle wing, 3-4. Middle wing driving motor, 3-5. Rear wing, 3-6. Wing connecting bolts, 3-7. Active rod support seat fixing bolts, 3-8. Active rod support seat, 3-9. Wing base, 3-10. Connecting rod, 3- 11. Active rod, 3-12. Wing motor, 3-13. Wing motor fixing bolt, 4. Intermediate baffle device, 4-1. Intermediate right baffle, 4-2. Short-stroke electric push rod and baffle fixing bolt, 4-3. Short-stroke electric push rod, 4-4. Long-stroke electric push rod and push rod connecting plate fixing bolt, 4-5. Push rod connecting plate, 4-6. Long-stroke electric push rod, 4-7. Double-head motor, 4-8. Intermediate baffle rotating sleeve, 4-9. Short-stroke electric push rod fixing bolt, 4-10. Intermediate left baffle, 4-11. Long-stroke electric push rod fixing bolt, 5. Front baffle device, 5-1. Front lower baffle, 5-2. Front lower baffle and long-stroke electric push rod fixing bolt, 5-3. Long-stroke electric push rod, 5-4. Rotation Rod, 5-5. Rotating sleeve, 5-6. Motor, 5-7. Middle-stroke electric push rod, 5-8. Middle-stroke electric push rod and push rod connecting plate fixing bolt, 5-9. Push rod connecting plate, 5-10. Short-stroke electric push rod fixing bolt, 5-11. Short-stroke electric push rod, 5-12. Front left baffle and short-stroke electric push rod fixing bolt, 5-13. Front left baffle, 5-14. Long-stroke electric push rod fixing bolt, 5-15. Middle-stroke electric push rod fixing bolt, 6. Rear baffle device, 6-1. Rear lower baffle, 6-2. Rear lower baffle and long-stroke electric push rod fixing bolt, 6-3. Long-stroke electric push rod, 6-4. Rotating rod, 6-5. Rotating sleeve, 6-6. Motor, 6-7. Middle-stroke electric push rod, 6-8.The fixing bolts of the mid-stroke electric push rod and the push rod connecting plate, 6-9. Push rod connecting plate, 6-10. The fixing bolts of the short-stroke electric push rod, 6-11. The short-stroke electric push rod, 6-12. The fixing bolts of the rear right baffle and the short-stroke electric push rod, 6-13. The rear right baffle, 6-14. The fixing bolts of the long-stroke electric push rod, 6-15. The fixing bolts of the mid-stroke electric push rod, 7. The aerial propeller, 8. The upper shell, 9. The underwater propeller, 10. The bottom shell, 11. The fixing bolts of the electric push rod and the motor, 12. The electric push rod, 13. The aerial propeller motor, 14. The fixing bolts of the aerial propeller motor, 15. The fixing bolts of the front baffle device, 16. The fixing bolts of the rear baffle device, 17. The underwater propeller motor, 18. The fixing bolts of the underwater propeller motor, 19. The fixing bolts of the folding wings, 20. The fixing bolts of the intermediate baffle device, 21. The fixing bolts of the electric push rod, 22. The fixing bolts of the mechanical legs. . DETAILED DESCRIPTION

[0069] The present invention will be described below in conjunction with the accompanying drawings.

[0070] like Figure 1-Figure 48 As shown, the present invention consists of a mechanical leg without a rotating motor 1, a mechanical leg with a rotating motor 2, a folding wing 3, an intermediate baffle device 4, a front baffle device 5, a rear baffle device 6, an aerial propeller 7, an upper shell 8, an underwater diving propeller 9, a bottom shell 10, an electric push rod and motor fixing bolts 11, an electric push rod 12, an aerial propeller motor 13, an aerial propeller motor fixing bolts 14, a front baffle device fixing bolt 15, a rear baffle device fixing bolt 16, an underwater diving propeller motor 17, an underwater diving propeller motor fixing bolt 18, a folding wing fixing bolt 19, an intermediate baffle device fixing bolt 20, an electric push rod fixing bolt 21, and a mechanical leg fixing bolt 22.

[0071] like Fig.39 and Fig.40As shown, the bottom shell 10 is a teardrop-shaped shell with a streamlined shape, which can reduce the influence of resistance both in the air and in the water. A square hole is opened on the left and right sides and the front and back of the bottom shell 10 for the unfolding and folding storage of the six mechanical legs. The front and rear ends of the bottom shell 10 each have a motor support platform, and the motor support platform has threaded holes for fixing the motor. There is a boss in the middle part of the bottom shell 10, and the middle part of the boss has 4 evenly distributed through holes, and each through hole has 4 threaded holes around it for installing the mechanical leg 2 with a rotating motor. There is a square hole at the front and back of the boss, and each square hole contains 2 threaded holes for installing the mechanical leg 1 without a rotating motor. The top of the boss has a longitudinal groove and two transverse grooves, and 8 threaded holes are distributed around the longitudinal groove for installing the folding wing 3, the middle baffle device 4, the front baffle device 5 and the rear baffle device 6. The two transverse grooves are reserved for the action space when the middle baffle device 4 rotates the baffle.

[0072] like Fig.41 and Fig.42 As shown, the upper shell 8 has the same appearance as the bottom shell 10, and there are motor support platforms at the front and rear ends. The difference is that only smaller square holes are opened on both sides of the upper shell 8 for unfolding and folding the folding wings 3. The upper shell 8 is fixedly connected to the bottom shell 10.

[0073] like Fig.34 As shown, the aerial flying propeller motor 13 is fixedly connected to the front end motor support platform of the bottom shell 10 and the upper shell 8 by the aerial flying propeller motor fixing bolts 14, and the shaft of the aerial flying propeller motor 13 is connected to the aerial flying propeller 7 by a flat key, driving the movement of the aerial flying propeller 7 with a streamlined shape and two flying blades; the underwater diving propeller motor 17 is fixedly connected to the rear end motor support platform of the bottom shell 10 and the upper shell 8 by the underwater diving propeller motor fixing bolts 18, and the shaft of the underwater diving propeller motor 17 is connected to the underwater diving propeller 9 by a flat key, driving the movement of the underwater diving propeller 9 with a streamlined shape and three diving blades.

[0074] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 , Fig.36 and Fig.37As shown, there are two non-rotating motor mechanical legs 1, each of which is fixedly connected to the front and rear ends of the middle boss of the bottom shell 10 by two mechanical leg fixing bolts 22. Each non-rotating motor mechanical leg 1 is composed of a mechanical foot 1-1, 8 mechanical feet and drive motor steering disc fixing bolts 1-2, drive motor I1-3, drive motor connecting plate 1-4, 4 drive motors and drive motor connecting plate fixing bolts 1-5, drive motor II 1-6, 12 drive motor connecting seats and drive motor steering disc fixing bolts 1-7, drive motor fixing plate 1-8, 2 drive motor fixing plates and drive motor fixing bolts 1-9, drive motor III1-10, 6 drive motor steering discs 1-11, and drive motor connecting seat 1-12. The drive motor fixing plate 1-8 is fixedly connected to the drive motor III1-10 through the drive motor fixing plate and the drive motor fixing bolts 1-9. The drive motor I1-3 and the drive motor II 1-6 is connected to the shaft of the driving motor III1-10 with the driving motor steering disc 1-11 through a flat key, wherein two driving motor steering discs 1-11 are fixedly connected to the mechanical foot 1-1 through the mechanical foot and the driving motor steering disc fixing bolts 1-2, and the remaining four driving motor steering discs 1-11 are fixedly connected to the driving motor connecting seat and the driving motor steering disc fixing bolts 1-7 and the driving motor connecting seat 1-12, and the driving motor I 1-3 and the driving motor II 1-6 are fixedly connected to the driving motor connecting plate 1-4 through the driving motor and the driving motor connecting plate fixing bolts 1-5. The mechanical leg 1 without a rotating motor can be unfolded, folded and adjusted in action under the action of the above three driving motors.

[0075] like Figures 3 to 7 , Fig.36 and Fig.37As shown, there are 4 mechanical legs 2 with rotating motors, each of which uses 2 electric push rods and motor fixing bolts 11 to fix 2 electric push rods 12 with the rotating motor 2-11 in the mechanical leg 2 with rotating motors. The electric push rods 12 are fixedly connected to both sides of the middle boss of the bottom shell 10 through the electric push rod fixing bolts 21. The connection combinations of the mechanical legs 2 with rotating motors and the electric push rods 12 are distributed at intervals on both sides of the middle boss of the bottom shell 10, with two groups on each side. The mechanical leg 2 with rotating motors consists of a mechanical foot 2-1, 8 mechanical feet and drive motor steering wheel fixing bolts 2-2, drive motor I 2-3, 4 drive motors and drive motor connecting plate fixing bolts 2-4, drive motor connecting plate 2-5, drive motor II The present invention is composed of 12 drive motor connecting seats and drive motor steering disc fixing bolts 2-7, drive motor III 2-8, 2 drive motors and rotating sleeve fixing bolts 2-9, rotating sleeve 2-10, rotating motor 2-11, 6 drive motor steering discs 2-12, and drive motor connecting seat 2-13. The shaft of rotating motor 2-11 is connected to rotating sleeve 2-10 through a flat key. Rotating sleeve 2-10 is fixedly connected to drive motor III 2-8 through drive motor and rotating sleeve fixing bolts 2-9. Drive motor I 2-3, drive motor II 2-6 and drive motor III 2-8 are connected to drive motor steering disc 2-12 through flat keys. Among them, 2 drive motor steering discs 2-12 are fixedly connected to drive motor steering disc fixing bolts 2-2 and mechanical feet 2-1 through mechanical feet. The remaining 4 drive motor steering discs 2-12 are fixedly connected to drive motor connecting seat and drive motor steering disc fixing bolts 2-7 and drive motor connecting seat 2-13 through drive motor connecting seat. Drive motor I 2-3 and the driving motor II 2-6 are fixedly connected to the driving motor connecting plate 2-5 through the driving motor and the driving motor connecting plate fixing bolts 2-4. The mechanical leg 2 with the rotating motor can be unfolded, folded and adjusted under the action of the three driving motors, and can be rotated as a whole under the action of the rotating motor 2-11;

[0076] like Figures 8 to 16 and Fig.45As shown, the folding wing 3 is fixedly connected to the bottom shell 10 by the folding wing fixing bolts 19. The folding wing 3 is a symmetrical mechanism, which consists of two front wings 3-1, two front wing drive motors 3-2, two middle wings 3-3, two middle wing drive motors 3-4, two rear wings 3-5, six wing connecting bolts 3-6, eight active rod support seat fixing bolts 3-7, two active rod support seats 3-8, a wing base 3-9, two connecting rods 3-10, two active rods 3-11, two wing motors 3-12, and four wing motor fixing bolts 3-13. The active rod support seat 3-8 is fixedly connected to the wing base 3-9 by the active rod support seat fixing bolts 3-7, and the wing motor 3-12 is fixed on the active rod support seat 3-8. The interior is fixedly connected to the wing base 3-9 by the wing motor fixing bolts 3-13, the shaft of the wing motor 3-12 is connected to the active rod 3-11 by a flat key, the active rod 3-11, the connecting rod 3-10, and the rear wing 3-5 are hinged by the wing connecting bolts 3-6, the middle wing drive motor 3-4 is fixedly connected to the middle wing 3-3, the shaft of the middle wing drive motor 3-4 is connected to the rear wing 3-5 by a flat key, the front wing drive motor 3-2 is fixedly connected to the front wing 3-1, and the shaft of the front wing drive motor 3-2 is connected to the middle wing 3-3 by a flat key. Under the action of the wing motor 3-12, the front wing drive motor 3-2 and the middle wing drive motor 3-4, the wing can be deformed and folded three times, greatly reducing the required storage space.

[0077] like Figures 17 to 20 and Fig.45As shown, the intermediate baffle device 4 is fixedly connected to the bottom shell 10 by the intermediate baffle device fixing bolts 20. The intermediate baffle device 4 is composed of the intermediate right baffle 4-1, two short-stroke electric push rods and the baffle fixing bolts 4-2, two short-stroke electric push rods 4-3, two long-stroke electric push rods and the fixing bolts 4-4 of the push rod connecting plate, two push rod connecting plates 4-5, two long-stroke electric push rods 4-6, a double-headed motor 4-7, two intermediate baffle rotating sleeves 4-8, and four short-stroke electric push rod fixing bolts 4- 9. The middle left baffle plate 4-10 and four long-stroke electric push rod fixing bolts 4-11 are composed of the double-headed motor 4-7, the shaft is connected to the middle baffle rotating sleeve 4-8 through a flat key, the long-stroke electric push rod 4-6 is fixedly connected to the middle baffle rotating sleeve 4-8 through the long-stroke electric push rod fixing bolts 4-11, the push rod connecting plate 4-5 is fixedly connected to the long-stroke electric push rod 4-6 through the fixing bolts 4-4 of the long-stroke electric push rod and the push rod connecting plate, and the short-stroke electric push rod 4-3 is fixedly connected to the short-stroke electric push rod 4-4 through the short-stroke electric push rod. The fixing bolt 4-9 is fixedly connected to the push rod connecting plate 4-5, and the middle right baffle 4-1 and the middle left baffle 4-10 are fixedly connected to the short-stroke electric push rod 4-3 through the short-stroke electric push rod and the baffle fixing bolt 4-2. In the diving and crawling modes, the middle baffle device 4 stays in the initial position, and the middle right baffle 4-1 and the middle left baffle 4-10 with the same shape as the upper shell 8 close the square holes on both sides of the upper shell 8. When transitioning to the flight mode, the short-stroke electric push rod 4-3 first moves to move the baffles on both sides. It shrinks a given distance into the shell, and then the double-headed motor 4-7 drives the middle baffle rotating sleeve 4-8 to rotate the long-stroke electric push rod 4-6 and the short-stroke electric push rod 4-3 downward to a given angle. Finally, the long-stroke electric push rod 4-6 shrinks the baffles on both sides to a given position, opens the square holes on both sides of the upper shell 8, and leaves space for the unfolding and folding of the folding wings 3. When transitioning to the diving and crawling modes, the action sequence when transitioning to the flight mode is reversed, and the baffle closes the square holes on both sides of the upper shell 8.

[0078] like Figure 21 to Figure 24 , Figure 29 to Figure 31 and Fig.34As shown, the front baffle device 5 is fixed to the bottom shell 10 by the front baffle device fixing bolts 15. The front baffle device 5 consists of a front lower baffle 5-1, a front lower baffle and a long-stroke electric push rod fixing bolt 5-2, a long-stroke electric push rod 5-3, a rotating rod 5-4, a rotating sleeve 5-5, a motor 5-6, a middle-stroke electric push rod 5-7, a middle-stroke electric push rod and a push rod connecting plate fixing bolt 5-8, a push rod connecting plate 5-9, two short-stroke electric push rod fixing bolts 5-10, a short-stroke electric push rod 5-11, a front left baffle and a short-stroke electric push rod fixing bolt 5-12, a front left baffle 5-13, two long-stroke electric push rod fixing bolts 5-14, and two middle-stroke electric push rod fixing bolts 5-15. The motor 5-6 shaft The front lower baffle plate 5-1 is fixedly connected to the long-stroke electric push rod 5-3 through the front lower baffle plate and the long-stroke electric push rod fixing bolt 5-2, the middle-stroke electric push rod 5-7 is fixedly connected to the rotating sleeve 5-5 through the middle-stroke electric push rod fixing bolt 5-15, the push rod connecting plate 5-9 is fixedly connected to the middle-stroke electric push rod 5-7 through the middle-stroke electric push rod and the push rod connecting plate fixing bolt 5-8, and the short-stroke electric push rod 5-11 is fixedly connected to the push rod 5-11 through the short-stroke electric push rod fixing bolt 5-10. On the connecting plate 5-9, the front left baffle 5-13 is fixedly connected with the short-stroke electric push rod fixing bolt 5-12 and the short-stroke electric push rod 5-11 through the front left baffle. In the flight and diving modes, the front baffle device 5 stays in the initial position, and the front lower baffle 5-1 and the front left baffle 5-13 having the same shape as the bottom shell 10 close the square holes on the front lower and left side of the bottom shell 10. When transitioning to the crawling mode, the long-stroke electric push rod 5-3 first moves to shrink the front lower baffle 5-1 into the shell by a given distance, and then the motor 5-6 drives the rotating rod 5-4 to drive the long-stroke electric push rod 5-3 and the front lower baffle 5-1 to rotate left to the limit position of the rotating sleeve 5-5, and the short-stroke electric push rod 5-11 drives the front left baffle 5-13 to the shell The body shrinks a given distance, then the motor drives the rotating rod 5-4 again to drive the long-stroke electric push rod 5-3, the front lower baffle 5-1, the rotating sleeve 5-5, the medium-stroke electric push rod 5-7, the push rod connecting plate 5-9, the short-stroke electric push rod 5-11 and the front left baffle 5-13 to rotate to the left at a given angle, and finally the long-stroke electric push rod 5-3 shrinks the front lower baffle 5-1 to a given position, and the medium-stroke electric push rod 5-7 shrinks the front left baffle 5-13 to a given position, opening the front lower and left square holes of the bottom shell 10 to leave space for the extension and folding of the mechanical legs. When transitioning to the flight and diving modes, the action sequence when transitioning to the crawling mode is reversed, and the baffle closes the front lower and left square holes of the bottom shell 10.

[0079] like Figures 25 to 31 and Fig.34 As shown, the rear baffle device 6 is fixed to the bottom shell 10 by the rear baffle device fixing bolts 16. The rear baffle device 6 consists of a rear lower baffle 6-1, a rear lower baffle and a long-stroke electric push rod fixing bolt 6-2, a long-stroke electric push rod 6-3, a rotating rod 6-4, a rotating sleeve 6-5, a motor 6-6, a middle-stroke electric push rod 6-7, a middle-stroke electric push rod and a push rod connecting plate fixing bolt 6-8, a push rod connecting plate 6-9, two short-stroke electric push rod fixing bolts 6-10, a short-stroke electric push rod 6-11, a rear right baffle and a short-stroke electric push rod fixing bolt 6-12, a rear right baffle 6-13, two long-stroke electric push rod fixing bolts 6-14, and two middle-stroke electric push rod fixing bolts 6-15. The motor 6-6 shaft The upper part is connected to the rotating rod 6-4 through a flat key, the rotating sleeve 6-5 is connected to the rotating rod 6-4 with a clearance fit, the long-stroke electric push rod 6-3 is fixedly connected to the rotating rod 6-4 through the long-stroke electric push rod fixing bolt 6-14, the rear lower baffle 6-1 is fixedly connected to the long-stroke electric push rod 6-3 through the rear lower baffle and the long-stroke electric push rod fixing bolt 6-2, the middle-stroke electric push rod 6-7 is fixedly connected to the rotating sleeve 6-5 through the middle-stroke electric push rod and the push rod connecting plate fixing bolt 6-8, and the short-stroke electric push rod 6-11 is fixedly connected to the push rod through the short-stroke electric push rod fixing bolt 6-10 On the connecting plate 6-9, the rear right baffle 6-13 is fixedly connected with the short-stroke electric push rod fixing bolt 6-12 and the short-stroke electric push rod 6-11 through the rear right baffle. In the flight and diving modes, the rear baffle device 6 stays in the initial position, and the rear lower baffle 6-1 and the rear right baffle 6-13 having the same shape as the bottom shell 10 close the square holes at the rear lower and right side of the bottom shell 10. When transitioning to the crawling mode, the long-stroke electric push rod 6-3 first moves to shrink the rear lower baffle 6-1 into the shell by a given distance, and then the motor 6-6 drives the rotating rod 6-4 to drive the long-stroke electric push rod 6-3 and the rear lower baffle 6-1 to rotate right to the limit position of the rotating sleeve 6-5, and the short-stroke electric push rod 6-11 drives the rear right baffle 6-13 to the shell The body shrinks a given distance, then the motor drives the rotating rod 6-4 again to drive the long-stroke electric push rod 6-3, the rear lower baffle 6-1, the rotating sleeve 6-5, the medium-stroke electric push rod 6-7, the push rod connecting plate 6-9, the short-stroke electric push rod 6-11 and the rear right baffle 6-13 to rotate to the right a given angle, and finally the long-stroke electric push rod 6-3 shrinks the rear lower baffle 6-1 to a given position, and the medium-stroke electric push rod 6-7 shrinks the rear right baffle 6-13 to a given position, opening the rear lower and right side square holes of the bottom shell 10 to leave space for the extension and folding storage of the mechanical legs. When transitioning to the flight and diving modes, the action sequence when transitioning to the crawling mode is reversed, and the baffle closes the rear lower and right side square holes of the bottom shell 10.

[0080] like Figure 32 to Figure 35 and Figures 43 to 48 As shown, the foldable and retractable amphibious robot has three movement modes: flight, diving and crawling. When taking off, the middle baffle device 4 opens the square holes on both sides of the upper shell 8 under the joint action of the double-headed motor 4-7, the short-stroke electric push rod 4-3 and the long-stroke electric push rod 4-6, and the folding wings 3 are unfolded under the joint action of the wing motor 3-12, the front wing drive motor 3-2 and the middle wing drive motor 3-4, and the foldable and retractable amphibious robot is transformed into the flight mode; when about to enter the water, the folding wings 3 are folded and retracted into the shell under the joint action of the wing motor 3-12, the front wing drive motor 3-2 and the middle wing drive motor 3-4, and the middle baffle device 4 opens the square holes on both sides of the upper shell 8, and the folding wings 3 are unfolded under the joint action of the wing motor 3-12, the front wing drive motor 3-2 and the middle wing drive motor 3-4. The device 4 closes the square holes on both sides of the upper shell 8 under the joint action of the double-headed motor 4-7, the short-stroke electric push rod 4-3 and the long-stroke electric push rod 4-6, and the foldable and retractable amphibious robot is transformed into a diving mode; when it is about to touch the seabed, the front baffle device 5 opens the front lower and left square holes of the bottom shell 10 under the joint action of the long-stroke electric push rod 5-3, the motor 5-6, the middle-stroke electric push rod 5-7 and the short-stroke electric push rod 5-11, and the rear baffle device 6 opens the rear lower and right square holes of the bottom shell 10 under the joint action of the long-stroke electric push rod 6-3, the motor 6-6, the middle-stroke electric push rod 6-7 and the short-stroke electric push rod 6-11, and the non-rotating motor mechanical leg 1 is driven by the motor I 1-3, the driving motor II 1-6 and the driving motor III 1-10 are unfolded, and the mechanical leg 2 with the rotating motor is unfolded under the joint action of the driving motor I 2-3, the driving motor II 2-6, the driving motor III 2-8 and the rotating motor 2-11, and the foldable and retractable amphibious robot is transformed into a crawling mode.

[0081] like Figures 8 to 11 and Figure 43 to Figure 45As shown, the folding wing 3, when in the diving and crawling modes, the folding wing 3 maintains the initial folding state. When transitioning to the flight mode, the wing motor 3-12 drives the active rod 3-11 to rotate, the active rod 3-11 drives the connecting rod 3-10 to rotate, the connecting rod 3-10 drives the rear section wing 3-5 to rotate 90° in the horizontal plane, and rotates out from the square holes reserved on both sides of the upper shell 8, so that the rear section wing 3-5 and the wing base 3-9 are located on the same horizontal line, and then the middle section wing driving motor 3-4 drives the middle section wing 3-3 to rotate 180° in the horizontal plane, and rotates out from the storage space in the rear section wing 3-5, so that the middle section wing 3- 3 and the rear wing 3-5 are located on the same horizontal line, and finally the front wing driving motor 3-2 drives the front wing 3-1 to rotate 180° in the horizontal plane and rotate out of the storage space in the middle wing 3-3, so that the front wing 3-1 and the middle wing 3-3 are located on the same horizontal line, and the folding wing 3 is fully unfolded. The design of the three wings is streamlined and has good air flight performance. When transitioning to the diving and crawling modes, the action sequence of the transition to the flight mode is reversed, and the folding wing 3 is completely stored in the shell. The above folding method greatly reduces the space occupied by the folding wing 3 in the shell.

[0082] like Figures 1 to 4 , Figure 32 to Figure 38 As shown, the non-rotating motor mechanical leg 1 and the rotating motor mechanical leg 2 are in an initial folded state when in flight and diving mode. When transitioning to the crawling mode, the electric push rods 12 on both sides of each rotating motor mechanical leg 2 drive the rotating motor mechanical leg 2 in the folded state to move outward a given distance, and then the rotating motor mechanical legs 2 spaced apart on the left and right sides of the middle boss of the bottom shell 10 rotate clockwise from a horizontal state to a vertical state under the drive of the rotating motor 2-11. Thereafter, the two non-rotating motor mechanical legs 1 are unfolded under the action of three driving motors and extend out from the square holes reserved on the front and rear sides of the bottom shell 10. The driving motor III1-10 in the non-rotating motor mechanical leg 1 controls the left and right movement, the driving motor II 1-6 controls the up and down movement, and the driving motor I 1-3 controls the forward and backward movement, the front and rear two mechanical legs 1 without rotating motors play the role of maintaining balance and controlling the direction of movement, the four mechanical legs 2 with rotating motors are unfolded under the action of three driving motors, and extend from the square holes reserved on the left and right sides of the bottom shell 10. The driving motors III2-8 in the mechanical legs 2 with rotating motors control the left and right movement, the driving motors II 2-6 control the up and down movement, and the driving motors I 2-3 control the forward and backward movement. The four mechanical legs 2 with rotating motors on the left and right sides play the role of providing forward power. When transitioning to the diving and flight modes, the action sequence when transitioning to the crawling mode is reversed. The above-mentioned arrangement method and rotation method greatly reduce the internal space of the shell required for the folding and storage of the mechanical legs.

Claims

1. A foldable amphibious robot, characterized in that: The invention comprises a mechanical leg without a rotating motor (1), a mechanical leg with a rotating motor (2), a folding wing (3), an intermediate baffle device (4), a front baffle device (5), a rear baffle device (6), an aerial propeller (7), an upper shell (8), an underwater propeller (9), a bottom shell (10), an electric push rod and a motor fixing bolt (11), an electric push rod (12), an aerial propeller motor (13), an aerial propeller motor fixing bolt (14), a front baffle device fixing bolt (15), a rear baffle device fixing bolt (16), an underwater propeller motor (17), an underwater propeller motor fixing bolt (18), a folding wing fixing bolt (19), and an intermediate baffle device fixing bolt (20). , electric push rod fixing bolts (21), and mechanical leg fixing bolts (22), wherein the bottom shell (10) is a water drop-shaped shell with a streamlined shape, which can reduce the influence of resistance whether in the air or in the water. A square hole is opened on the left and right sides and the front and back of the bottom shell (10) for unfolding and folding the six mechanical legs. The front and rear ends of the bottom shell (10) each have a motor support platform, and the motor support platform has a threaded hole for fixing the motor. There is a boss in the middle part of the bottom shell (10), and the middle part of the boss has 4 evenly distributed through holes, and each through hole has 4 threaded holes around it for installing the mechanical leg (2) with a rotating motor. The boss There is a square hole at the front and rear of the platform, each of which contains two threaded holes for installing the non-rotating motor mechanical legs (1). The top of the boss has a longitudinal groove and two transverse grooves. Eight threaded holes are distributed around the longitudinal grooves for installing the folding wings (3), the middle baffle device (4), the front baffle device (5) and the rear baffle device (6). The two transverse grooves are reserved for the action space when the middle baffle device (4) rotates the baffle. The upper shell (8) and the bottom shell (10) have the same appearance, and there are also motor support platforms at the front and rear ends. The difference is that only smaller square holes are opened on both sides of the upper shell (8) for the unfolding and folding storage of the folding wings (3). The upper shell (8) and the bottom shell (10) are fixedly connected; flying in the air The flying propeller motor (13) is fixedly connected to the front motor support platform of the bottom shell (10) and the upper shell (8) through the flying propeller motor fixing bolts (14), and the shaft of the flying propeller motor (13) is connected to the flying propeller (7) through a flat key, so as to drive the flying propeller (7) with a streamlined shape and two flying blades to move; the underwater diving propeller motor (17) is fixedly connected to the rear motor support platform of the bottom shell (10) and the upper shell (8) through the underwater diving propeller motor fixing bolts (18), and the shaft of the underwater diving propeller motor (17) is connected to the underwater diving propeller (9) through a flat key, so as to drive the underwater diving propeller (9) with a streamlined shape and three diving blades to move; There are two non-rotating motor mechanical legs (1), each of which is fixedly connected to the front and rear ends of the middle boss of the bottom shell (10) by two mechanical leg fixing bolts (22). Each non-rotating motor mechanical leg (1) is composed of a mechanical foot (1-1), 8 mechanical foot and driving motor steering disc fixing bolts (1-2), a driving motor I (1-3), a driving motor connecting plate (1-4), 4 driving motors and driving motor connecting plate fixing bolts (1-5), a driving motor II (1-6), 12 driving motor connecting seats and driving motor steering disc fixing bolts (1-7), a driving motor fixing plate (1-8), 2 driving motor fixing plates and driving motor fixing bolts (1-9), a driving motor III (1-10), 6 driving motor steering discs (1-11), and a driving motor connecting seat (1-12). The driving motor fixing plate (1-8) is fixedly connected to the front and rear ends of the middle boss of the bottom shell (10) by two mechanical leg fixing bolts (22). The drive motor fixing plate is fixedly connected to the drive motor fixing bolt (1-9) and the drive motor III (1-10); the shafts of the drive motor I (1-3), the drive motor II (1-6) and the drive motor III (1-10) are connected to the drive motor steering disc (1-11) through a flat key; two of the drive motor steering discs (1-11) are fixedly connected to the mechanical foot (1-1) through a mechanical foot and the drive motor steering disc fixing bolt (1-2); the remaining four drive motor steering discs (1-11) are fixedly connected to the drive motor connecting seat and the drive motor steering disc fixing bolt (1-7) and the drive motor connecting seat (1-12); the drive motor I (1-3) and the drive motor II (1-6) are fixedly connected to the drive motor connecting plate (1-4) through the drive motor and the drive motor connecting plate fixing bolt (1-5); and the non-rotating motor mechanical leg (1) can be unfolded, folded and adjusted in motion under the action of the three drive motors; There are four mechanical legs (2) with rotating motors, each of which uses two electric push rods and motor fixing bolts (11) to fix two electric push rods (12) with the rotating motor (2-11) in the mechanical legs (2) with rotating motors. The electric push rods (12) are fixedly connected to the two sides of the central boss of the bottom shell (10) through the electric push rod fixing bolts (21). The connection combinations of the mechanical legs (2) with rotating motors and the electric push rods (12) are distributed at intervals on the two sides of the central boss of the bottom shell (10), with two groups on each side. The mechanical legs (2) with rotating motors are connected by mechanical feet (2-1 ), 8 mechanical feet and drive motor steering wheel fixing bolts (2-2), drive motor I (2-3), 4 drive motors and drive motor connecting plate fixing bolts (2-4), drive motor connecting plate (2-5), drive motor II (2-6), 12 drive motor connecting bases and drive motor steering wheel fixing bolts (2-7), drive motor III (2-8), 2 drive motors and rotating sleeve fixing bolts (2-9), rotating sleeve (2-10), rotating motor (2-11), 6 drive motor steering wheels (2-12), drive motor connection The rotating sleeve (2-10) is fixedly connected to the driving motor III (2-8) through the driving motor and the rotating sleeve fixing bolt (2-9), and the shafts of the driving motor I (2-3), the driving motor II (2-6) and the driving motor III (2-8) are connected to the driving motor steering disc (2-12) through the flat key, wherein the two driving motor steering discs (2-12) are connected to the mechanical foot and the driving motor steering disc fixing bolt (2-2) and the mechanical foot ( 2-1), the remaining four driving motor steering discs (2-12) are fixedly connected to the driving motor connecting seat and the driving motor steering disc fixing bolts (2-7) and the driving motor connecting seat (2-13), the driving motor I (2-3) and the driving motor II (2-6) are fixedly connected to the driving motor connecting plate (2-5) through the driving motor and the driving motor connecting plate fixing bolts (2-4), and the mechanical leg (2) with the rotating motor can be unfolded, folded and adjusted in action under the action of the three driving motors, and can be rotated as a whole under the action of the rotating motor (2-11); The folding wing (3) is fixedly connected to the bottom shell (10) through the folding wing fixing bolts (19). The folding wing (3) is a symmetrical mechanism, which consists of two front wings (3-1), two front wing drive motors (3-2), two middle wings (3-3), two middle wing drive motors (3-4), two rear wings (3-5), six wing connecting bolts (3-6), eight active rod support seat fixing bolts (3-7), two active rod support seats (3-8), a wing base (3-9), two connecting rods (3-10), two active rods (3-11), two wing motors (3-12), and four wing motor fixing bolts (3-13). The active rod support seat (3-8) is fixedly connected to the wing base (3-9) through the active rod support seat fixing bolts (3-7). The wing motor (3-12) is connected to the active rod support seat (3-9). The interior of the rear wing (3-8) is fixedly connected to the wing base (3-9) through the wing motor fixing bolts (3-13), the shaft of the wing motor (3-12) is connected to the active rod (3-11) through a flat key, the active rod (3-11), the connecting rod (3-10), and the rear wing (3-5) are hinged through the wing connecting bolts (3-6), the middle wing drive motor (3-4) is fixedly connected to the middle wing (3-3), and the middle wing drive motor (3- 4) The shaft is connected to the rear wing (3-5) through a flat key, the front wing drive motor (3-2) is fixedly connected to the front wing (3-1), and the shaft of the front wing drive motor (3-2) is connected to the middle wing (3-3) through a flat key. Under the action of the wing motor (3-12), the front wing drive motor (3-2) and the middle wing drive motor (3-4), the wing can be deformed and folded three times, greatly reducing the required storage space; The intermediate baffle device (4) is fixedly connected to the bottom shell (10) through the intermediate baffle device fixing bolts (20). The intermediate baffle device (4) is composed of an intermediate right baffle (4-1), two short-stroke electric push rods and baffle fixing bolts (4-2), two short-stroke electric push rods (4-3), two long-stroke electric push rods and push rod connecting plate fixing bolts (4-4), two push rod connecting plates (4-5), two long-stroke electric push rods (4-6), a double-headed motor (4-7), two intermediate baffle rotating sleeves (4-8), and four short-stroke electric push rod fixing bolts (4- 9), the middle left baffle plate (4-10), and four long-stroke electric push rod fixing bolts (4-11); the shaft of the double-headed motor (4-7) is connected to the middle baffle rotating sleeve (4-8) through a flat key; the long-stroke electric push rod (4-6) is fixedly connected to the middle baffle rotating sleeve (4-8) through the long-stroke electric push rod fixing bolts (4-11); the push rod connecting plate (4-5) is fixedly connected to the long-stroke electric push rod (4-6) through the fixing bolts (4-4) of the long-stroke electric push rod and the push rod connecting plate; the short-stroke electric push rod (4-3) is fixedly connected to the short-stroke electric push rod (4-4) through the short-stroke electric push rod (4-5). The push rod fixing bolt (4-9) is fixedly connected to the push rod connecting plate (4-5), and the middle right baffle plate (4-1) and the middle left baffle plate (4-10) are fixedly connected to the short-stroke electric push rod (4-3) through the short-stroke electric push rod and the baffle fixing bolt (4-2). In the diving and crawling modes, the middle baffle device (4) stays in the initial position, and the middle right baffle plate (4-1) and the middle left baffle plate (4-10) having the same shape as the upper shell (8) close the square holes on both sides of the upper shell (8). When transitioning to the flight mode, the short-stroke electric push rod (4-3) is first actuated. The baffles on both sides are retracted into the shell body by a given distance, and then the double-headed motor (4-7) drives the middle baffle rotating sleeve (4-8) to rotate the long-stroke electric push rod (4-6) and the short-stroke electric push rod (4-3) downward by a given angle. Finally, the long-stroke electric push rod (4-6) retracts the baffles on both sides to a given position, and the square holes on both sides of the upper shell (8) are opened to leave space for the unfolding and folding storage of the folding wings (3). When transitioning to the diving and crawling modes, the action sequence of the transition to the flight mode is reversed, and the baffles close the square holes on both sides of the upper shell (8); The front baffle device (5) is fixed to the bottom shell (10) by the front baffle device fixing bolts (15). The front baffle device (5) comprises a front lower baffle (5-1), a front lower baffle and a long-stroke electric push rod fixing bolt (5-2), a long-stroke electric push rod (5-3), a rotating rod (5-4), a rotating sleeve (5-5), a motor (5-6), a middle-stroke electric push rod (5-7), a middle-stroke electric push rod and a push rod connecting plate fixing bolt (5-8), a push rod connecting plate (5-9), two short-stroke electric push rod fixing bolts (5-10), a short-stroke electric push rod (5-11), a front left baffle and a short-stroke electric push rod fixing bolt (5-12), a front left baffle (5-13), two long-stroke electric push rod fixing bolts (5-14), a front left baffle (5-15), and two long-stroke electric push rod fixing bolts (5-16). 14), two mid-stroke electric push rod fixing bolts (5-15), the shaft of the motor (5-6) is connected to the rotating rod (5-4) through a flat key, the rotating sleeve (5-5) and the rotating rod (5-4) are connected in a clearance fit, the long-stroke electric push rod (5-3) is fixedly connected to the rotating rod (5-4) through the long-stroke electric push rod fixing bolts (5-14), the front lower baffle (5-1) is fixedly connected to the long-stroke electric push rod (5-3) through the front lower baffle and the long-stroke electric push rod fixing bolts (5-2), the mid-stroke electric push rod (5-7) is fixedly connected to the rotating sleeve (5-5) through the mid-stroke electric push rod fixing bolts (5-15), and the push rod connecting plate (5-9) is fixed to the push rod connecting plate through the mid-stroke electric push rod The bolt (5-8) is fixedly connected to the middle-stroke electric push rod (5-7), the short-stroke electric push rod (5-11) is fixedly connected to the push rod connecting plate (5-9) through the short-stroke electric push rod fixing bolt (5-10), and the front left baffle (5-13) is fixedly connected to the short-stroke electric push rod fixing bolt (5-12) and the short-stroke electric push rod (5-11) through the front left baffle. In the flight and diving modes, the front baffle device (5) stays in the initial position, and the front lower baffle (5-1) and the front left baffle (5-13) having the same shape as the bottom shell (10) close the square holes at the front lower and left sides of the bottom shell (10). When transitioning to the creeping mode, the long-stroke electric push rod (5-3) first moves to move the front lower baffle (5-1) into the shell. The motor (5-6) drives the rotating rod (5-4) to drive the long-stroke electric push rod (5-3) and the front lower baffle (5-1) to rotate to the left to the limit position of the rotating sleeve (5-5), and the short-stroke electric push rod (5-11) drives the front left baffle (5-13) to retract to the shell body by a given distance. After that, the motor drives the rotating rod (5-4) again to drive the long-stroke electric push rod (5-3), the front lower baffle (5-1), the rotating sleeve (5-5), the middle-stroke electric push rod (5-7), the push rod connecting plate (5-9), the short-stroke electric push rod (5-11) and the front left baffle (5-13) to rotate to the left by a given angle. Finally, the long-stroke electric push rod (5-3) retracts the front lower baffle (5-1) to a given position.The mid-stroke electric push rod (5-7) retracts the front left baffle (5-13) to a given position, opens the front lower and left square holes of the bottom shell (10), and leaves space for the extension and folding storage of the mechanical legs. When transitioning to the flight and diving modes, the action sequence of the transition to the crawling mode is reversed, and the baffle closes the front lower and left square holes of the bottom shell (10); The rear baffle device (6) is fixed to the bottom shell (10) by a rear baffle device fixing bolt (16). The rear baffle device (6) comprises a rear lower baffle (6-1), a rear lower baffle and a long-stroke electric push rod fixing bolt (6-2), a long-stroke electric push rod (6-3), a rotating rod (6-4), a rotating sleeve (6-5), a motor (6-6), a middle-stroke electric push rod (6-7), a middle-stroke electric push rod and a push rod connecting plate fixing bolt (6-8), a push rod connecting plate (6-9), two short-stroke electric push rod fixing bolts (6-10), a short-stroke electric push rod (6-11), a rear right baffle and a short-stroke electric push rod fixing bolt (6-12), a rear right baffle (6-13), two long-stroke electric push rod fixing bolts (6- 14), two mid-stroke electric push rod fixing bolts (6-15), the shaft of the motor (6-6) is connected to the rotating rod (6-4) through a flat key, the rotating sleeve (6-5) and the rotating rod (6-4) are connected in a clearance fit, the long-stroke electric push rod (6-3) is fixedly connected to the rotating rod (6-4) through the long-stroke electric push rod fixing bolt (6-14), the rear lower baffle (6-1) is fixedly connected to the long-stroke electric push rod (6-3) through the rear lower baffle and the long-stroke electric push rod fixing bolt (6-2), the mid-stroke electric push rod (6-7) is fixedly connected to the rotating sleeve (6-5) through the mid-stroke electric push rod fixing bolt (6-15), and the push rod connecting plate (6-9) is fixed to the push rod connecting plate through the mid-stroke electric push rod The bolt (6-8) is fixedly connected to the middle stroke electric push rod (6-7), the short stroke electric push rod (6-11) is fixedly connected to the push rod connecting plate (6-9) through the short stroke electric push rod fixing bolt (6-10), and the rear right baffle (6-13) is fixedly connected to the short stroke electric push rod fixing bolt (6-12) and the short stroke electric push rod (6-11) through the rear right baffle. In the flight and diving modes, the rear baffle device (6) stays in the initial position, and the rear lower baffle (6-1) and the rear right baffle (6-13) having the same shape as the bottom shell (10) close the square holes at the rear lower and right side of the bottom shell (10). When transitioning to the creeping mode, the long stroke electric push rod (6-3) is first actuated to push the rear lower baffle (6-1) into the shell. The motor (6-6) drives the rotating rod (6-4) to drive the long-stroke electric push rod (6-3) and the rear lower baffle (6-1) to rotate rightward to the limit position of the rotating sleeve (6-5), and the short-stroke electric push rod (6-11) drives the rear right baffle (6-13) to retract a given distance into the shell. After that, the motor drives the rotating rod (6-4) again to drive the long-stroke electric push rod (6-3), the rear lower baffle (6-1), the rotating sleeve (6-5), the middle-stroke electric push rod (6-7), the push rod connecting plate (6-9), the short-stroke electric push rod (6-11) and the rear right baffle (6-13) to rotate rightward to a given angle. Finally, the long-stroke electric push rod (6-3) retracts the rear lower baffle (6-1) to a given position.The mid-stroke electric push rod (6-7) retracts the rear right baffle (6-13) to a given position, opens the rear lower and right square holes of the bottom shell (10), and leaves space for the extension and folding storage of the mechanical legs. When transitioning to the flight and diving modes, the action sequence of the transition to the crawling mode is reversed, and the baffle closes the rear lower and right square holes of the bottom shell (10); The foldable amphibious robot has three movement modes: flying, diving and crawling. When taking off, the middle baffle device (4) opens the square holes on both sides of the upper shell (8) under the joint action of the double-head motor (4-7), the short-stroke electric push rod (4-3) and the long-stroke electric push rod (4-6), and the folding wing (3) is unfolded under the joint action of the wing motor (3-12), the front wing drive motor (3-2) and the middle wing drive motor (3-4). A foldable and retractable amphibious robot is transformed into a flight mode; when about to enter the water, the folding wings (3) are folded and retracted into a shell under the joint action of a wing motor (3-12), a front wing drive motor (3-2) and a middle wing drive motor (3-4); the middle baffle device (4) closes the square holes on both sides of the upper shell (8) under the joint action of a double-head motor (4-7), a short-stroke electric push rod (4-3) and a long-stroke electric push rod (4-6). The amphibious robot is transformed into a diving mode; when the robot is about to touch the seabed, the front baffle device (5) opens the square holes at the front lower and left sides of the bottom shell (10) under the joint action of the long-stroke electric push rod (5-3), the motor (5-6), the middle-stroke electric push rod (5-7) and the short-stroke electric push rod (5-11), and the rear baffle device (6) opens the square holes at the front lower and left sides of the bottom shell (10) under the joint action of the long-stroke electric push rod (6-3), the motor (6-6), the middle-stroke electric push rod (6-7) and the short-stroke electric push rod (6-11). The square holes at the lower rear and right sides of the bottom shell (10) are opened, the mechanical legs (1) without rotating motors are unfolded under the joint action of the driving motors I (1-3), II (1-6) and III (1-10), and the mechanical legs (2) with rotating motors are unfolded under the joint action of the driving motors I (2-3), II (2-6), III (2-8) and the rotating motors (2-11), and the foldable and storable amphibious robot is transformed into a crawling mode.

2. The foldable amphibious robot according to claim 1, characterized in that: When in the diving and crawling modes, the folding wing (3) maintains the initial folding state. When transitioning to the flight mode, the wing motor (3-12) drives the active rod (3-11) to rotate, the active rod (3-11) drives the connecting rod (3-10) to rotate, the connecting rod (3-10) drives the rear section wing (3-5) to rotate 90 degrees in the horizontal plane, and rotates out from the square holes reserved on both sides of the upper shell (8), so that the rear section wing (3-5) and the wing base (3-9) are located on the same horizontal line, and then the middle section wing driving motor (3-4) drives the middle section wing (3-3) to rotate 180 degrees in the horizontal plane, and rotates out from the storage space in the rear section wing (3-5), so that the middle section wing (3-3) The front wing (3-1) is located on the same horizontal line as the rear wing (3-5), and finally the front wing driving motor (3-2) drives the front wing (3-1) to rotate 180 degrees in the horizontal plane and rotate out of the storage space in the middle wing (3-3), so that the front wing (3-1) and the middle wing (3-3) are located on the same horizontal line, and the folding wing (3) is fully unfolded. The design of the three wings is streamlined and has good air flight performance. When transitioning to the diving and crawling modes, the action sequence of the transition to the flight mode is reversed, and the folding wing (3) is completely stored in the shell. The above folding method greatly reduces the space occupied by the folding wing (3) in the shell.

3. The foldable amphibious robot according to claim 1, characterized in that: When in the flight and diving modes, the mechanical legs without rotating motors (1) and the mechanical legs with rotating motors (2) are in an initial folded state. When transitioning to the crawling mode, the electric push rods (12) on both sides of each mechanical leg with rotating motor (2) drive the mechanical legs with rotating motors (2) in the folded state to move outwards by a given distance. Then, the mechanical legs with rotating motors (2) spaced apart on the left and right sides of the central boss of the bottom shell (10) rotate clockwise from a horizontal state to a vertical state under the drive of the rotating motor (2-11). After that, the two mechanical legs without rotating motors (1) are unfolded under the action of the three driving motors and extend out from the square holes reserved on the front and rear sides of the bottom shell (10). The driving motor III (1-10) in the mechanical legs without rotating motors (1) controls the left and right movement, and the driving motor II (1-6) controls the left and right movement. The mechanical legs (1) without rotating motors (1) at the front and rear are used to maintain balance and control the direction of movement. The four mechanical legs (2) with rotating motors are unfolded under the action of the three driving motors and extend from the square holes reserved on the left and right sides of the bottom shell (10). The driving motor III (2-8) in the mechanical legs (2) with rotating motors controls the left and right movement, the driving motor II (2-6) controls the up and down movement, and the driving motor I (2-3) controls the front and rear movement. The four mechanical legs (2) with rotating motors on the left and right sides provide forward power. When transitioning to the diving and flight modes, the action sequence when transitioning to the crawling mode is reversed. The above arrangement method and rotation method greatly reduce the internal space of the shell required for the folding and storage of the mechanical legs.

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