Triphibian robot based on multiplexing driving mechanism

Abstract

The invention discloses a triphibian robot based on a multiplex driving mechanism, and belongs to the technical field of robots. The robot comprises a main body, four connecting assemblies and four propelling units, the four connecting assemblies are evenly distributed on the side wall of the main body, one end of each connecting assembly is connected with the main body, the other end of each connecting assembly is connected with one propelling unit, and the propelling units can rotate by 360 degrees around the connecting assemblies connected with the propelling units; the main body is used for controlling the triphibian robot to be switched among three movement modes of air, water and water bottom and driving the triphibian robot to move; the propelling unit comprises a central motor with double output shafts, an air propelling assembly and an underwater and underwater dual-purpose propelling assembly, and the central motor drives the air propelling assembly and the underwater and underwater dual-purpose propelling assembly to rotate through the double output shafts so as to achieve movement of the triphibian robot. The method is suitable for various working environments and has wide application value.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and in particular relates to an amphibious robot based on a multiplexed drive mechanism. Background Art

[0002] Existing robotics technologies are typically designed for a single medium environment, such as aerial drones, underwater robots, or land vehicles. These robots can operate efficiently in specific media, but their performance is limited in other media. For example, aerial drones can fly flexibly in the air, but cannot move effectively in water because the density difference between air and water causes their propulsion systems to be significantly less efficient in water. Similarly, underwater robots perform well in water but cannot work properly in air. Land vehicles can travel stably on land but are completely unusable on the surface or in water. In addition, existing multi-media robot designs are often complex in structure and require multiple systems to adapt to different media environments, which increases maintenance and manufacturing costs. For example, some cross-media robots use a multi-rotor structure. Although they can achieve vertical take-off and landing at the water-air interface, their rotor structure limits their underwater travel efficiency, resulting in lower speed.

[0003] Therefore, there is an urgent need in the prior art for a robot design that can operate efficiently in a variety of media, and the design should have the characteristics of simple structure, complete functions, easy maintenance and high cost-effectiveness. Summary of the Invention

[0004] In order to solve the problems in the prior art, the present invention provides an amphibious robot based on a multiplexed drive mechanism.

[0005] The technical solutions of the present invention are as follows:

[0006] In a first aspect, the present invention discloses an amphibious robot based on a multiplexed drive mechanism, comprising a main body, four sets of connection components, and four propulsion units. The four sets of connection components are evenly distributed on the side walls of the main body, one end of each connection component is connected to the main body, and the other end is connected to a propulsion unit. The propulsion unit can rotate 360 ​​degrees around the connection component to which it is connected;

[0007] The main body is used to control the amphibious robot to switch between three movement modes: in the air, in water and on the bottom, and to drive the amphibious robot to move; the propulsion unit includes a central motor with dual output shafts, an aerial propulsion component and an underwater and underwater dual-purpose propulsion component. The central motor drives the aerial propulsion component and the underwater and underwater dual-purpose propulsion component to rotate through the dual output shafts to realize the movement of the amphibious robot; the aerial propulsion component includes an air-medium propeller and a storage cover for storing the air-medium propeller blades. The main body drives the air-medium propeller through the central motor to realize the movement of the amphibious robot in the air; the underwater and underwater dual-purpose propulsion component includes a water-medium propeller, a fairing mounted on the outside of the water-medium propeller, and a rubber ring mounted on the outside of the fairing. The main body drives the water-medium propeller through the central motor to realize the movement of the amphibious robot in the water; the fairing and the rubber ring constitute an underwater crawling wheel. The main body drives the underwater crawling wheel through the central motor to realize the movement of the amphibious robot on the bottom of the water.

[0008] Furthermore, the blades of the air-medium propeller can be stored in the same vertical direction; the propulsion unit also includes a first reducer and a first transmission shaft, the first output shaft of the central motor is connected to the input shaft of the first reducer, the output shaft of the first reducer is connected to one end of the first transmission shaft, and the other end of the first transmission shaft is connected to the aerial propulsion assembly; the central motor controls the rotation of the air-medium propeller of the aerial propulsion assembly through the first reducer and the first transmission shaft.

[0009] Furthermore, the propulsion unit also includes a second reducer, a third reducer, a second transmission shaft and a third transmission shaft. The second output shaft of the central motor is connected to the input shaft of the second reducer or the third reducer, the output shaft of the second reducer is connected to one end of the second transmission shaft, and the other end of the second transmission shaft is connected to the water medium propeller. The central motor controls the water medium propeller of the underwater and underwater dual-purpose propulsion assembly to rotate through the second reducer and the second transmission shaft; the output shaft of the third reducer is connected to one end of the third transmission shaft, and the other end of the third transmission shaft is connected to the fairing. The central motor controls the underwater crawling wheel of the underwater and underwater dual-purpose propulsion assembly to rotate through the third reducer and the third transmission shaft; wherein the second transmission shaft and the third transmission shaft are arranged concentrically and coaxially.

[0010] In a second aspect, the present invention further discloses a working method using the amphibious robot, comprising:

[0011] When the amphibious robot is in a standby state, each propulsion unit is in a horizontal state, and the main body controls the amphibious robot in different motion modes by receiving working instructions; wherein the working instructions are working instructions preset in the main body or working instructions input from the outside, and the working instructions include air, surface, underwater or underwater motion instructions;

[0012] When the amphibious robot is required to be in an air, surface, underwater or underwater motion mode, the main body drives the rotary servos of each connected component to drive the corresponding propulsion unit to rotate based on the air, surface, underwater or underwater motion instructions, thereby achieving flight attitude adjustment in the air, surface, underwater or underwater motion mode;

[0013] When the amphibious robot is in the aerial motion mode, the main body drives the first output shafts of the central motors of the four propulsion units to rotate. Each central motor controls the air propeller of the aerial propulsion assembly to rotate through the corresponding first reducer and first transmission shaft, thereby realizing the movement of the amphibious robot in the air.

[0014] When the amphibious robot is in the surface motion mode, the main body drives the second output shaft of the central motor of the four propulsion units to rotate. Each central motor controls the water medium propeller of the underwater dual-purpose propulsion assembly through the corresponding second reducer and second transmission shaft to rotate, thereby realizing the movement of the amphibious robot on the water surface;

[0015] When the amphibious robot is in the underwater motion mode, the main body drives the second output shaft of the central motor of the four propulsion units to rotate. Each central motor controls the water medium propeller of the underwater dual-purpose propulsion assembly through the corresponding second reducer and second transmission shaft to rotate, thereby realizing the movement of the amphibious robot in the water;

[0016] When the amphibious robot is in underwater motion mode, the main body drives the third output shaft of the central motor of the four propulsion units to rotate. Each central motor controls the underwater crawling wheel of the underwater dual-purpose propulsion assembly through the corresponding third reducer and third transmission shaft to realize the movement of the amphibious robot on the bottom of the water.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The robot of the present invention adopts a unique design, with a simple and beautiful appearance, high efficiency and practicality. Through careful structural planning and functional integration, it can adapt to a variety of complex environmental scenarios, such as aerial flight, surface gliding, underwater diving, and underwater crawling. This multifunctional propeller design overcomes the limitation of traditional robots that can only adapt to a single environment, thereby meeting the needs of robots in different application scenarios and having wide application value.

[0019] (2) The robot’s propulsion unit features an innovative design that can rotate 360 ​​degrees, providing the robot with flexible propulsion directions in various media. Compared to conventional robots with fixed propulsion directions, it can better cope with complex environments, achieve precise control, and effectively enhance the robot’s navigation capabilities in multi-media environments.

[0020] (3) Using a single motor to achieve multi-media propulsion simplifies system design and reduces costs. Traditional robots often rely on multiple independent propulsion systems. This invention reduces this reliance, not only reducing overall weight but also optimizing energy efficiency. At the same time, the reduction in components reduces maintenance requirements.

[0021] (4) The aerial propulsion component adopts a foldable design and is equipped with a blade protection cover. When propelling in water or underwater, the foldable design optimizes the streamline of the robot and reduces resistance. During flight, the blade protection cover can effectively protect the blades, greatly increasing safety compared to robots without this design.

[0022] (5) The design of the dual-purpose propulsion assembly allows the robot to quickly switch propulsion modes between different media, and each mode has an independent working mechanism without interfering with each other. Compared with robots that require additional mechanical structures to switch modes, this invention improves operational flexibility and adaptability, allowing the robot to quickly switch modes in underwater and underwater environments, making operation more convenient.

[0023] (6) The modular design applied to the robot makes its maintenance and upgrade more convenient, thereby extending the service life of the thruster. This design overcomes the problems of traditional non-modular design robots such as difficult maintenance, inconvenient upgrades, and short service life, and provides a strong guarantee for the long-term stable operation of the thruster. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the initial state structure of the amphibious robot based on the multiplexed drive mechanism of the present invention;

[0025] Figure 2 Schematic diagram of the structure of the amphibious robot based on the multiplexed drive mechanism of the present invention when in an aerial motion mode;

[0026] Figure 3 Schematic diagram of the structure of the amphibious robot based on the multiplexed drive mechanism of the present invention when in a water surface motion mode;

[0027] Figure 4 Schematic diagram of the structure of the amphibious robot based on the multiplexed drive mechanism of the present invention when in an underwater motion mode;

[0028] Figure 5 Schematic diagram of the structure of the amphibious robot based on the multiplexed drive mechanism of the present invention when in underwater motion mode;

[0029] Figure 6 Schematic diagram of the structure of the amphibious robot based on the multiplexed drive mechanism of the present invention when in a transition mode;

[0030] Figure 7 It is a structural schematic diagram of the propulsion unit of the present invention;

[0031] Figure 8 Schematic diagram of the blade storage mechanism of the present invention;

[0032] Figure 9 It is a front view of the underwater dual-purpose propulsion assembly of the present invention.

[0033] In the figure: 1 main body, 1-1 shell, 2 connecting assembly, 3 propulsion unit, 3-1 central motor, 3-1-1 first output shaft, 3-1-2 second output shaft, 3-2-1 first reducer, 3-2-2 second reducer, 3-2-3 third reducer, 3-3-1 first transmission shaft, 3-3-2 second transmission shaft, 3-3-3 third transmission shaft, 3-4 aerial propulsion assembly, 3-4-1 air-medium propeller, 3-4-2 air-medium propeller storage sleeve, 3-4-3 screw clip, 3-4-4 storage servo, 3-4-5 motor for controlling screw guide rail, 3-4-6 screw guide rail, 3-4-7 connecting rod, 3-5 underwater and underwater dual-purpose propulsion assembly, 3-5-1 three-piece small propeller, 3-5-2 fairing, 3-5-3 rubber ring. DETAILED DESCRIPTION

[0034] The present invention will be further described and illustrated below in conjunction with specific embodiments. The embodiments are merely illustrative of the present disclosure and do not limit its scope. The technical features of the various embodiments of the present invention may be combined accordingly, provided that there is no conflict between them.

[0035] The present invention aims to provide an amphibious robot based on a multiplexed drive mechanism, which has a novel design, a simple and beautiful shape, high efficiency and practicality, and can adapt to a variety of complex environmental scenarios. To achieve the above objectives, the present invention adopts the following technical solutions:

[0036] The amphibious robot consists of a main body 1, four sets of connection components 2, and four propulsion units 3. The main body of the robot is located at the geometric center, and the four propulsion units 3 are evenly distributed around the main body 1 and connected to the main body 1 through four sets of connection components 2. The propulsion units 3 can rotate 360 ​​degrees around the connection components 2 to which they are connected.

[0037] Each connection assembly 2 consists of a support arm, a rotary servo, and a connecting plate. One end of the support arm is connected to the robot's main body 1, and the other end is connected to the rotary servo. The rotary servo is mounted on the support arm, and a connecting plate is mounted on the output end of the rotary servo, which is connected to the propulsion unit 3 via the connecting plate. Under control commands from the robot's main body 1, the rotary servo can drive the propulsion unit 3 to rotate 360 ​​degrees around the support arm, enabling flexible form transformation to meet the needs of aerial, surface, underwater, and underwater propulsion.

[0038] The propulsion unit 3 includes a central motor 3-1 with dual output shafts, three dedicated reducers, an aerial propulsion component 3-4, an underwater dual-purpose propulsion component 3-5 and three transmission shafts. The central motor 3-1 is used to provide unified power. The two output shafts of the central motor 3-1 are the first output shaft 3-1-1 and the second output shaft 3-1-2. The three dedicated reducers are the first reducer 3-2-1, the second reducer 3-2-2 and the third reducer 3-2-3. Among them, the first reducer 3-2-1 is connected to the first output shaft 3-1-1 of the central motor 3-1, the second reducer 3-2-2 and the third reducer 3-2-3 are respectively connected to the second output shaft 3-1-2 of the central motor 3-1, and the second output shaft 3-1-2 of the central motor 3-1 can flexibly switch the connection object according to different working modes: when the amphibious robot is in underwater motion mode control, the second output shaft 3-1-2 is connected to the second reducer 3-2-2; and when the amphibious robot is in underwater motion mode control, the second output shaft 3-1-2 is connected to the third reducer 3-2-3. Three transmission shafts connect the reducers and propulsion components: the first transmission shaft 3-3-1, the second transmission shaft 3-3-2, and the third transmission shaft 3-3-3. The second and third transmission shafts 3-3-2 and 3-3-3 are concentric and coaxial. The front and rear ends of the first transmission shaft 3-3-1 connect to the first reducer 3-2-1 and the aerial propulsion component 3-4, respectively. The second transmission shaft 3-3-2 connects to the second reducer 3-2-2 and the water-based propeller in the underwater and underwater propulsion component 3-5, respectively. The front and rear ends of the third transmission shaft 3-3-3 connect to the third reducer 3-2-3 and the underwater crawling wheel in the underwater and underwater propulsion component 3-5, respectively. When entering different environments, the central motor 3-1 sequentially activates the corresponding output shaft and reducer according to the output commands from the robot's main body 1. The reducer then drives the corresponding propulsion component through the transmission shafts.

[0039] The aerial propulsion assembly 3-4 includes an air-medium propeller 3-4-1 and an air-medium propeller storage sleeve 3-4-2. The blades of the air-medium propeller 3-4-1 can be stored in the same vertical direction when the amphibious robot enters the water or underwater. When the air-medium propeller 3-4-1 needs to be stored, the blades of the air-medium propeller 3-4-1 can be manually or motor-driven to keep the blades in the same vertical direction. The aerial propulsion assembly 3-4 adopts a foldable design to reduce resistance when the amphibious robot switches to underwater or underwater motion mode.

[0040] like Figure 8As shown, the aerial propulsion assembly 3-4 also includes a guide device, a storage servo 3-4-4 and a screw motor. One end of the guide device is hinged to the first transmission shaft 3-3-1, and one end of the guide device is fixedly connected to the air-medium propeller storage sleeve 3-4-2; the air-medium propeller storage sleeve 3-4-2 is also provided with a screw buckle 3-4-3 (i.e., an internal threaded sleeve), and the screw buckle 3-4-3 is sleeved on the screw guide rail 3-4-6, which is the screw of the screw motor; the central motor is externally sleeved with a shell, and the storage servo 3-4-4 is arranged on the shell, and the output end of the storage servo 3-4-4 is connected to the motor 3-4-5 that controls the screw guide rail through a connecting rod 3-4-7 to control the rotation of the screw motor. By controlling the circumferential rotation of the output end of the storage servo 3-4-4, in conjunction with the screw motor and guide device, the air-to-medium propeller storage sleeve 3-4-2 can be adjusted to a position parallel or perpendicular to the first output shaft 3-3-1, thereby enabling the storage or deployment of the air-to-medium propeller storage sleeve 3-4-2. By controlling the circumferential rotation of the screw guide 3-4-6, in conjunction with the guide device, the air-to-medium propeller storage sleeve 3-4-2 can be controlled to move along the length of the propulsion unit 3 to accommodate the air-to-medium propeller 3-4-1. In this case, the air-to-medium propeller storage sleeve 3-4-2 is perpendicular to the first output shaft 3-3-1. The first speed reducer 3-2-1, the second speed reducer 3-2-2, the third speed reducer 3-2-3, the first output shaft 3-1-1, and the second output shaft 3-1-2 are also disposed within the housing.

[0041] When the amphibious robot needs to switch to the water motion mode or the underwater motion mode, the main body 1 of the amphibious robot receives an external instruction and issues an instruction to start the storage process (or issues an instruction to start the storage process based on a preset in the main body 1), and the motor 3-4-5 of the screw motor pushes the air-medium propeller storage sleeve 3-4-2 to the height of the air-medium propeller 3-4-1 through the screw guide rail 3-4-6 so that the blades of the air-medium propeller 3-4-1 completely enter the air-medium propeller storage sleeve 3-4-2, and further the storage servo 3-4-4 drives the connecting rod 3-4-7 to drive the screw motor and the air-medium propeller storage sleeve 3-4-2 to flip downward 90 degrees, and the air-medium propeller storage sleeve 3-4-2 folds downward 90 degrees until it is parallel to the first transmission axis 3-3-1.

[0042] Similarly, when the amphibious robot needs to switch back to the aerial motion mode, the storage servo 3-4-4 drives the connecting rod 3-4-7 to drive the screw motor 3-4-5 and the air-medium propeller storage sleeve 3-4-2 to flip upward 90 degrees, and the air-medium propeller storage sleeve 3-4-2 is unfolded to a position perpendicular to the first transmission axis 3-3-1. The screw motor 3-4-5 further drives the screw guide rail 3-4-6 to rotate in the opposite direction to make the air-medium propeller storage sleeve 3-4-2 descend, completely releasing the air-medium propeller 3-4-1.

[0043] like Figure 9 As shown, the underwater dual-purpose propulsion assembly 3-5 is composed of a water medium propeller, a deflector 3-5-2 sleeved on the outside of the water medium propeller, and a rubber ring 3-5-3 sleeved on the outside of the deflector. The deflector 3-5-2 and the rubber ring 3-5-3 constitute an underwater crawling wheel; the water medium propeller is Figure 9 The three-blade small propeller 3-5-1.

[0044] like Figure 7 As shown, the three-blade propeller 3-5-1 is located within the underwater dual-purpose propulsion assembly 3-5. It features a low-speed, high-torque, and small-blade design specifically for underwater propulsion. A shroud 3-5-2, mounted externally to the three-blade propeller 3-5-1, also ensures high efficiency and stability during underwater propulsion. A second transmission shaft 3-3-2 connects the three-blade propeller 3-5-1 to the second reducer 3-2-2, providing independent control of the three-blade propeller 3-5-1. The underwater crawling wheel is located at the outermost layer of the underwater dual-purpose propulsion assembly 3-5. It is formed by wrapping a rubber ring 3-5-3 around the shroud 3-5-2. This structure enhances underwater friction, improves stability, and protects the internal propeller. It also features an extremely low-speed, rim-driven design. A third transmission shaft 3-3-3 connects the underwater crawling wheel to the third reducer 3-2-3, providing underwater propulsion.

[0045] The three-piece propeller 3-5-1 and the underwater crawling wheel are integrated onto a single axis via the concentric, coaxial second and third transmission shafts 3-3-2 and 3-3-3, ensuring synchronized and stable power transmission. The three-piece propeller 3-5-1 receives power from the second reducer 3-2-2 via the second transmission shaft 3-3-2, providing underwater propulsion. The underwater crawling wheel receives power from the third reducer 3-2-3 via the third transmission shaft 3-3-3, providing underwater propulsion. The two components are structurally nested: the underwater crawling wheel encases the three-piece propeller 3-5-1, while the second and third transmission shafts 3-3-2 and 3-3-3 are coaxial to prevent power interference.

[0046] The design of the underwater and dual-purpose propulsion unit 3-5 features a unique functional allocation: when operating underwater, only the three-piece propeller 3-5-1 operates, while the underwater crawler wheel is inactive. When traveling underwater, only the underwater crawler wheel operates, while the underwater propeller stops, preventing the underwater propeller from being contaminated by mud, sand, or debris while operating underwater.

[0047] In a specific embodiment of the present invention, the amphibious robot further includes a housing disposed externally to a main body 1-1, and a controller, power supply battery, and driver assembly integrated within the housing 1-1. The controller is preferably a control circuit board comprised of a single-chip microcomputer or an ARM (Advanced RISC Machine) processor. The controller at least regulates the speed and direction of the central motor 3-1 and provides synchronous and speed control for the four central motors 3-1. The driver assembly is connected to the controller and includes at least a driver for driving the central motor 3-1, a driver for driving the lead screw motor 3-4-5, and a driver for driving the rotary servo 2-2 and the storage servo 3-4-4. Each driver is electrically connected to a corresponding motor or servo via a waterproof connector and primarily functions to control the movement of each motor or servo. The power supply battery is connected to both the controller and the driver assembly and can be a high-performance lithium battery with a discharge current greater than 10A. Preferably, the robot's main body 1 is constructed of lightweight, waterproof material, with sealing rings installed at key locations for waterproofing.

[0048] The robot is designed to be modular, allowing the air-medium propeller 3-4-1 assembly and the underwater and underwater dual-purpose propulsion assembly to be replaced or upgraded separately.

[0049] The following describes the robot's form and working mode in detail through different media environments.

[0050] like Figure 1 As shown, the amphibious robot is in an initial state. At this time, the main body 1 of the amphibious robot is located at the geometric center, the four groups of connection components 2 extend radially and symmetrically, the propulsion unit 3 is parallel to the axis of the main body 1 in the initial state, and the air-medium propeller 3-4-1 of the aerial propulsion component 3-4 is stored in the air-medium propeller storage sleeve 3-4-2, and the air-medium propeller storage sleeve 3-4-2 is folded and stored to be parallel to the first output shaft 3-3-1.

[0051] like Figure 1 and Figure 2As shown, when the amphibious robot performs aerial operations, the rotary servo 2-2 drives the propulsion unit 3 to rotate 90° around the axis of the support arm under the instruction of the main body 1 of the amphibious robot, so that each propulsion unit 3 is in a vertical state, and the aerial propulsion component 3-4 in the propulsion unit 3 is located above the underwater dual-purpose propulsion component 3-5; at this time, each propulsion unit 3 is perpendicular to the main body 1 of the amphibious robot. Subsequently, the air-medium propeller storage sleeve 3-4-2 storing the blades of the air-medium propeller 3-4-1 is unfolded to a position perpendicular to the first output shaft 3-3-1 under the drive of the storage servo 3-4-4 and the lead screw motor. At this time, the air-medium propeller storage sleeve 3-4-2 is parallel to the main body 1 of the robot. The lead screw motor further drives the air-medium propeller storage sleeve 3-4-2 to descend a certain height along the lead screw guide rail 3-4-6 until the blades of the air-medium propeller 3-4-1 are released; at the same time, the main body 1 of the amphibious robot sends an instruction to the controller, and the controller transmits the signal to the driver for driving the central motor 3-1, which activates the first output shaft 3-1-1 of the central motor 3-1. The first output shaft 3-1-1 in turn drives the first reducer 3-2-1, which in turn drives the first transmission shaft 3-3-1. Finally, the first transmission shaft 3-3-1 drives the dielectric propeller 3-4-1, generating upward thrust and enabling the amphibious robot to ascend vertically. This completes the transition of the amphibious robot from its initial state to its aerial operating mode.

[0052] During flight, directional control can be achieved through the following methods: Adjusting the direction of the propeller blades (3-4-1), such as forward and reverse rotation, allows for vertical control. Left-right control is achieved by varying the rotational speed of the propellers (3-4-1) in the left and right propulsion units, creating a speed difference between them. Forward-backward control is achieved by adjusting the angle between the propulsion unit (3) and the robot's main body (1). For example, rotating the propulsion unit (3) from perpendicular to the robot's main body (1) to tilt forward will cause the amphibious robot to fly forward. Furthermore, the underwater propulsion unit (3-5) is inactive during flight to reduce drag and energy consumption.

[0053] like Figure 2 and Figure 3As shown, when the amphibious robot needs to go to the water surface to perform operations, the amphibious robot gradually lowers its height close to the water surface. Under the command of the main body 1 of the amphibious robot, the first output shaft 3-1-1 of the central motor 3-1 of the four propulsion units of the amphibious robot stops rotating, and the screw motor drives the air-medium propeller storage sleeve 3-4-2 to rise along the screw guide rail 3-4-6 until it wraps the blades of the air-medium propeller 3-4-1. Then, the storage servo 3-4-4 and the screw motor cooperate to make the air-medium propeller storage sleeve 3-4-2 containing the blades of the air-medium propeller 3-4-1 fold downward 90 degrees to be parallel to the first output shaft 3-3-1. At the same time, the main body 1 of the robot sends a command to the controller, and the controller transmits a signal to the controller for driving the central motor 3 -1, which activates the second output shaft 3-1-2 of the central motor 3-1. This, in turn, drives the second transmission shaft 3-3-2 via the second reducer 3-2-2 connected to the second output shaft 3-1-2. The second transmission shaft 3-3-2, in turn, drives the three-piece propeller 3-5-1 in the underwater and underwater dual-purpose propulsion assembly 3-5 connected to it, generating upward thrust. Simultaneously, driven by the rotary servo 2-2, the four propulsion units 3 surrounding the main body 1 of the amphibious robot rotate forward around the support arm from a position perpendicular to the main body 1, causing the aerial propulsion assembly 3-4 to rise slightly above the water surface. The underwater and underwater dual-purpose propulsion assembly 3-5 is immersed in the water, thus completing the air-to-surface mode transition. When navigating on the surface, the four propulsion units 3 around the main body 1 work in coordination, collectively providing upward thrust and forward power through the three-piece propeller 3-5-1, thereby achieving stable surface navigation.

[0054] When navigating the surface, the amphibious robot achieves flexible maneuverability through the following methods: Forward and backward movement: When moving forward, the rotation speed of the three-blade propellers 3-5-1 in the four propulsion units is increased to generate stronger forward thrust; when moving backward, the rotation direction of the three-blade propellers 3-5-1 in the four propulsion units 3 is reversed to generate backward thrust. For side-to-side movement: By adjusting the thrust difference between the left and right propulsion units 3, the rotation speed of the left and right underwater propulsion units 3 is changed to achieve lateral movement. For example, increasing the speed of the left propulsion unit 3 while decreasing the speed of the right propulsion unit 3 will cause the amphibious robot to move right; the opposite will cause it to move left.

[0055] like Figure 3 and Figure 4As shown, when the amphibious robot needs to enter the water to perform operations, under the instruction of the main body 1 of the amphibious robot, the two propulsion units 3 on the front side rotate around the support arm to a horizontal state under the drive of the rotary servo 2-2. At this time, the two propulsion units 3 are parallel to the axis of the main body 1 of the amphibious robot, and the underwater and underwater dual-purpose propulsion components 3-5 of the two propulsion units 3 are located on the front side of the main body 1, and the forward and backward thrust is provided by the rotation of the three-piece small propeller 3-5-1; the two propulsion units 3 on the rear side rotate synchronously around the support arm to a vertical state. At this time, the two propulsion units 3 are perpendicular to the axis of the main body 1 of the amphibious robot, and the underwater and underwater dual-purpose propulsion components 3-5 of the two propulsion units 3 are located below the main body 1, and the upward and downward thrust is provided by the rotation of the three-piece small propeller 3-5-1, thereby completing the switching from the surface to the underwater working mode.

[0056] When traveling in the water, the amphibious robot can be flexibly controlled in the following ways: moving up and down - achieved by adjusting the direction and speed of the three-piece small propellers 3-5-1 of the two sets of propulsion units 3 on the rear side of the main body 1 of the amphibious robot; moving forward and backward - when moving forward, increase the speed of the three-piece small propellers 3-5-1 in the two propulsion units 3 on the front side of the main body 1 of the amphibious robot to generate a stronger backward thrust, pushing the amphibious robot forward; when moving backward, change the direction of the three-piece small propellers 3-5-1 in the two propulsion units 3 on the front side of the main body 1 of the amphibious robot to reverse it, generate forward thrust, and push the robot backward. Moving left and right - by adjusting the speed of the propulsion units 3 on the left and right sides to form a thrust difference, change the speed of the left and right underwater propulsion units 3 to achieve lateral movement. For example, increase the speed of the left propulsion unit while reducing the speed of the right side, and the robot moves to the right; otherwise, it moves to the left. As Figure 4 and Figure 5 As shown, when the amphibious robot needs to enter the water to perform operations, the amphibious robot gradually descends to the bottom of the water by relying on the thrust generated by the two propulsion units 3 on the rear side of the main body 1. Under the command of the main body 1 of the amphibious robot, the two propulsion units 3 on the rear side of the main body 1 of the amphibious robot are driven by the rotary servo 2-2 to rotate around the support arm to be parallel to the axis of the main body 1 of the amphibious robot, and the underwater dual-purpose propulsion component 3-5 is facing backward; at the same time, the main body 1 of the amphibious robot sends a command to drive the central motor 3-1 of the four propulsion units 3, so that the second output shaft 3-1-2 of the central motor 3-1 drives the third reducer 3-2-3 to rotate, the third reducer 3-2-3 rotates the third transmission shaft 3-3-3, and the third transmission shaft 3-3-3 rotates to drive the underwater crawling wheel of the underwater dual-purpose propulsion component 3-5 to rotate, thereby completing the switching from the underwater to the underwater working mode.

[0057] When crawling underwater, the amphibious robot achieves flexible maneuverability through the following methods: Left and right movement—this is achieved by increasing or changing the speed and direction of the underwater crawling wheels in the amphibious robot's propulsion unit 3 to generate rightward and leftward thrust. Forward and backward movement—this is achieved by adjusting the thrust difference between the front and rear propulsion units of the amphibious robot's main body 1, thereby changing the speed of the front and rear underwater crawling wheels of the amphibious robot's main body 1 to achieve forward or backward steering movement. For example, increasing the speed of the front propulsion unit 3 while reducing the speed of the rear propulsion unit will cause the amphibious robot to move backward; otherwise, it will move forward.

[0058] Furthermore, the working mode of the amphibious robot is briefly described as it moves from the bottom of the water to the water, to the surface of the water, and finally to the air.

[0059] When the amphibious robot needs to switch from underwater mode to underwater mode, under the command of the main body 1 of the amphibious robot, the two propulsion units 3 on the rear side of the main body 1 rotate around the support arm to the axis perpendicular to the main body 1 of the amphibious robot under the drive of the rotary servo 2-2, and the underwater and underwater dual-purpose propulsion assembly 3-5 faces downward; at the same time, under the command of the main body 1 of the amphibious robot, the underwater crawling wheels of the four propulsion units 3 stop working, and the corresponding second output shaft 3-1-2 of the central motor 3-1 drives the second reducer 3-2-2 to rotate in turn, generating an upward thrust. The amphibious robot gradually rises into the water and can move forward and backward, left and right, and up and down, thereby completing the conversion from underwater to underwater mode.

[0060] When the amphibious robot needs to switch from the water to the surface mode, the underwater and underwater dual-purpose propulsion components 3-5 of the four propulsion units 3 of the amphibious robot are all rotated to a vertical downward form, that is, Figure 6 As shown, the upward and downward thrust of the amphibious robot is increased, and the amphibious robot gradually rises to close to the water surface by the thrust; under the instruction of the main body 1 of the amphibious robot, the four propulsion units 3 rotate around the support arm, so that the aerial propulsion components 3-4 face forward and are slightly above the water surface, while the underwater dual-purpose propulsion components 3-5 face backward and are immersed in the water; the four propulsion units 3 around the main body 1 of the amphibious robot work together to bring upward thrust and forward power to the amphibious robot, thus completing the conversion from the underwater to the surface mode.

[0061] When the amphibious robot needs to switch from the surface to the air mode, under the instruction of the main body 1 of the amphibious robot, the air propulsion components 3-4 of the four propulsion units 3 of the amphibious robot are all rotated to a position perpendicular to the axis of the main body 1 of the amphibious robot and placed above the main body 1 of the amphibious robot, and the underwater dual-purpose propulsion components 3-5 are perpendicular to the axis of the main body 1 of the amphibious robot and placed below the main body 1 of the amphibious robot to provide upward thrust, so that the amphibious robot floats on the water surface. Figure 6As shown; then the second output shafts 3-1-2 of the central motors 3-1 of the four propulsion units 3 around the amphibious robot stop rotating, and the air-medium propeller storage sleeve 3-4-2 storing the air-medium propeller 3-4-1 is unfolded to a position parallel to the main body 1 of the amphibious robot under the drive of the storage servo 3-4-4 and the screw motor 3-4-5. Further, the screw motor 3-4-5 drives the air-medium propeller storage sleeve 3-4-2 to descend a certain height along the screw guide rail 3-4-6 until the blades of the air-medium propeller 3-4-1 are released. Further, the main body 1 of the amphibious robot sends a command to activate the first output shaft 3-1-1 corresponding to the central motor 3-1. The first output shaft 3-1-1 drives the first reducer 3-2-1, the first transmission shaft 3-3-1 and the air-medium propeller 3-4-1 to rotate in turn, generating upward lift. The amphibious robot gradually rises vertically, thus completing the transformation from the underwater to the surface mode.

[0062] In addition, the thruster's modular design allows for quick replacement or upgrade of the underwater crawling wheels to adapt to different underwater environments, such as sand, rocks, mud, and other complex terrains. This design not only improves the thruster's applicability but also enhances its ability to navigate diverse environments.

[0063] The above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. Persons skilled in the art will readily appreciate that variations and modifications may be made without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A amphibious robot based on a multiplexed drive mechanism, characterized in that: It includes a main body, four sets of connecting components and four propulsion units. The four sets of connecting components are evenly distributed on the side walls of the main body. One end of each connecting component is connected to the main body and the other end is connected to a propulsion unit. The propulsion unit can rotate 360 ​​degrees around the connecting component to which it is connected. The main body is used to control the amphibious robot to switch between three movement modes: in the air, in water and on the bottom, and to drive the amphibious robot to move; the propulsion unit includes a central motor with dual output shafts, an aerial propulsion component and an underwater and underwater dual-purpose propulsion component. The central motor drives the aerial propulsion component and the underwater and underwater dual-purpose propulsion component to rotate through the dual output shafts to realize the movement of the amphibious robot; the aerial propulsion component includes an air-medium propeller and a storage cover for storing the air-medium propeller blades. The main body drives the air-medium propeller through the central motor to realize the movement of the amphibious robot in the air; the underwater and underwater dual-purpose propulsion component includes a water-medium propeller, a fairing mounted on the outside of the water-medium propeller, and a rubber ring mounted on the outside of the fairing. The main body drives the water-medium propeller through the central motor to realize the movement of the amphibious robot in the water; the fairing and the rubber ring constitute an underwater crawling wheel. The main body drives the underwater crawling wheel through the central motor to realize the movement of the amphibious robot on the bottom of the water.

2. The amphibious robot based on the multiplexed drive mechanism according to claim 1, characterized in that: The connecting assembly includes a support arm, a rotating servo and a connecting plate. One end of the support arm is connected to the main body, and the other end is installed with the rotating servo. The connecting plate is installed on the output end of the rotating servo. The connecting assembly is connected to the propulsion unit through the connecting plate to drive the propulsion unit to rotate 360 ​​degrees.

3. The amphibious robot based on the multiplexed drive mechanism according to claim 2, characterized in that: The blades of the air-medium propeller can be stored in the same vertical direction; the propulsion unit also includes a first reducer and a first transmission shaft, the first output shaft of the central motor is connected to the input shaft of the first reducer, the output shaft of the first reducer is connected to one end of the first transmission shaft, and the other end of the first transmission shaft is connected to the aerial propulsion assembly; the central motor controls the rotation of the air-medium propeller of the aerial propulsion assembly through the first reducer and the first transmission shaft.

4. The amphibious robot based on the multiplexed drive mechanism according to claim 1, characterized in that: The aerial propulsion assembly further includes a guide device, a storage servo, and a screw motor. One end of the guide device is hinged to the first transmission shaft, and the other end is fixedly connected to the storage sleeve. The storage sleeve is further provided with an internal threaded sleeve, which is mounted on the screw of the screw motor. The central motor is externally provided with a housing, and the storage servo is mounted on the housing. The output end of the storage servo is connected to the screw motor via a connecting rod to control the rotation of the screw motor. By controlling the circumferential rotation of the storage servo output end, and in conjunction with the screw motor and the guide device, the storage sleeve can be adjusted to a position parallel or perpendicular to the first output shaft to achieve storage or expansion of the storage sleeve; By controlling the circumferential rotation of the screw of the screw motor and cooperating with the guide device, the storage sleeve can be controlled to move in the length direction of the propulsion unit to achieve the storage of the air-medium propeller. At this time, the storage sleeve is perpendicular to the first output shaft.

5. The amphibious robot based on the multiplexed drive mechanism according to claim 3, characterized in that: The propulsion unit also includes a second reducer, a third reducer, a second transmission shaft and a third transmission shaft. The second output shaft of the central motor is connected to the input shaft of the second reducer or the third reducer, the output shaft of the second reducer is connected to one end of the second transmission shaft, and the other end of the second transmission shaft is connected to the water medium propeller. The central motor controls the water medium propeller of the underwater and underwater dual-purpose propulsion assembly to rotate through the second reducer and the second transmission shaft; the output shaft of the third reducer is connected to one end of the third transmission shaft, and the other end of the third transmission shaft is connected to the fairing. The central motor controls the underwater crawling wheel of the underwater and underwater dual-purpose propulsion assembly to rotate through the third reducer and the third transmission shaft; wherein the second transmission shaft and the third transmission shaft are arranged concentrically and coaxially.

6. The amphibious robot based on the multiplexed drive mechanism according to claim 5, characterized in that: When the amphibious robot is in aerial motion mode control, each propulsion unit is in a vertical state, and the aerial propulsion assembly is located above the underwater dual-purpose propulsion assembly. The main body drives the first output shaft of the central motor of the four propulsion units to rotate, and each central motor controls the air medium propeller of the aerial propulsion assembly to rotate through the corresponding first reducer and the first transmission shaft, thereby realizing the movement of the amphibious robot in the air.

7. The amphibious robot based on the multiplexed drive mechanism according to claim 6, characterized in that: When the amphibious robot is in underwater motion mode control, the two propulsion units close to the forward direction of the amphibious robot are in a horizontal state, and the underwater and underwater dual-purpose propulsion assembly is facing the forward direction of the amphibious robot; the two propulsion units away from the forward direction of the amphibious robot are in a vertical state, and the aerial propulsion assembly is located above the underwater and underwater dual-purpose propulsion assembly. At this time, the air-medium propeller of the aerial propulsion assembly is stored in the storage sleeve, and the storage sleeve is also stored; the main body drives the second output shaft of the central motor of the four propulsion units to rotate, and each central motor controls the water-medium propeller of the underwater and underwater dual-purpose propulsion assembly to rotate through the corresponding second reducer and second transmission shaft, thereby realizing the movement of the amphibious robot in the water; among them, the two propulsion units close to the forward direction of the amphibious robot are used to control the forward and backward movement of the amphibious robot, and the two propulsion units away from the forward direction of the amphibious robot are used to control the ascent and descent of the amphibious robot.

8. The amphibious robot based on the multiplexed drive mechanism according to claim 7, characterized in that: When the amphibious robot is in underwater motion mode control, each propulsion unit is in a horizontal state, and the underwater and underwater dual-purpose propulsion assembly is located away from the main body. The main body drives the second output shaft of the central motor of the four propulsion units to rotate, and each central motor controls the underwater crawling wheel of the underwater and underwater dual-purpose propulsion assembly to rotate through the corresponding third reducer and third transmission shaft, thereby realizing the movement of the amphibious robot on the bottom of the water.

9. The amphibious robot based on the multiplexed drive mechanism according to claim 8, characterized in that: The amphibious robot also has a surface motion mode control; when the amphibious robot is in the surface motion mode control, the plane where each propulsion unit is located is at a certain angle to the plane where the main body is located, and the underwater dual-purpose propulsion component is immersed in water, and the aerial propulsion component is located above the water surface. At this time, the air-medium propeller of the aerial propulsion component is stored in the storage sleeve, and the storage sleeve is also stored; the main body drives the second output shaft of the central motor of the four propulsion units to rotate, and each central motor controls the water-medium propeller of the underwater dual-purpose propulsion component to rotate through the corresponding second reducer and second transmission shaft. The four water-medium propellers jointly provide upward thrust and forward power for the amphibious robot, realizing the movement of the amphibious robot on the water surface.

10. A working method using the amphibious robot according to claim 9, characterized in that: include: When the amphibious robot is in a standby state, each propulsion unit is in a horizontal state, and the main body controls the amphibious robot in different motion modes by receiving working instructions; wherein the working instructions are working instructions preset in the main body or working instructions input from the outside, and the working instructions include air, surface, underwater or underwater motion instructions; When the amphibious robot is required to be in an air, surface, underwater or underwater motion mode, the main body drives the rotary servos of each connected component to drive the corresponding propulsion unit to rotate based on the air, surface, underwater or underwater motion instructions, thereby achieving flight attitude adjustment in the air, surface, underwater or underwater motion mode; When the amphibious robot is in the aerial motion mode, the main body drives the first output shafts of the central motors of the four propulsion units to rotate. Each central motor controls the air propeller of the aerial propulsion assembly to rotate through the corresponding first reducer and first transmission shaft, thereby realizing the movement of the amphibious robot in the air. When the amphibious robot is in the surface motion mode, the main body drives the second output shaft of the central motor of the four propulsion units to rotate. Each central motor controls the water medium propeller of the underwater dual-purpose propulsion assembly through the corresponding second reducer and second transmission shaft to rotate, thereby realizing the movement of the amphibious robot on the water surface; When the amphibious robot is in the underwater motion mode, the main body drives the second output shaft of the central motor of the four propulsion units to rotate. Each central motor controls the water medium propeller of the underwater dual-purpose propulsion assembly through the corresponding second reducer and second transmission shaft to rotate, thereby realizing the movement of the amphibious robot in the water; When the amphibious robot is in underwater motion mode, the main body drives the third output shaft of the central motor of the four propulsion units to rotate. Each central motor controls the underwater crawling wheel of the underwater dual-purpose propulsion assembly through the corresponding third reducer and third transmission shaft to realize the movement of the amphibious robot on the bottom of the water.

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