A frog-like hybrid drive amphibious robot

Abstract

The amphibious robot provided by the application can freely move in water and on land, realizes amphibious function, and can adapt to different movement requirements, such as crossing obstacles and gullies, and freely swimming in water. The movement mechanism of frog swimming and jumping is applied to the robot, and amphibious movement is realized through a mixed driving mode. On land, a high-performance frog-like jumping is realized through a combination of a fuel explosion driving type hind limb power mechanism and a connecting rod type forelimb agile posture adjusting mechanism. In water, a high-efficiency frog-like swimming is realized through a combination of a rope driving type linked hind limb mechanism for completing extension and retraction movement and a controllable soft body stretching driving type fin for swinging and opening and closing. Compared with other amphibious robots, the robot adopts a simplified executing mechanism and a split type design, significantly reduces the complexity of amphibious mode switching, and thus improves the adaptability and controllability of the robot in water and land environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of amphibious robots, and in particular to a frog-like hybrid driving amphibious robot. BACKGROUND

[0002] With the rapid development of science and technology, significant research breakthroughs have been made in the fields of sensors, new materials, 3D printing, and artificial intelligence. This progress has effectively promoted the rapid development of robot technology, enabling robots to continuously enhance their integrated work capabilities and thus replace humans to perform more high-risk or difficult tasks. However, the application scenarios of robots have gradually expanded from the initial single-unit production environment to various complex fields such as home services, battlefield operations, and extreme environments with high radiation in the nuclear industry.

[0003] Therefore, some special tasks, such as geological disaster rescue, river shoal survey, and exploration of amphibious battlefields, require robots to ensure the smooth completion of tasks in different environments. As the environment changes, the driving mode of the robot also changes. Generally, a single-mode robot can only achieve driving in a specific environment. Compared with robots that can only operate in a single environment, robots that can operate in multiple environments can meet the demand for work in different environments through special structural design. Such robots that can move in multiple environments have gradually attracted more and more attention and concern from researchers. Among them, the adaptability of amphibious robots in water, land, and transition areas is particularly prominent and has become a research hotspot.

[0004] Traditional amphibious robots mostly adopt wheel type, track type, leg type, and composite structure in driving form. The wheel type structure is simple, has high propulsion efficiency, and is easy to control, but has limited environmental adaptability. The track type and leg type have strong obstacle crossing ability, but are heavy, complex in structure, and limited in mobility. The composite motion mechanism has good environmental adaptability, but the design of the structure and control system is complex. In summary, traditional amphibious robots have the advantages of maturity, reliability, and high efficiency, but are limited by the terrain environment and are difficult to play an effective role in complex unfamiliar environments and specific working situations. SUMMARY

[0005] To solve the problem that traditional amphibious robots are limited by the terrain environment and are difficult to play an effective role in complex unfamiliar environments and specific working situations.

[0006] The present application provides a frog-like hybrid driving amphibious robot, comprising a torso mechanism, a jumping power mechanism, a swimming power mechanism, and a control hardware system.

[0007] The torso mechanism is composed of an upper casing, a lower casing, and a sealed cavity.

[0008] The sealed cavity is formed by a static seal and a dynamic seal, and the control hardware system is arranged in the sealed cavity;

[0009] The jumping power mechanism and the swimming power mechanism are arranged on both sides of the trunk mechanism, the jumping power mechanism adopts a combustion explosion driving mode, and the swimming power mechanism adopts a rope driving mode.

[0010] In a feasible implementation, the jumping power mechanism comprises a combustion explosion driver and a back toe assembly.

[0011] The combustion explosion driver comprises a soft combustion explosion cavity, an ignition stage and a force pushing rod.

[0012] The soft combustion explosion cavity is bonded to the ignition stage by sealing glue, the force pushing rod is fixedly connected to the bottom of the soft combustion explosion cavity, the force pushing rod is provided with a cavity chamber, and the soft combustion explosion cavity is embedded in the cavity chamber.

[0013] The soft combustion explosion cavity is sealingly connected to the soft combustion explosion cavity cover by coating sealing glue, and the ignition stage is provided with a gas inlet and outlet.

[0014] A concave sliding groove is arranged on the inner wall of the trunk mechanism, and convex guide blocks matched with the concave sliding groove are arranged on the outer sides of the force pushing rod.

[0015] The back toe assembly is hingedly connected to the lower end of the force pushing rod through a torsional spring.

[0016] In a feasible implementation, the jumping power mechanism further comprises a forelimb assembly.

[0017] The forelimb assembly comprises a small arm, a large arm, a joint assembly arranged between the small arm and the large arm and an auxiliary small arm.

[0018] The joint assembly comprises a shoulder joint, an elbow joint, a first auxiliary joint and a second auxiliary joint.

[0019] The shoulder joint is arranged at the end of the large arm away from the small arm and is connected with a driving rudder, and the elbow joint connects the large arm and the small arm.

[0020] The auxiliary small arm is arranged on one side of the large arm, the first auxiliary joint connects one end of the auxiliary small arm and one end of the large arm close to the shoulder joint, and the second auxiliary joint connects the other end of the auxiliary small arm and the elbow joint.

[0021] In a feasible implementation, the control hardware system comprises a gas conveying device, an ignition control module, a gas pressure sensor and a main control board.

[0022] The gas delivery device is connected with the gas explosion driver pipeline;

[0023] The ignition control module is electrically connected with the ignition stage;

[0024] The gas pressure sensor is arranged inside the soft gas explosion cavity;

[0025] The main control board is integrated with a wireless communication module and is electrically connected with the gas delivery device, the ignition control module and the gas pressure sensor respectively;

[0026] The gas explosion driver further comprises a gas pressure sensor interface for connecting the gas pressure sensor.

[0027] In a feasible implementation, the swimming power mechanism comprises a hind limb propulsion mechanism, a flipper mechanism and a driving assembly;

[0028] The hind limb propulsion mechanism is composed of a hip joint, a knee joint, a thigh and a shank;

[0029] The thigh and the shank are connected through a rope line, and the rope line passes through the groove guide rail of the hip joint and the knee joint;

[0030] The flipper mechanism comprises an ankle joint, a flipper body and five toe bones;

[0031] The flipper body is connected with the toe bones through a flexible deformation film, and a gear transmission group is arranged between the toe bones and the ankle joint;

[0032] The driving assembly comprises a first steering wheel for driving the hip joint and a second steering wheel for driving the ankle joint.

[0033] In a feasible implementation, the rope line of the swimming power mechanism comprises a first rope line and a second rope line;

[0034] The hip joint shaft is provided with a first annular groove guide rail for guiding the winding or releasing of the second rope line;

[0035] The knee joint shaft is provided with a second annular groove guide rail for guiding the winding or releasing of the first rope line;

[0036] One end of the first rope line is fixed to a fixed point C at the front end of the thigh, and the other end is wound and fixed to a fixed point E at the front end of the shank through the second annular groove guide rail;

[0037] One end of the second rope line is fixed to a fixed point at the front end of the shank, and the other end is wound and fixed to a fixed point in the lower groove of the trunk mechanism through the first annular groove guide rail;

[0038] The first rope line and the second rope line form an equal-length reverse closed loop coupling;

[0039] The joint axes of the hip joints and the knee joints are embedded with rolling bearings on both sides inside the joint axes.

[0040] In an implementable manner, the flexible deformation membrane of the fin mechanism has a thickness of 0.5 mm;

[0041] The toe bones are rotatably connected to the ankle joints through bearings, and the gear transmission set comprises three-stage variable speed gears and waterproof steering engines.

[0042] In an implementable manner, the toe bones comprise a first toe bone, a second toe bone, a third toe bone, a fourth toe bone and a fifth toe bone;

[0043] The five toe bones of the fin mechanism are symmetrically distributed on both sides of the fin body;

[0044] And the first toe bone, the second toe bone, the third toe bone, the fourth toe bone and the fifth toe bone are rotatably arranged around the central symmetry axis, and the rotation angle range is 0°-60°.

[0045] In an implementable manner, the sealed cavity of the torso mechanism is provided with a gas storage bag;

[0046] The gas storage bag has a volume of 80 ml, and the upper casing and the lower casing are detachably connected through a buckle structure.

[0047] In an implementable manner, the torso mechanism is formed by 3D printing with nylon material;

[0048] The upper casing and the lower casing are provided with O-shaped sealing rings at the joint seams, and the wall thickness of the sealed cavity is 3 mm.

[0049] The amphibious robot provided by the application can freely move in water and on land, realizes amphibious function, and can adapt to different motion requirements, such as crossing obstacles and gullies, and freely swimming in water. The motion mechanism of frog swimming and jumping is applied to the robot, and amphibious motion is realized through a hybrid driving mode. On land, a high-performance frog-like jumping is realized by using a combustion driving rear limb power mechanism and a connecting rod type front limb agile posture adjusting mechanism. In water, a high-efficiency frog-like swimming is realized by using a rope driving type linked rear limb mechanism to complete extension and retraction motion, and a controllable soft body stretching driving fin to swing and open and close. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments of the present application and, together with the description, further serve to explain the principles of embodiments of the present application. It is to be understood that the drawings are only schematic, and that they do not purport to be to scale with respect to one another. The specific dimensions would depend on the specific application of the present application and can be readily determined by those of ordinary skill in the art. In the drawings:

[0051] Figure 1 is a schematic diagram of the overall structure of a frog-like amphibious robot of an embodiment of the present application;

[0052] Figure 2 is a schematic diagram of the structure of the trunk mechanism of an embodiment of the present application;

[0053] Figure 3 is a perspective schematic diagram of a frog-like amphibious robot of an embodiment of the present application;

[0054] Figure 4 is a schematic diagram of the structure of the forelimb assembly of an embodiment of the present application;

[0055] Figure 5 is a schematic diagram of the back structure of the combustion drive of an embodiment of the present application;

[0056] Figure 6 is a schematic diagram of the external structure of the combustion drive of an embodiment of the present application;

[0057] Figure 7 is a schematic diagram of the internal structure of the combustion drive of an embodiment of the present application;

[0058] Figure 8 is a schematic diagram of the structure of the swimming power mechanism of an embodiment of the present application;

[0059] Figure 9 is a schematic diagram of the structure of the rope drive of an embodiment of the present application;

[0060] Figure 10 is a schematic diagram of the propulsion movement of the rope drive of an embodiment of the present application;

[0061] Figure 11 is a schematic diagram of the recovery movement of the rope drive of an embodiment of the present application;

[0062] Figure 12 is a schematic diagram of the structure of the fin body of an embodiment of the present application;

[0063] Figure 13 is a schematic diagram of the bionic movement process of the fin body of an embodiment of the present application.

[0064] BRIEF DESCRIPTION OF DRAWINGS

[0065] 100 - torso mechanism; 110 - upper housing; 120 - lower housing; 130 - gas reservoir; 140 - snap-on structure;

[0066] 200 - jumping power mechanism; 210 - explosive driver; 211 - soft explosive cavity; 212 - ignition stage; 213 - power push rod; 214 - internal cavity chamber; 215 - gas pressure sensor interface; 216 - soft explosive cavity cover; 217 - gas inlet and outlet; 220 - toe assembly; 221 - torsion spring; 230 - forelimb assembly; 231 - small arm; 232 - large arm; 233 - auxiliary small arm; 234 - shoulder joint; 235 - elbow joint; 236 - first auxiliary joint; 237 - second auxiliary joint;

[0067] 300 - swimming power mechanism; 310 - limb propulsion mechanism; 311 - hip joint; 312 - knee joint; 313 - thigh; 314 - shank; 315 - string; 315a - first string; 315b - second string; 318 - first annular groove guide rail; 319 - second annular groove guide rail; 320 - flippers mechanism; 321 - ankle joint; 322 - flipper body; 323 - toe bones; 323a - first toe bone; 323b - second toe bone; 323c - third toe bone; 323d - fourth toe bone; 323e - fifth toe bone; 324 - flexible deformation membrane; 325 - gear transmission set; 331 - first steering engine; 332 - second steering engine;

[0068] 400 - control hardware system; 410 - gas delivery device; 420 - ignition control module; 430 - gas pressure sensor; 440 - main control board. DETAILED DESCRIPTION

[0069] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any

[0070] Traditional amphibious robots are often driven by wheels, tracks, legs, or a combination of these. Wheeled robots offer a simple structure, high propulsion efficiency, and ease of control, but their environmental adaptability is limited. Tracked and legged robots possess strong obstacle-crossing capabilities, but are heavy, complex, and offer limited mobility. Composite motion mechanisms offer good environmental adaptability, but the design of their structures and control systems is complex. In summary, traditional amphibious robots possess the advantages of maturity, reliability, and efficiency, but are subject to significant limitations imposed by terrain and environmental constraints, making them difficult to effectively function in complex, unfamiliar environments and specific workplaces.

[0071] Compared to traditional amphibious robots, biomimetic amphibious robots are inspired by the inherent flexibility and adaptability of living organisms in unstructured and changing environments. This allows for a richer and more flexible range of motion, providing more design ideas for performing amphibious missions in complex environments. Frogs are a prime example of amphibians in nature. They are small, lightweight, and possess efficient swimming and jumping motions. On land, they utilize explosive, efficient leaps with their hind legs to surmount obstacles several or even dozens of times their size. In water, they use their flippers to propel themselves rapidly, enabling them to swim quickly.

[0072] Inspired by the amphibious motion characteristics of frogs, this application proposes a frog-like hybrid drive amphibious robot. Different from existing frog-like jumping or swimming robots, this application applies the swimming and jumping motion mechanism of frogs to the robot, and realizes amphibious motion through a hybrid drive method. Figure 1 and Figure 2 As shown, an embodiment of the present application provides a frog-like hybrid drive amphibious robot, comprising: a trunk mechanism 100, a jumping power mechanism 200, a swimming power mechanism 300 and a control hardware system 400, so as to achieve amphibious movement capabilities.

[0073] The trunk mechanism 100, serving as the main structure of the robot, is composed of an upper housing 110, a lower housing 120, and a sealed cavity. The upper housing 110 and the lower housing 120 protect the internal mechanism from the external environment while providing the necessary structural strength.

[0074] The sealed cavity is formed by static and dynamic seals to form a closed cavity for accommodating the control hardware system 400, preventing moisture and dust from entering and ensuring stable operation of the control system. The static and dynamic seals ensure the sealing performance of the sealed cavity and prevent gas and liquid leakage.

[0075] In this embodiment, the trunk mechanism 100 achieves both increased displacement and enhanced buoyancy while also forming a sealed cavity that serves as an electrical compartment. This design not only houses the electrical control hardware but also connects the swimming and jumping mechanisms on both sides, addressing the sealing and structural strength requirements of amphibious robots operating both in water and on land.

[0076] The jumping power mechanism 200 is located on one side of the trunk mechanism 100 and uses an explosive drive method to provide the robot with the power required for jumping. The explosive drive includes a combustion chamber structure, which triggers an instantaneous reaction of the fuel through a controllable ignition device, converting chemical energy into mechanical energy to drive the piston. This energy is transmitted to the supporting foot of the jumping power mechanism 200 through a connecting rod mechanism. The swimming power mechanism 300 is located on the other side of the trunk mechanism 100 and uses a rope drive method. The end of the rope is connected to the bionic hind limb joint, and the stroke amplitude is controlled by the retraction and extension stroke. The control hardware system 400 is set in the sealed cavity of the trunk mechanism 100 and is responsible for the overall control and data processing of the robot to ensure that the robot can accurately perform actions such as jumping and swimming.

[0077] The frog-like hybrid-drive amphibious robot of this embodiment achieves lightweight and miniaturization, improving its locomotion performance. On land, it utilizes an explosive-driven hindlimb power generation mechanism, a jumping power mechanism 200, and a linkage-type forelimb dexterity adjustment mechanism to achieve high-performance frog-like leaps. In water, it utilizes a swimming power mechanism 300 and a rope-driven linkage hindlimb mechanism to achieve extension and adduction movements, combined with controllable soft-body extension-driven flippers for swinging and opening, achieving efficient frog-like swimming.

[0078] The frog-like hybrid-drive amphibious robot of this embodiment achieves flexible movement in complex amphibious environments by integrating jumping and swimming motion mechanisms. Its hybrid drive mode combines the high energy density of explosive drive with the lightweight and dexterity of rope drive, which not only ensures the explosive power of the robot but also improves the efficiency of movement. Compared with other amphibious robots, the robot of this embodiment adopts a simplified actuator and split design, which significantly reduces the complexity of amphibious mode switching, thereby improving the adaptability and controllability of the robot in amphibious environments. This research provides important theoretical and technical support for the design and development of future bionic amphibious robots.

[0079] In some embodiments of the present application, reference Figures 3-7 As shown, the jumping power mechanism 200 is placed on both sides of the trunk mechanism 100 and adopts an explosive drive method, including an explosive driver 210, a rear toe assembly 220 and a forelimb assembly 230.

[0080] The explosive actuator 210 is bolted to the side of the trunk structure 100. The rear toe assembly 220 is hinged to the lower end of the force-generating push rod 213 via a torsion spring 221. The forelimb assembly 230 is connected between the rear toe assembly 220 and the trunk structure 100. The explosive actuator 210 provides the power required for jumping, generating explosive movement through explosion. The rear toe assembly 220, driven by the explosive driving force, propels the robot in jumps and also acts as a landing cushion.

[0081] Specifically, the explosion driver 210 includes a soft explosion chamber 211, an ignition stage 212, and a force-generating push rod 213. The soft explosion chamber 211 is bonded to the ignition stage 212 via a sealant. The force-generating push rod 213 has an internal cavity 214 and is fixedly connected to the bottom of the soft explosion chamber 211. The ignition stage 212 is used to ignite the mixed gas in the soft explosion chamber 211, triggering the explosion. The soft explosion chamber 211 is used to contain the mixed gas, and the gas expansion during the explosion pushes the force-generating push rod 213. The force-generating push rod 213 generates linear motion under the action of the explosion force, pushing the rear toe assembly 220 to jump.

[0082] Furthermore, the soft explosion chamber 211 is sealed and connected to the soft explosion chamber cover 216 by applying sealant, and the ignition stage 212 is provided with a gas inlet and outlet 217. The soft explosion chamber cover 216 is sealed and connected to the soft explosion chamber 211 to ensure that the explosion reaction is carried out in a closed space, and the gas inlet and outlet 217 is used to fill or discharge the mixed gas into the soft explosion chamber 211.

[0083] When the robot jumps on land, the explosive driver 210 ignites the mixed gas in the soft explosive chamber 211, generating an explosive force. This explosive force pushes the force-generating push rod 213 forward, which in turn pushes the rear toe assembly 220 backward, generating a reaction force that propels the robot to jump. Simultaneously, the forelimb assembly 230 adjusts its jumping posture to ensure a stable takeoff and landing.

[0084] In this embodiment, the jumping power mechanism 200 adopts an explosive drive mode to simulate the explosive power of a frog's hind limbs and provide the robot with the power required for jumping. The explosive driver 210 generates explosive movement through explosion, which solves the problem of insufficient power in traditional drive modes. Based on the principle of chemical reaction kinetics, the explosive drive mode can generate a large amount of gas and heat in a short period of time, thereby generating a strong thrust, and the jumping power mechanism 200 enables the robot to cross obstacles and gullies. In addition, the explosive drive mode has the characteristics of fast response speed and large thrust, which is suitable for occasions that require rapid start-up and acceleration. At the same time, the forelimb assembly 230 increases the stability of the jump, ensuring that the robot can land accurately.

[0085] Furthermore, in this embodiment, the rear toe assembly 220 is hinged to the lower end of the force push rod 213 through a torsion spring 221. The torsion spring 221 is sleeved on the hinge shaft, one end of which is fixed to the rear toe assembly 220, and the other end is fixed to the force push rod 213. The force push rod 213 will generate linear motion under the action of the explosive force, pushing the rear toe assembly 220 to jump. The rear toe assembly 220 is used to push the robot to jump under the action of the explosive driving force, and at the same time plays a role in landing cushioning. At this time, the torsion spring 221 can provide elastic force at the hinge. After the robot completes the jump, the rear toe assembly 220 can be instantly restored to its position through the torsion spring 221 to prepare for the next jump.

[0086] Specifically, when the force-generating push rod 213 moves forward under the action of the explosive force, it pushes the rear toe assembly 220 to swing backward, generating a reaction force that propels the robot to jump. Once the robot is airborne after taking off, the torsion spring 221 returns the rear toe assembly 220 to its original position. Upon landing, the rear toe assembly 220 first contacts the ground, compressing the torsion spring 221 and absorbing the impact, further protecting the robot's internal mechanisms from damage.

[0087] In this embodiment, the rear toe assembly 220 and the force-generating push rod 213 are reset and impact-absorbing via a torsion spring 221, resolving the issue of excessive impact during landing. The torsion spring 221 resets the rear toe assembly 220 before landing and absorbs impact during landing, providing excellent landing cushioning for the robot as a whole. It also enables the rear toe assembly 220 to automatically adjust its posture upon landing, enhancing landing stability. Furthermore, the articulated connection makes the rear toe assembly 220 more flexible, adapting to the demands of jumping in various environments.

[0088] In some embodiments of the present application, reference Figure 4 As shown, the forelimb assembly 230 includes: a forearm 231, an upper arm 232, a joint assembly and an auxiliary forearm 233. The forelimb assembly 230 as a whole is used to adjust the jumping posture and increase the jumping stability.

[0089] Among them, the joint assembly includes: a shoulder joint 234, an elbow joint 235, a first auxiliary joint 236 and a second auxiliary joint 237; the shoulder joint 234 is arranged at the end of the upper arm 232 away from the lower arm 231, and is connected to a driving servo, and the elbow joint 235 connects the upper arm 232 and the lower arm 231; the auxiliary lower arm 233 is arranged on one side of the upper arm 232, the first auxiliary joint 236 connects one end of the auxiliary lower arm 233 and the end of the upper arm 232 close to the shoulder joint 234, and the second auxiliary joint 237 connects the other end of the auxiliary lower arm 233 and the elbow joint 235.

[0090] The forelimb assembly 230 is connected between the rear toe assembly 220 and the trunk structure 100, secured by bolts. It will be appreciated that the forearm 231 and the upper arm 232 constitute the main structure of the forelimb assembly 230, which is used to transmit the torque during jumping. The joint assembly, connecting the forearm 231 and the upper arm 232, provides rotational freedom for adjusting the jumping posture. The auxiliary forearm 233 further increases the stability of the forelimb assembly 230, ensuring torque transmission during jumping.

[0091] Specifically, from the perspective of the skeletal structure of frogs, the forelimbs are relatively small and have a simple structure. Therefore, the forelimb assembly 230 of the present application is simple in structure and light in weight to avoid affecting the center of gravity position of the robot during jumping. The forelimb assembly 230 of the embodiment of the present application has two degrees of freedom, namely the active degree of freedom of the shoulder joint 234 and the passive degree of freedom of the elbow joint 235. The forelimb assembly 230 on each side is connected to a driving servo, for example: a small waterproof servo with a torque of 6kg·cm. The movement of the entire forelimb is controlled by a connecting rod linkage drive. The driving servo directly drives the upper arm 232 to rotate around the shoulder joint 234, and the linkage forearm 231 rotates.

[0092] In order to achieve stability when the robot lands, a torsion spring is generally arranged at the elbow joint 235 to reduce the ground reaction force at the end of the forelimb during the landing buffering process, but it is not enough to only provide a torsion spring. Due to the large inertia at the moment of landing, impact damage to the upper arm 232, the lower arm 231 and the joint axis will also be caused. To solve this problem, the embodiment of the present application adds a first auxiliary joint 236, a second auxiliary joint 237 and an auxiliary lower arm 233 between the intersection of the lower arm 231 and the upper arm 232. This can not only better drive the shoulder joint 234 to link the coupled motion of the elbow joint 235, but also this structure increases the strength of the forelimb assembly 230 during the landing buffering process, allowing it to resist greater impact forces and reduce damage to the forelimb assembly 230 caused by the interaction force with the ground.

[0093] Therefore, when the robot jumps, the forelimb assembly 230 adjusts its jumping posture through the coordinated action of the forearm 231, upper arm 232, and joint assembly. The joint assembly provides rotational freedom, allowing the forearm 231 and upper arm 232 to rotate relative to each other, thereby adjusting the swing angle and speed of the rear toe assembly 220, further adjusting the jumping posture and increasing stability, ensuring a stable takeoff and landing.

[0094] In this embodiment, the structural design of the forelimb component 230 increases the stability of jumping, ensures that the robot can land accurately, enables the robot to adapt to different jumping requirements, such as crossing obstacles of different heights, and improves the robot's movement flexibility, enabling it to move freely in complex environments.

[0095] In some embodiments of the present application, referenceFigure 1 As shown, the control hardware system 400 is disposed within the sealed cavity of the trunk mechanism 100 and includes a gas delivery device 410, an ignition control module 420, an air pressure sensor 430, and a main control board 440. The gas delivery device 410 is connected to the explosion driver 210 by piping, the ignition control module 420 is electrically connected to the ignition stage 212, the air pressure sensor 430 is disposed within the soft explosion cavity 211, and the main control board 440 integrates a wireless communication module and is electrically connected to the gas delivery device 410, the ignition control module 420, and the air pressure sensor 430, respectively.

[0096] Among them, the gas delivery device 410 is used to deliver mixed gas to the explosion driver 210 to provide reactants for the explosion. The ignition control module 420 is used to control the ignition timing and energy of the ignition stage 212 to ensure the reliability and safety of the explosion. The air pressure sensor 430 is used to monitor the air pressure changes in the soft explosion chamber 211 and provide feedback signals for the control hardware system 400. The main control board 440 integrates a wireless communication module, which can receive instructions from the upper computer, control the operation of the gas delivery device 410, the ignition control module 420 and the air pressure sensor 430, and realize the overall control of the robot. The wireless communication module realizes data transmission between the upper computer and the lower computer, including the sending and receiving of drive instructions and control data.

[0097] Furthermore, the explosion driver 210 is fixed to the side of the trunk mechanism 100 by bolts and is equipped with an air pressure sensor interface 215. The air pressure sensor interface 215 is used to connect the air pressure sensor 430 and monitor the air pressure changes in the soft explosion chamber 211 in real time.

[0098] The specific explosion process is as follows: when the robot needs to jump, the upper computer sends an instruction to the main control board 440 through the wireless communication module. The main control board 440 controls the gas delivery device 410 to fill the gas inlet and outlet 217 of the explosion driver 210 with hydrogen and oxygen mixed gas according to the instruction. At the same time, the air pressure sensor 430 monitors the air pressure changes in the soft explosion chamber 211 through the air pressure sensor interface 215. When the air pressure reaches the set value, the control hardware system 400 sends an instruction to the ignition stage 212 to ignite the mixed gas and generate an explosion force. The explosion force pushes the force push rod 213 to move forward, and then pushes the rear toe assembly 220 to swing backward, generating a reaction force to push the robot to jump. The air pressure sensor 430 provides a feedback signal to the control hardware system 400 by monitoring the air pressure changes in the soft explosion chamber 211 in real time, thereby ensuring the reliability and safety of the explosion.

[0099] The control hardware system 400 in this embodiment integrates a gas delivery device 410, an ignition control module 420, an air pressure sensor 430, and a main control board 440, addressing the issues of inaccurate control and insufficient safety during the robot's jumping and swimming. Based on the principles of automatic control theory, the control hardware system 400 monitors the robot's status in real time and adjusts the control strategy based on instructions from the host computer to ensure stable operation. The design of the wireless communication module enables the robot to receive instructions remotely, enhancing its intelligence.

[0100] In some embodiments of the present application, reference Figure 8 As shown, the swimming propulsion mechanism 300 is located on either side of the trunk mechanism 100 and is rope-driven. It specifically includes a hind limb propulsion mechanism 310, a flipper mechanism 320, and a drive assembly. The hind limb propulsion mechanism 310 is composed of a hip joint 311, a knee joint 312, a thigh 313, and a calf 314, all linked by a rope 315.

[0101] The hip joint 311 serves as the rotation center of the hindlimb propulsion mechanism 310, driving the thigh 313 to swing. The knee joint 312 connects the thigh 313 to the shank 314 and provides rotational freedom to enable the swing of the shank 314. It will be appreciated that to reduce weight and ensure sufficient torque, the first servo 331 and second servo 332 are small waterproof servos with torques of 6 kg·cm and 4.5 kg·cm, respectively, and weigh 25g and 15g, respectively.

[0102] The thigh 313 and shank 314 together form the main structure of the hindlimb propulsion mechanism 310, transmitting the torque during swimming. The thigh 313 and shank 314 are then linked via a rope 315, enabling a frog-like swimming motion. Based on this structure, the hindlimb propulsion mechanism 310 can simulate the horizontal paddling motion of a frog's hind limbs, providing the necessary power for swimming.

[0103] Furthermore, the flipper mechanism 320 includes an ankle joint 321, a flipper body 322, and five toe bones 323. The ankle joint 321 is the center of rotation of the flipper mechanism 320, driving the flipper body 322 and toe bones 323. The toe bones 323 increase the rigidity and propulsion of the flipper, and adjust the shape and angle of the flipper through rotation. The flipper body 322 is connected to the five toe bones 323 via a flexible deformable membrane 324 to enable the flipper to open and close. A gear transmission assembly 325 is provided between the five toe bones 323 and the ankle joint 321. The gear transmission assembly 325 is used to transmit the driving force of the servo to achieve the opening and closing of the flipper.

[0104] Specifically, the flipper mechanism 320, through a controllable soft stretch drive design, solves the problem of insufficient propulsion and resistance control when the robot swims in water. Based on the principles of bionics, the structure of frog flippers is well-suited for swimming in water. By simulating this structure, the robot can achieve efficient swimming in water. The design of the gear transmission group 325 enables the driving force of the servo to be transmitted to the flipper body 322 and the toe bones 323, achieving precise control of the flippers. The flexible deformation membrane 324 realizes the flexible deformation of the flippers, further increasing the propulsion and resistance control during swimming.

[0105] Furthermore, the driving assembly includes a first servo 331 for driving the hip joint 311 and a second servo 332 for driving the ankle joint 321 , both of which are fixed on the trunk mechanism 100 .

[0106] It is understandable that the first servo 331 is used to drive the hip joint 311 to rotate, thereby driving the thigh 313 to swing, and the second servo 332 is used to drive the ankle joint 321 to rotate, thereby driving the fin body 322 and the toe bones 323 to move.

[0107] When the robot swims, the control hardware system 400 sends commands to the drive assembly, driving the hind limb propulsion mechanism 310 and the flipper mechanism 320. A first servo 331 rotates the hip joint 311, driving the thigh 313 to swing. The swinging of the thigh 313 and calf 314 is linked via a line 315, achieving a frog-like swimming motion. Simultaneously, a second servo 332 rotates the ankle joint 321, driving the flipper body 322 and toe bones 323 to open and close the flipper, increasing propulsion and controlling resistance during swimming.

[0108] The swimming propulsion mechanism 300 of this embodiment utilizes a rope drive system, simulating the horizontal paddling propulsion of a frog's hind limbs, providing the robot with the necessary power for swimming. By precisely controlling the motion of the hind limb propulsion mechanism 310 and the flipper mechanism 320, the drive assembly solves the problem of imprecise motion control during the robot's underwater swimming. Based on the principles of motion control, the servo has the characteristics of fast response speed and high control accuracy, making it suitable for applications requiring precise motion control. The design of the drive assembly enables the robot to achieve a frog-like swimming motion, improving swimming efficiency. Based on the principles of bionics, the structure of a frog's hind limbs is well-suited for swimming in water. By simulating this structure, the robot can achieve efficient swimming in water. Furthermore, the rope drive system features smooth transmission and a simple structure, making it suitable for applications requiring precise motion control. This also reduces the robot's manufacturing cost and maintenance requirements.

[0109] In some embodiments of the present application, reference Figure 9 As shown, the lines 315 of the traveling power mechanism 300 include a first line 315a and a second line 315b.

[0110] In this embodiment, the hip joint 311 is driven by a first servo 331, and the ankle joint 321 is driven by a second servo 332. These are controlled in conjunction with a first cable 315a and a second cable 315b to synchronize the outward and inward swing degrees of freedom of the thigh 313 and calf 314. Furthermore, the fin mechanism 320 is directly controlled by the second servo 332 to swing freely.

[0111] Furthermore, a first annular groove guide rail 318 is provided at the axis of the hip joint 311 for guiding the winding or release of the second rope 315b; a second annular groove guide rail 319 is provided at the axis of the knee joint 312 for guiding the winding or release of the first rope 315a. One end of the first rope 315a is fixed to a fixed point C at the front end of the thigh 313, and the other end is wound and fixed to a fixed point E at the front end of the calf 314 via the second annular groove guide rail 319; one end of the second rope 315b is fixed to a fixed point B at the front end of the calf 314, and the other end is wound and fixed to a fixed point A in the groove below the torso mechanism 100 via the first annular groove guide rail 318.

[0112] When the thigh 313013 rotates counterclockwise around the axis of the hip joint 311 via the first servo 331, the second cable 315b at point A winds around the first annular groove guide 318 of the hip joint 311, wrapping around the lower groove of the trunk mechanism 100. Therefore, the front end of the calf 314 at point B rotates clockwise around the axis of the knee joint 312, compensating for the length of the cable wrapped around the upper end. Simultaneously, the first cable 315a at point E rotates synchronously with the clockwise rotation of the calf 314 around the second annular groove guide 319 of the knee joint 312, wrapping around the upper groove of the front end of the calf 314 around the axis of the knee joint 312. Therefore, the front end of the thigh 313 rotates the first cable 315a counterclockwise around the hip joint 311 at point C, compensating for the length of the cable wrapped around the upper end.

[0113] It can be seen that the movement between the first rope 315a and the second rope 315b is a closed-loop coupling relationship of equal length and opposite direction. Based on the above coupling relationship, refer to Figure 10 As shown, when the first servo 331 drives the thigh 313 to rotate counterclockwise around the hip joint 311, the calf 314 is linked to rotate clockwise around the knee joint 312, causing the ankle joint 321 of the calf 314 to stretch outward. At the same time, the flipper mechanism 320 expands the flipper area, and as the second servo 332 swings counterclockwise around the ankle joint 321, the robot's swimming power mechanism finally achieves propulsion. Figure 11As shown, when the first servo 331 drives the thigh 313 to rotate clockwise around the hip joint 311, it causes the calf 314 to rotate counterclockwise around the knee joint 312, causing the ankle joint 321 of the calf 314 to curl inward. Simultaneously, the flipper mechanism 320 shrinks the flipper area, and as the second servo 332 slowly swings clockwise around the ankle joint 321, the robot's swimming power mechanism eventually recovers.

[0114] Furthermore, rolling bearings are embedded on both sides of the joint axes of the hip joint 311 and the knee joint 312 to reduce frictional resistance during relative motion between the hip joint 311 and the knee joint 312 .

[0115] In some embodiments of the present application, reference Figure 12 As shown, the thickness of the flexible deformation membrane 324 of the flipper mechanism 320 is 0.5 mm; the toe bone 323 is rotatably connected to the ankle joint 321 through a bearing, and the gear transmission group 325 includes a three-stage speed change gear and a waterproof steering engine.

[0116] Specifically, the 0.5mm thin-walled structure of the flexible deformable membrane 324 combines deformation flexibility with structural strength, which can convert the mechanical movement of the gear transmission group 325 into the overall deformation of the flippers while maintaining watertightness. The ankle joint 321 is fixed to the end of the calf 314, and the gear transmission group 325 is composed of a three-stage speed-changing gear, which is fixed inside the ankle joint 321 through an axis connection and a slot. When the second servo 332 drives the ankle joint 321 to rotate, it will drive the gear transmission group 325 to move, converting the servo power into the opening and closing movement of the flippers. The three-stage speed-changing gear transmission group 325 realizes the direction conversion and torque amplification of power transmission. The transmission ratio is adjusted by the meshing relationship of gears of different diameters to ensure that the opening and closing action of the flippers has sufficient driving torque, driving the flipper body 322 and the toe bones 323 to move, and realizing the opening and closing of the flippers.

[0117] Furthermore, in some embodiments of the present application, the toe bones 323 include a first toe bone 323a, a second toe bone 323b, a third toe bone 323c, a fourth toe bone 323d, and a fifth toe bone 323e. The five toe bones 323 are symmetrically distributed on both sides of the fin body 322. The five toe bones 323 are rotatably arranged around the central symmetry axis with the third toe bone 323c as the central symmetry axis, and the rotation angle range is 0°-60°. The toe bones 323 are rotatably connected to the ankle joint 321 via a bearing.

[0118] Specifically, the five symmetrically distributed independent motion units of the five-segmented toe bone 323 form a fluid dynamics adjustment mechanism. By rotating each unit between 0° and 60° around the central axis of symmetry (the third toe bone 323c), the fin's curved surface shape is altered in real time. Bearings ensure that each toe bone 323 maintains low-friction rotation while withstanding fluid resistance, achieving a balance between power transmission efficiency and movement flexibility.

[0119] The waterproof servo drives the first gear within the gear train 325 to initiate transmission. The three gear stages mesh sequentially to transmit power, ultimately outputting torque to the flipper body 322. The gear train 325, via the terminal output shaft, propels the flipper body 322 to perform a planar opening and closing motion. At this point, the flexible deformable membrane 324 elastically deforms, assisting in maintaining and resetting the flipper's maximum opening. The toe bones 323 respond synchronously to the rotation of the ankle joint 321, with each toe bone 323 rotating independently around the central axis of symmetry. The third toe bone 323c maintains its reference position, while the remaining four toes automatically adjust their rotation angles based on differences in fluid resistance, forming an asymmetric curved surface. When the flipper is closed, each toe bone 323 rotates to its minimum angle (approaching 0°), tightening the flexible deformable membrane 324 to form a continuous curved surface and generating maximum propulsion. When the flipper is opened, each toe bone 323 rotates to its maximum angle of 60°, relaxing the flexible deformable membrane 324 to increase the flow-facing area and enhance posture control stability.

[0120] So, refer to Figure 13 As shown. By controlling the waterproof servo to rotate the toe bone 323, the flexible deformation mold 324 can produce reasonable deformation in the water, realizing the frog-like opening and closing of the flipper mechanism 320. The robot obtains hydrodynamic force during swimming through the flipper mechanism 320, and the size of the hydrodynamic force is closely related to the expansion area of ​​the flipper mechanism 320. Therefore, the designed flipper mechanism 320 can control the degree of opening during the propulsion phase, thereby generating propulsion force to achieve swimming; and control the closing of the flipper mechanism 320 during the reset phase to reduce water resistance during swimming, which is consistent with the swimming characteristics of biological frogs and well simulates the function of frog-like flippers. The servo selected in the actual experiment is waterproof, weighs 15g, has a rotation angle range of 180°, is powered by a 5V power supply, and has a maximum torque of 4kg / cm, which is sufficient to meet the requirements of the robot flipper drive.

[0121] The linkage mechanism of this embodiment realizes the coordinated operation of propulsion force generation and motion direction control through the coupling effect of mechanical transmission and flexible deformation.

[0122] In some embodiments of the present application, an air storage bag 130 is provided in the sealed cavity of the trunk mechanism 100 ; the volume of the air storage bag 130 is 80 ml, and the upper shell 110 and the lower shell 120 are detachably connected via a snap-on structure 140 .

[0123] The gas reservoir 130 serves as a gas storage unit, storing 80ml of compressed gas in a quantitative manner, providing a measurable gas reserve for subsequent pneumatic execution. It is housed within a sealed cavity with 3mm walls, creating a double gas shield. Furthermore, the snap-fit ​​mechanism 140 provides a mechanical locking force for repeatable assembly and disassembly, ensuring the stable closure of the upper and lower housings 110 and 120.

[0124] In some embodiments of the present application, the torso mechanism 100 is formed by 3D printing with nylon material; the upper casing 110 and the lower casing 120 are provided with O-shaped sealing rings at the joint, and the sealing cavity wall thickness is 3 mm.

[0125] The torso mechanism 100 of 3D printing nylon material ensures the structural integrity through the one-piece forming process, and the characteristics of nylon material provide a deformation-resistant and lightweight support frame. The 3 mm cavity wall thickness forms a rigid container with the nylon base material, which can resist the internal gas pressure load when the gas storage bag 130 is working, and prevent deformation from damaging the sealing interface. At the same time, the O-shaped ring is elastically deformed when the buckle structure 140 is pressed, compensating for the tolerance of the mating surface and blocking the gas leakage path.

[0126] The structure of the present embodiment forms a functional closed loop in the process of gas storage-sealing-pressure bearing, which can maintain the gas from leaking. When maintaining, the buckle structure 140 is reversed to disassemble the shell without damage, forming a reusable gas sealing system.

[0127] Based on the above-mentioned embodiment content knowledge, the overall use process of the amphibious robot of the present application is as follows: install the control hardware system 400 in the sealed cavity, assemble the torso mechanism 100, the jumping power mechanism 200, the swimming power mechanism 300 and the control hardware system 400 to form a complete robot. When the robot needs to jump, the control hardware system 400 sends instructions to the explosive driver 210 to ignite the mixed gas in the soft explosive cavity 211, generating explosive force to push the robot to jump. The gas pressure sensor 430 monitors the gas pressure change in the soft explosive cavity 211 in real time to ensure the reliability and safety of the explosion. At the same time, the front limb assembly 230 adjusts the jumping posture to ensure the stable take-off and landing of the robot. When the robot needs to swim, the control hardware system 400 sends instructions to the drive assembly to drive the rear limb propulsion mechanism 310 and the ski mechanism 320 to move, realizing the frog-like swimming. The host computer sends instructions to the main control board 440 through the wireless communication module to control the jumping and swimming process of the robot.

[0128] The frog-like hybrid-driven amphibious robot provided in this application can move freely in water and on land, realizing amphibious functions and being able to adapt to different movement needs, such as crossing obstacles and gullies, and swimming freely in water. The movement mechanism of frog swimming and jumping is applied to the robot, and amphibious movement is achieved through a hybrid drive method. On land, an explosive-driven hind limb force generation mechanism is adopted, combined with a connecting rod-type forelimb dexterous posture adjustment mechanism to achieve high-performance frog-like jumping; while in water, a rope-driven linkage hind limb mechanism is used to complete the extension and adduction movement, combined with controllable soft extension-driven flippers for swinging and opening and closing, to achieve efficient frog-like swimming. Compared with other amphibious robots, this robot adopts a simplified actuator and split design, which significantly reduces the complexity of amphibious mode switching, thereby improving the robot's adaptability and controllability in water and land environments.

[0129] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the disclosure of the specification and examples. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in this disclosure.

Claims

1. A frog-like hybrid drive amphibious robot, characterized in that: include: A trunk mechanism (100), a jumping power mechanism (200), a swimming power mechanism (300), and a control hardware system (400); The trunk mechanism (100) is composed of an upper housing (110), a lower housing (120) and a sealed cavity; The sealed cavity forms a closed cavity through a static seal and a dynamic seal, and the control hardware system (400) is arranged in the cavity; The jumping power mechanism (200) and the swimming power mechanism (300) are respectively arranged on both sides of the trunk mechanism (100); the jumping power mechanism (200) adopts an explosion drive mode, and the swimming power mechanism (300) adopts a rope drive mode; The jumping power mechanism (200) comprises: an explosive driver (210) and a rear toe assembly (220); The explosion driver (210) comprises a soft explosion chamber (211), an ignition stage (212) and a force-generating push rod (213); The soft explosion chamber (211) is bonded to the ignition stage (212) by means of a sealant, the force push rod (213) is fixedly connected to the bottom of the soft explosion chamber (211), a hollow chamber is provided in the force push rod (213), and the soft explosion chamber (211) is embedded in the hollow chamber; The soft explosion chamber (211) is sealed and connected to the soft explosion chamber cover (216) by coating with sealant, and the ignition stage (212) is provided with a gas inlet and outlet (217); A concave chute is provided on the inner wall of the trunk mechanism (100), and convex guide blocks (214) matching the concave chute are provided on the outer sides of both sides of the force-generating push rod (213); The rear toe assembly (220) is hinged to the lower end of the force-generating push rod (213) via a torsion spring (221); The swimming power mechanism (300) comprises: a hind limb propulsion mechanism (310), a flipper mechanism (320) and a driving assembly; The hind limb propulsion mechanism (310) is composed of a hip joint (311), a knee joint (312), a thigh (313), and a calf (314); The thigh (313) and the calf (314) are linked by a rope (315); The flipper mechanism (320) includes: an ankle joint (321), a flipper body (322), and five toe bones (323); The flipper body (322) is connected to the toe bone (323) via a flexible deformation membrane (324), and a gear transmission group (325) is provided between the toe bone (323) and the ankle joint (321); The driving assembly comprises a first steering engine (331) for driving the hip joint (311) and a second steering engine (332) for driving the ankle joint (321).

2. The frog-like hybrid drive amphibious robot according to claim 1, characterized in that: The jumping power mechanism (200) further includes: a forelimb assembly (230); The forelimb assembly (230) includes: a forearm (231), an upper arm (232), a joint assembly and an auxiliary forearm (233) arranged between the forearm (231) and the upper arm (232); The joint assembly includes: a shoulder joint (234), an elbow joint (235), a first auxiliary joint (236) and a second auxiliary joint (237); The shoulder joint (234) is provided at one end of the upper arm (232) away from the lower arm (231) and is connected to a driving steering gear. The elbow joint (235) connects the upper arm (232) and the lower arm (231). The auxiliary small arm (233) is provided on one side of the upper arm (232); the first auxiliary joint (236) connects one end of the auxiliary small arm (233) and one end of the upper arm (232) close to the shoulder joint (234); and the second auxiliary joint (237) connects the other end of the auxiliary small arm (233) and the elbow joint (235).

3. The frog-like hybrid drive amphibious robot according to claim 1, characterized in that: The control hardware system (400) includes: a gas delivery device (410), an ignition control module (420), an air pressure sensor (430) and a main control board (440); The gas delivery device (410) is connected to the explosion driver (210) through a pipeline; The ignition control module (420) is electrically connected to the ignition stage (212); The air pressure sensor (430) is arranged inside the soft explosion cavity (211); The main control board (440) is integrated with a wireless communication module and is electrically connected to the gas delivery device (410), the ignition control module (420), and the air pressure sensor (430) respectively; The explosive driver (210) further comprises an air pressure sensor interface (215), the air pressure sensor interface (215) being used to connect to the air pressure sensor (430).

4. The frog-like hybrid drive amphibious robot according to claim 1, characterized in that: The rope (315) of the traveling power mechanism (300) includes a first rope (315a) and a second rope (315b); The axis of the hip joint (311) is provided with a first annular groove guide rail (318) for guiding the winding or release of the second rope (315b); The axis of the knee joint (312) is provided with a second annular groove guide rail (319) for guiding the winding or release of the first rope (315a); One end of the first rope (315a) is fixed to a fixed point C at the front end of the thigh (313), and the other end is wound around the second annular groove guide rail (319) and fixed to a fixed point E at the front end of the calf (314); One end of the second rope (315b) is fixed to a fixed point B at the front end of the calf (314), and the other end is wound around the first annular groove guide rail (318) and fixed to a fixed point A in the lower groove of the trunk mechanism (100); The first rope (315a) and the second rope (315b) form an equal-length reverse closed-loop coupling; Rolling bearings are embedded on both sides of the joint axes of the hip joint (311) and the knee joint (312).

5. The frog-like hybrid drive amphibious robot according to claim 1, characterized in that: The flexible deformation membrane (324) of the flipper mechanism (320) has a thickness of 0.5 mm; The toe bone (323) is rotatably connected to the ankle joint (321) via a bearing, and the gear transmission group (325) includes a three-stage speed change gear and a waterproof steering gear.

6. The frog-like hybrid drive amphibious robot according to claim 5, characterized in that: The toe bones (323) include: a first toe bone (323a), a second toe bone (323b), a third toe bone (323c), a fourth toe bone (323d) and a fifth toe bone (323e); The five toe bones (323) of the flipper mechanism (320) are symmetrically distributed on both sides of the flipper body (322); The third toe bone (323c) is used as a central symmetry axis, and the first toe bone (323a), the second toe bone (323b), the third toe bone (323c), the fourth toe bone (323d) and the fifth toe bone (323e) are arranged to rotate around the central symmetry axis, and the rotation angle range is 0°-60°.

7. The frog-like hybrid drive amphibious robot according to claim 1, characterized in that: An air storage bag (130) is provided in the sealed cavity of the trunk mechanism (100); The volume of the gas storage bag (130) is 80 ml, and the upper housing (110) and the lower housing (120) are detachably connected via a snap-on structure (140).

8. The frog-like hybrid drive amphibious robot according to claim 1, characterized in that: The trunk mechanism (100) is formed by 3D printing using nylon material; An O-ring is provided at the joint between the upper housing (110) and the lower housing (120), and the wall thickness of the sealing cavity is 3 mm.

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