An amphibious three-mode robot that can operate on land and in the air

Abstract

The present invention relates to an amphibious three-mode robot, belonging to the technical field of amphibious robots, and solves the problem that it is difficult for robots in the prior art to effectively play a role in complex building spaces. The present invention includes a crawling and rolling component and a flying component connected to each other. The crawling and rolling component is used for the crawling and rolling of the robot, and the flying component is used for the flying of the robot. The amphibious three-mode robot of the present invention is light in weight and small in volume, and can adapt to all-round operation and use in complex spaces such as buildings and underground areas.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious robots, and in particular to an amphibious three-modal robot that can move on land and in the air. Background Art

[0002] Robots that can adapt to various land environments and perform multi-modal activities are one of the key research topics in the field of robotics today. They integrate technologies such as machinery, automation, computer science, electronics, and artificial intelligence, and have become one of the important symbols to measure a country's scientific and technological level and comprehensive national strength.

[0003] The mobile mechanisms of robots are mainly divided into wheeled, legged, tracked, and winged mechanisms. Wheeled mechanisms have high moving speeds and efficiencies, but poor obstacle-crossing abilities; legged mechanisms are flexible in movement, but have low walking efficiencies, unstable centers of gravity, and complex controls; winged mechanisms have high moving speeds and good obstacle-avoidance effects, but complex controls and poor stability. How to combine and concentrate the advantages of these several motion forms to enhance the environmental adaptability and motion performance of robots is a research hotspot.

[0004] Currently, three-modal robots are very rare. Usually, the common ones are wheel-legged amphibious robots. The foldable wheel-leg mechanism has cumbersome structures and controls, and the switching speed between wheel and leg forms is slow. Often, the wheeled mechanism and the legged mechanism are simply superimposed. Because of the great control difficulty, flying mechanisms are even less commonly combined with wheel-leg robots.

[0005] The existing configurations of land-air amphibious robots are difficult to meet various performance and functional requirements. When applied in the complex spaces of urban buildings, there are still the following deficiencies: The existing land-air amphibious robots mainly adopt a simple combination of a ground mobile platform and a rotorcraft, resulting in ineffective integration of different motion modes and inability to simultaneously meet the performance requirements of low power consumption, long endurance, high mobility, small size, as well as functional requirements such as quiet reconnaissance and rotor protection in the application scenarios. Land-air robots with performance or functional shortcomings are difficult to effectively play their roles in complex building spaces. Summary of the Invention

[0006] In view of the above analysis, the embodiments of the present invention aim to provide an amphibious three-modal robot to solve the problem that existing robots are difficult to effectively play their roles in complex building spaces.

[0007] On the one hand, the present invention provides an amphibious three-modal robot, including a crawling and rolling component and a flying component that are connected to each other. The crawling and rolling component is used for the crawling and rolling of the robot, and the flying component is used for the flight of the robot.

[0008] Further, the crawling and rolling component includes a first wheel-leg group and a second wheel-leg group.

[0009] Further, the first-stage leg group includes a first driving wheel and a plurality of first-stage claws, and the plurality of first-stage claws are evenly engaged with the edge of the first driving wheel.

[0010] Further, the first-stage leg group further includes two first-stage brackets, and the two first-stage brackets are symmetrically arranged on both sides of the first driving wheel.

[0011] Further, the first-stage bracket is rotatably connected to the first driving wheel, and the first-stage claw is rotatably connected to the first-stage bracket.

[0012] Further, the first-stage leg group further includes a first motor, and the first motor drives the first driving wheel to rotate.

[0013] Further, the flight assembly includes four sets of arms with the same structure, and the four sets of arms are arranged between the first-stage leg group and the second-stage leg group.

[0014] Further, the arm includes a telescopic rod and a first link, and the first link is hinged to the telescopic rod.

[0015] Further, the arm further includes a propeller and a third motor, and the third motor is arranged on the telescopic rod and drives the propeller to rotate.

[0016] On the other hand, the present invention provides a method for mode conversion of an amphibious land-air tri-modal robot, which realizes the switching of three motion modes: rolling mode, crawling mode and flight mode through wheel-leg switching and arm telescoping.

[0017] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0018] (1) For the amphibious land-air tri-modal robot of the present invention, the climbing-rolling assembly and the flight assembly are connected by the telescoping assembly, which is light in weight and small in volume, suitable for single-person carrying, and has three motion modes: rolling, crawling and flying. The two spatial deployable mechanisms of wheel-leg switching and arm telescoping enable it to realize the switching between rolling and crawling, and the switching between rolling and flying, and can adapt to all-round operation and use in complex spaces such as buildings and underground.

[0019] (2) For the amphibious land-air tri-modal robot of the present invention, when switching to the rolling or crawling state, the core components such as the motor and propeller in the flight state are stored and protected, and the system reliability is higher.

[0020] (3) The land-air amphibious three-modal robot of the present invention can pass through a space with a minimum height of 250 mm and a minimum width of 350 mm. During the crawling process, it can cross obstacles such as stairs and thresholds with a height of 150 mm. It is suitable for performing reconnaissance and strike missions with high mobility, long endurance, and low noise in different areas of urban building spaces, can greatly improve the operation efficiency of traditional unmanned aerial vehicles or unmanned vehicles, and provides technical support for all-round reconnaissance and strike operations in complex spaces.

[0021] (4) The land-air amphibious three-modal robot of the present invention, to meet the requirements of all-round and all-terrain operations in complex building spaces, combines the characteristics of two types of unmanned platforms, gives full play to the advantages of the two types of unmanned platforms with different configurations, and maximally avoids simply superimposing the structures and functions of the two types of unmanned platforms, providing an idea for realizing tasks such as target search, recognition, tracking, and attack in all-round urban building complex spaces.

[0022] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent specification, and some advantages can be made obvious from the specification or understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained through the content specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings are only for the purpose of showing specific embodiments and are not considered as limiting the present invention. Throughout the drawings, the same reference signs represent the same components.

[0024] Figure 1 It is a schematic structural diagram of the rolling mode of the land-air amphibious three-modal robot;

[0025] Figure 2 It is a schematic structural diagram of the crawling mode of the land-air amphibious three-modal robot;

[0026] Figure 3 It is a schematic structural diagram of the flight mode of the land-air amphibious three-modal robot.

[0027] Reference Signs:

[0028] 1 - Crawling and rolling assembly; 11 - First round leg group; 111 - First round claw; 1111 - First arc surface; 1112 - Second arc surface; 1113 - Third arc surface; 1114 - First gear; 1115 - First meshing part; 1116 - First crawling and rolling part; 112 - First round support; 1121 - First disc part; 1122 - First connecting rod; 113 - First driving wheel; 114 - First motor; 12 - Second round leg group; 121 - Second round claw; 1211 - Fourth arc surface; 1212 - Fifth arc surface; 1213 - Sixth arc surface; 1214 - Second gear; 1215 - Second meshing part; 1216 - Second crawling and rolling part; 122 - Second round support; 1221 - Second disc part; 1222 - Second connecting rod; 123 - Second driving wheel; 124 - Second motor; 2 - Flying assembly; 21 - Arm; 211 - Telescopic rod; 2111 - Second connecting rod; 2112 - Intermediate rod; 2113 - Third connecting rod; 212 - First connecting rod; 213 - Propeller; 214 - Third motor; 215 - Limit block; 216 - Magnetic part; 3 - Telescopic assembly; 31 - First connecting plate; 32 - Second connecting plate; 33 - Fixed plate; 34 - Moving plate; 35 - Guide post; 351 - Limit boss; 36 - Fixed column; 37 - Linear servo; 4 - Shooting assembly; 41 - Depth camera; 42 - Servo; 43 - First mounting rod; 44 - Second mounting rod; 45 - Third connecting rod; 5 - Guide assembly; 51 - Guide wheel; 52 - Guide rod. Detailed implementation manner

[0029] The following combines the accompanying drawings to specifically describe the preferred embodiments of the present invention. Among them, the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention, and are not used to limit the scope of the present invention.

[0030] Most of the existing land-air amphibious unmanned platforms simply stack the unmanned aerial vehicle and the unmanned vehicle, and directly install four wheels or crawlers at the bottom of the unmanned aerial vehicle. When measured by a single index, for example, the flight time during driving is increased, the noise during driving is reduced, and there is a certain improvement. However, the two motion modes cannot be better integrated, resulting in an overly large overall size or the lack of protection for important flight components during driving. For example, when flying, the four-wheel or crawler components account for too large a proportion of the total weight, reducing the payload capacity and flight duration, and there are too many system redundant components, resulting in a still relatively large size and weight of the platform; during driving, due to the presence of the propeller and the arm, the passing ability of the vehicle body is reduced, and the propeller is prone to hitting surrounding obstacles, affecting driving or causing self-damage.

[0031] Embodiment 1

[0032] A specific embodiment of the present invention is as Figures 1 - 3As shown, an amphibious three-mode robot (hereinafter referred to as the robot) is disclosed, including a crawling and rolling component 1 and a flying component 2 which are connected to each other. The crawling and rolling component 1 is used for the crawling mode and rolling mode of the robot, and the flying component 2 is used for the flying mode of the robot.

[0033] The crawling and rolling component 1 includes a first set of leg groups 11 and a second set of leg groups 12, and the first set of leg groups 11 and the second set of leg groups 12 have the same structure. Specifically, the first set of leg groups 11 includes first leg claws 111, first leg brackets 112 and first driving wheels 113. There are 3 first leg claws 111, and the 3 first leg claws 111 are meshed with the first driving wheel 113 at equal central angles. There are 2 first leg brackets 112, and the 2 first leg brackets 112 are symmetrically arranged on both sides of the first driving wheel 113 and are rotatably connected to the first driving wheel 113. The meshing end of the first leg claw 111 and the first driving wheel 113 is rotatably connected to the first leg bracket 112.

[0034] The first leg claw 111 has a semi-crescent structure, including a first arc surface 1111, a second arc surface 1112 and a third arc surface 1113. The first arc surface 1111 is the surface that contacts the ground when the robot rolls. The 3 first arc surfaces 1111 are connected end to end to just form a circle. At this time, the second arc surface 1112 is in contact with the third arc surface 1113 of another first leg claw 111. That is, when the 3 first leg claws 111 are fully closed, they form a circular wheel for rolling along the ground.

[0035] In this embodiment, when the three first leg claws 111 are closed into a circular wheel, the second arc surface 1112 just fits with the third arc surface 1113 of another second leg claw 111 without any gap, ensuring the stability of the robot during the rolling process.

[0036] One end of the first leg claw 111 between the first arc surface 1111 and the second arc surface 1112 is the contact end of the robot with the ground in the crawling mode. The other end of the first leg claw 111 is provided with a first gear 1114 meshed with the first driving wheel 113. The first gear 1114 is located on the concave side of the first leg claw 111 opposite to the third arc surface 1113. The meshing end of the first leg claw 111 and the first driving wheel 113 is provided with a through hole for connecting with the first leg bracket 112.

[0037] In other words, the first leg claw 111 has a semi-crescent structure, including a first meshing part 1115 and a first crawling and rolling part 1116. The first meshing part 1115 is provided with a through hole rotatably connected to the first leg bracket 112, as well as a first gear 1114 and a third arc surface 1113. The first crawling and rolling part 1116 includes a first arc surface 1111 and a second arc surface 1112.

[0038] The first-round support 112 includes a first disc portion 1121 and three first connecting rods 1122. The three first connecting rods 1122 are evenly distributed on the edge of the first disc portion 1121. The end of each first connecting rod 1122 is provided with a through hole for rotatably connecting with the first-round claw 111, and a through hole for rotatably connecting with the first driving wheel 113 is provided in the middle of the first disc portion 1121. In order to reduce the weight of the first-round support 112, a weight-reducing groove is provided on the first connecting rod 1122.

[0039] The first-round leg group 11 further includes a first motor 114. The output end of the first motor 114 is connected to a rotating shaft, which is rotatably connected to the first-round support 112 and is key-connected to the first driving wheel 113. Driven by the first motor 114, the first driving wheel 113 can rotate clockwise and counterclockwise. For the sake of easy understanding, it is defined that when the first driving wheel 113 rotates and the three first-round claws 111 are in the unfolded state, the first motor 114 rotates clockwise; when the first driving wheel 113 rotates and the three first-round claws 111 are contracted into a circular wheel shape, the first motor 114 rotates counterclockwise.

[0040] Understandably, the second-round leg group 12 includes second-round claws 121, a second-round support 122, and a second driving wheel 123. There are three second-round claws 121, and the three second-round claws 121 are meshed with the second driving wheel 123 at equal central angles. There are two second-round supports 122, and the two second-round supports 122 are symmetrically arranged on both sides of the second driving wheel 123 and are rotatably connected to the second driving wheel 123. The meshing end of the second-round claw 121 with the second driving wheel 123 is rotatably connected to the second-round support 122.

[0041] The second-round claw 121 has a semi-lunar structure, including a fourth arc surface 1211, a fifth arc surface 1212, and a sixth arc surface 1213. The fourth arc surface 1211 is the surface that contacts the ground when the robot rolls. The three fourth arc surfaces 1211 are connected end to end to just form a circle. At this time, the fifth arc surface 1212 is in contact with the sixth arc surface 1213 of another second-round claw 121. That is, when the three second-round claws 121 are completely contracted, they form a circular wheel for rolling along the ground.

[0042] In this embodiment, when the three second-round claws 121 are closed into a circular wheel, the fifth arc surface 1212 just fits with the sixth arc surface 1213 of another second-round claw 121 without any gap, ensuring the stability of the robot during the rolling process.

[0043] Between the fourth arc surface 1211 and the fifth arc surface 1212 is one end of the second wheel claw 121. This end is the contact end with the ground in the crawling mode of the robot. At the other end of the second wheel claw 121, there is a second gear 1214 meshing with the second driving wheel 123. The second gear 1214 is located on the concave side of the second wheel claw 121 opposite to the sixth arc surface 1213. A through hole is provided at the meshing end of the second wheel claw 121 and the second driving wheel 123 for connecting with the second wheel bracket 122.

[0044] In other words, the second wheel claw 121 has a semi - lunar structure, including a second meshing part 1215 and a second crawling and rolling part 1216. The second meshing part 1215 is provided with a through hole rotatably connected to the second wheel bracket 122, as well as the second gear 1214 and the sixth arc surface 1213. The second crawling and rolling part 1216 includes the fourth arc surface 1211 and the fifth arc surface 1212.

[0045] The second wheel bracket 122 includes a second disc part 1221 and three second connecting rods 1222. The three second connecting rods 1222 are evenly distributed on the edge of the second disc part 1221. The end of the second connecting rod 1222 is provided with a through hole rotatably connected to the second wheel claw 121. A through hole rotatably connected to the second driving wheel 123 is provided in the middle of the second disc part 1221. In order to reduce the weight of the second wheel bracket 122, a weight - reducing groove is provided on the second connecting rod 1222.

[0046] The second leg group 12 further includes a second motor 124. The output end of the second motor 124 is connected to a rotating shaft. The rotating shaft is rotatably connected to the second wheel bracket 122 and is key - connected to the second driving wheel 123. Driven by the second motor 124, the second driving wheel 123 can rotate clockwise and counter - clockwise. For the convenience of understanding, it is defined that when the second driving wheel 123 rotates and the three second wheel claws 121 are in an unfolded state, the second motor 124 rotates clockwise; when the second driving wheel 123 rotates and the three second wheel claws 121 are contracted into a circular wheel shape, the second motor 124 rotates counter - clockwise.

[0047] In order to increase the friction between the wheel and the ground in the rolling mode of the robot, grooves are evenly opened on the first arc surface 1111 and the fourth arc surface 1211.

[0048] In this embodiment, the robot travels on wheels in the rolling mode and on leg claws in the crawling mode. When switching between wheels and legs, the drive wheels (the first drive wheel 113 and the second drive wheel 123) are in gear engagement with the wheel claws (the first wheel claw 111 and the second wheel claw 121). When the motors (the first motor 114 and the second motor 124) rotate counterclockwise, the 3 wheel claws rotate clockwise to the fitting position to form a circular wheel shape. The drive wheels continue to rotate, driving the circular wheel to rotate counterclockwise. When the drive wheels rotate clockwise, the 3 wheel claws rotate counterclockwise and unfold. After reaching the dead point position, they form the leg state. The drive wheels continue to rotate, driving the unfolded wheel claws to rotate clockwise.

[0049] Typical obstacles in the building environment include stairs, the bottom edge of door frames, etc. The height of stairs is higher, generally about 150 mm. Therefore, the obstacle-crossing crawling height ability in the building environment needs to reach 150 mm. By reversing the rotation of the motors that drive the drive wheels to drive the wheel claws to unfold and switching to the leg crawling state, the obstacle-crossing ability can be greatly improved. For example, when the outer diameter of the circular wheel formed by the wheel claws is 160 mm and the diameter of the central wheel (drive wheel) is 40 mm, when the robot unfolds to the leg crawling state, the distance between the contact ends of adjacent wheel claws is 279 mm, and it can cross a 150-mm-high stair.

[0050] The flight assembly 2 includes 4 sets of identically structured arms 21. The 4 sets of arms 21 are arranged between the first leg group 11 and the second leg group 12, and the 4 sets of arms 21 are located on four parallel edges of a spatial cuboid.

[0051] Specifically, the arm 21 includes a telescopic rod 211, a first connecting rod 212, a propeller 213, and a third motor 214. The first connecting rod 212 is hinged to the telescopic rod 211. The third motor 214 is arranged in the middle of the telescopic rod 211 and drives the propeller 213 to rotate. That is, one end of the third motor 214 is connected to the middle of the telescopic rod 211, and the other end is connected to the propeller 213. When the arm 21 is in the non-unfolded state, the propeller 213 faces the internal space of the robot.

[0052] The telescopic rod 211 is a curved rod, including a second connecting rod 2111, an intermediate rod 2112, and a third connecting rod 2113 connected in sequence. In order to leave a placement space for the propeller 213, the intermediate rod 2112 protrudes away from the internal space of the robot relative to the second connecting rod 2111 and the third connecting rod 2113. The second connecting rod 2111 and the third connecting rod 2113 are in the same plane. The propeller 213 is placed in the space reserved by the intermediate rod 2112. One end of the first connecting rod 212 is hinged to the connection of the second connecting rod 2111 and the intermediate rod 2112, and the length of the first connecting rod 212 is greater than the length of the second connecting rod 2111. When the arm 21 unfolds, the third connecting rod 2113 is in a cantilever state.

[0053] To prevent the arm 21 from unfolding during the crawling and rolling modes of the robot and interfering with the movement of the robot, a magnetic attraction member 216 is provided at the non-articulated end of the telescopic rod 211. The magnetic attraction member 216 is used to attract the first connecting plate 31 described below. Preferably, the magnetic attraction member 216 is a magnet. After the arm 21 is folded, the magnetic attraction member 216 is used to adsorb the cantilever end (non-articulated end) of the telescopic rod 211 on the first connecting plate 31, further ensuring the stability of the arm 21 in the folded state.

[0054] Understandably, in order to reduce the weight of the flight assembly 2, the telescopic rod 211 is provided with a weight reduction groove.

[0055] In order to limit the rotating propeller blades during the folding process, the arm 21 further includes a limiting block 215. The limiting block 215 is provided on the first connecting rod 212. During the folding process of the arm 21, the propeller blades touch the limiting block 215 and stop rotating.

[0056] For the placement of the crawling and rolling assembly 1 and the flight assembly 2 and the telescoping of the arm 21, the robot further includes a telescoping assembly 3. The telescoping assembly is located between the first leg group 11 and the second leg group 12 and is used to connect the first leg group 11, the second leg group 12 and the flight assembly 2, so that when the robot switches to the rolling mode or the crawling mode, the core components such as the motors and propellers in the flight mode are stored and protected, and the system reliability is higher.

[0057] The telescoping assembly 3 includes a first connecting plate 31, a second connecting plate 32, a fixing plate 33 and a moving plate 34 that are parallel to each other. The first connecting plate 31, the fixing plate 33, the moving plate 34 and the second connecting plate 32 are arranged in sequence from the first leg group 11 to the second leg group 12. The first connecting plate 31 and the second connecting plate 32 have the same structure. The first motor 114 is installed on the first connecting plate 31, and the second motor 124 is installed on the second connecting plate 32. When the arm 21 is in the folded state, one end (articulated end) of the telescopic rod 211 is articulated with the side surface of the moving plate 34, and the other end is adsorbed on the side surface of the fixing plate 33. When the arm 21 is in the unfolded state, the articulation relationship of the articulated end of the telescopic rod 211 remains unchanged, and the other end is the cantilever end. To avoid interference between the fixing plate 33 and the propeller 213 in the folded state of the arm 21, a groove is provided on the side surface of the fixing plate 33.

[0058] Further, in order to reduce the weight of the robot, the fixing plate 33 is provided with a weight reduction groove, and the middle of the moving plate 34 is hollowed out, only the edge part is retained.

[0059] One end of the first link 212 is hinged to the telescopic rod 211, and the other end is hinged to the surface of the fixed plate 33 close to the moving plate 34. To avoid interference between the first link 212 and the propeller 213, the first link 212 is hinged to the side of the telescopic rod 211. When the four first links 212 are hinged to the fixed plate 33, the four hinge points are adjacent to each other in pairs and are located on the diagonal of the fixed plate 33.

[0060] The telescopic assembly 3 further includes guide posts 35 and fixed posts 36. There are 4 guide posts 35 and 4 fixed posts 36. One end of the fixed post 36 is connected to the first connecting plate 31, and the other end is connected to the fixed plate 33. The fixed posts 36 are located at the four corners of the fixed plate 33. One end of the guide post 35 is connected to the fixed plate 33, and the other end passes through the moving plate 34 and is connected to the second connecting plate 32. The guide posts 35 and the fixed posts 36 are collinear.

[0061] To realize the telescoping of the arm 21, the telescopic assembly 3 further includes a linear servo 37. One end of the linear servo 37 is connected to the fixed plate 33, and the other end is connected to the moving plate 34. Driven by the linear servo 37, the moving plate 34 moves along the guide post 35 to realize the telescoping of the arm 21.

[0062] To limit the over-expansion of the arm 21, a limiting boss 351 is provided on the guide post 35. When the moving plate 34 moves to the limiting boss 351 driven by the linear servo 37, the arm 21 is just fully expanded and can be used for the flight mode of the robot.

[0063] In this embodiment, the telescoping of the four arms 21 adopts a slider-link mechanism similar to the closing method of an umbrella. The linear servo 37 fixed to the upper part on the fixed plate 33 drives the lower moving plate 34 to move up and down in the guide post 35. The moving plate 34 is connected to the second link 2111 through a rotating shaft. Both ends of the first link 212 are respectively connected to the fixed plate 33 and the telescopic rod 211 through rotating shafts. When the moving plate 34 moves towards the second connecting plate 32, the arm 21 rotates and closes towards the first connecting plate 31. Conversely, the arm 21 expands.

[0064] In this embodiment, the telescopic assembly 3 connects the crawling and rolling assembly 1 and the flight assembly 2, avoiding their simple superposition. The three are connected compactly, making the robot light in weight and small in size, suitable for single-person carrying. At the same time, it has three motion modes of rolling, crawling and flying, and two space deployable mechanisms of wheel-leg switching and arm telescoping, enabling it to realize the switching between rolling and crawling, and the switching between rolling and flying, and can adapt to all-round operation and use in complex spaces such as buildings and underground.

[0065] In order for the robot to observe the surrounding environment during driving, the robot further includes a shooting assembly 4. The shooting assembly 4 includes a depth camera 41, a servo 42, a first mounting rod 43, a second mounting rod 44, and a third connecting rod 45. The depth camera 41 is connected to the output shaft of the servo 42 and can change the shooting direction under the drive of the servo 42. One end of the first mounting rod 43 is fixedly connected to the fixed plate 33, and the other end is rotatably connected to one end of the third connecting rod 45. The other end of the third connecting rod 45 is rotatably connected to the second mounting rod 44. The other end of the second mounting rod 44 is fixedly connected to the moving plate 34. The servo 42 is provided at the hinged end of the second mounting rod 44 and the third connecting rod 45. The third connecting rod 45 is respectively hinged to the first mounting rod 43 and the second mounting rod 44, avoiding mechanical interference during the unfolding and folding of the robotic arm 21.

[0066] In order for the robot to drive stably in the rolling mode and the crawling mode, the robot further includes a guiding assembly 5. The guiding assembly 5 includes a guiding wheel 51 and a guiding rod 52. The guiding wheel 51 is provided at one end of the guiding rod 52 and is used for rolling on the ground. One or two guiding assemblies 5 are provided. When one guiding assembly 5 is provided, the other end of the guiding rod 52 is fixedly connected to the fixed plate 33. When two guiding assemblies 5 are provided, the other ends of the two guiding rods 52 are respectively fixedly connected to the first connecting plate 31 and the second connecting plate 32.

[0067] Embodiment 2

[0068] Another embodiment of the present invention, as Figures 1 - 3 shown, discloses a method for switching the motion modes of an amphibious three-mode robot, which is applicable to the switching of the motion modes of the amphibious three-mode robot in Embodiment 1. The robot has three motion modes: a rolling mode, a crawling mode, and a flying mode. Through two space deployable mechanisms, namely wheel-leg switching and robotic arm unfolding and folding, the switching of the three motion modes is realized.

[0069] For the switching between the rolling mode and the crawling mode, when the driving wheels rotate counterclockwise, the two side wheel claws form a wheel state, and at the same time, the depth camera 41 turns to the side of the guiding wheel 51 and rolls towards the side of the guiding wheel 51. When the driving wheels rotate clockwise, the two side wheel claws form a leg state, and at the same time, the depth camera 41 turns to the side opposite to the guiding wheel 51 and crawls towards the side opposite to the guiding wheel 51.

[0070] For the switching between the rolling mode and the flight mode, in the rolling mode, when the depth camera 41 rotates to face upward, the robotic arm 21 automatically unfolds. After the robotic arm 21 touches the ground, it props up the robot body. When the robotic arm 21 is fully unfolded, the center of gravity of the robot transfers to the other side of the touchdown point. Under the action of gravity and inertia, the robot body automatically becomes vertical and switches to the flight mode. In the flight mode, the rotation of the propeller blades generates a lateral resultant force that causes the robot body to tilt to one side. During the tilting process, the robotic arm 21 folds simultaneously. When the center of gravity moves to the other side of the touchdown point, the propeller blades immediately stop rotating. The propeller blades stop rotating when they touch the limit block 215 under inertia, and the robotic arm 21 continues to fold. Under the action of gravity, the robot body continuously falls. After the robotic arm 21 rotates into place, the depth camera 41 rotates to one side of the rolling direction and switches to the rolling mode.

[0071] As described above, only the preferred specific embodiments of the present invention are provided, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An amphibious three-mode robot, characterized in that, It includes a mutually connected crawling and rolling component (1), a flying component (2), a retractable component (3) and a guiding component (5). The crawling and rolling component (1) is used for the crawling and rolling of the robot, and the flying component (2) is used for the flying of the robot. The flying component (2) includes 4 sets of identically structured arms (21), and each arm (21) includes a retractable rod (211) and a first connecting rod (212). The retractable component (3) includes a guiding column (35) and a linear servo (37), as well as a first connecting plate (31), a second connecting plate (32), a fixing plate (33) and a moving plate (34) that are parallel to each other. One end of the first connecting rod (212) is hinged to the retractable rod (211), and the other end is hinged to the surface of the fixing plate (33) close to the moving plate (34). One end of the guiding column (35) is connected to the fixing plate (33), and the other end passes through the moving plate (34) and is connected to the second connecting plate (32). One end of the linear servo (37) is connected to the fixing plate (33), and the other end is connected to the moving plate (34). Driven by the linear servo (37), the moving plate (34) moves along the guiding column (35). The guiding component (5) includes a guiding wheel (51) and a guiding rod (52). The guiding wheel (51) is arranged at one end of the guiding rod (52) and is used for rolling on the ground.

2. The amphibious three-mode robot according to claim 1, characterized in that, The crawling and rolling component (1) includes a first set of leg groups (11) and a second set of leg groups (12).

3. The amphibious three-modal robot according to claim 2, characterized in that, The first set of leg groups (11) includes a first driving wheel (113) and a plurality of first leg claws (111). The plurality of first leg claws (111) are evenly meshed on the edge of the first driving wheel (113).

4. The amphibious three-modal robot according to claim 3, characterized in that, The first set of leg groups (11) further includes two first leg brackets (112). The two first leg brackets (112) are symmetrically arranged on both sides of the first driving wheel (113).

5. The amphibious three-mode robot according to claim 4, characterized in that, The first leg bracket (112) is rotationally connected to the first driving wheel (113), and the first leg claw (111) is rotationally connected to the first leg bracket (112).

6. The amphibious three-modal robot according to claim 3, characterized in that, The first set of leg groups (11) further includes a first motor (114), and the first motor (114) drives the first driving wheel (113) to rotate.

7. The amphibious three-modal robot according to any one of claims 2-6, characterized in that The 4 sets of arms (21) are arranged between the first set of leg groups (11) and the second set of leg groups (12).

8. The amphibious three-modal robot according to claim 1, wherein, Each arm (21) further includes a propeller (213) and a third motor (214). The third motor (214) is arranged on the retractable rod (211) and drives the propeller (213) to rotate.

9. A motion mode switching method for an amphibious three-mode robot according to any one of claims 1-8, characterized in that, The switching between three motion modes of rolling mode, crawling mode and flying mode is realized through the switching of wheel legs and the retraction and extension of the arms (21).

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