Wheel-legged amphibious robot

Abstract

The present invention provides a wheel-legged amphibious robot, which relates to the field of robot engineering technology. The wheel-legged amphibious robot provided by the present invention includes a frame, a control component, a wheel-legged leg component and a first driving component. The control component is suitable for controlling the wheel-legged amphibious robot to sail on the water surface or fly in the air; the wheel-legged leg component is connected to the frame, and the wheel-legged leg component is suitable for making the wheel-legged amphibious robot walk on the ground in a foot-like manner or wheeled walking; the first driving component is connected to the wheel-legged leg component, and the first driving component is suitable for driving the wheel-legged leg component to be in a first state adapted for sailing on the water surface, a second state for flying in the air, or a third state for walking on land. By applying the wheel-legged amphibious robot in the solution of the present invention, the control component and the driving component of the wheel-legged amphibious robot can be reused, the number of parts of the whole machine can be reduced, and it is beneficial to the lightweighting of the wheel-legged amphibious robot.

Description

Technical Field

[0001] The present invention relates to the field of robotics engineering technology, and in particular to a wheel-legged amphibious robot. Background Art

[0002] Wheeled-legged amphibious robots are capable of moving on land, in water, and in the air, adapting to complex working environments such as search and rescue, field reconnaissance, and land, sea, and air combat. As the variety of application scenarios for wheeled-legged amphibious robots expands and the environments become increasingly complex, the requirements for their comprehensive land, sea, and air mobility are also becoming increasingly stringent.

[0003] In the existing technology, when the wheel-legged amphibious robot is sailing on the water, a separate surface navigation control system is needed to control the surface navigation power and navigation posture of the wheel-legged amphibious robot. When the wheel-legged amphibious robot is flying in the air, a separate air flight control system is needed to control the air flight power and flight posture of the wheel-legged amphibious robot. This will lead to an increase in the overall components of the wheel-legged amphibious robot and an increase in the overall weight of the wheel-legged amphibious robot, which is not conducive to the lightweighting of the wheel-legged amphibious robot. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a wheel-legged amphibious robot that can reuse control components, reduce the number of parts in the entire machine, and facilitate lightweighting of the wheel-legged amphibious robot.

[0005] An embodiment of the present invention provides a wheeled and legged amphibious robot, comprising:

[0006] frame;

[0007] a control component, wherein the control component is suitable for controlling the wheel-legged amphibious robot to sail on the water surface or fly in the air;

[0008] A wheel-foot-leg assembly, the wheel-foot-leg assembly being connected to the frame, and the wheel-foot-leg assembly being adapted to enable the wheel-foot-type amphibious robot to perform foot-style walking or wheel-style walking on the ground;

[0009] A first driving member is connected to the wheel-foot-leg assembly, and the first driving member is suitable for driving the wheel-foot-leg assembly to be in a first state suitable for sailing on the water, a second state suitable for flying in the air, or a third state suitable for walking on land.

[0010] According to the wheel-legged amphibious robot provided by the embodiment of the present invention, a control component is provided and made dual-functional, so that one control component can be used to control the wheel-legged amphibious robot to sail on the water surface or fly in the air, thereby simplifying the internal component structure of the wheel-legged amphibious robot and reducing the weight of the entire machine. Specifically, when the wheel-legged amphibious robot is flying in the air, the control component can provide a driving force for the wheel-legged amphibious robot to fly. By controlling the size of the driving force, the decomposition force of the driving force in the vertical direction is made greater than the gravity of the wheel-legged amphibious robot, and the wheel-legged amphibious robot can leave the ground and take off. Under the action of the decomposition force of the driving force in the horizontal direction, the wheel-legged amphibious robot can fly forward; when the wheel-legged amphibious robot is sailing on the water, by controlling the size of the driving force, the decomposition force of the driving force in the vertical direction is made less than the gravity of the wheel-legged amphibious robot, the wheel-legged amphibious robot will float on the water. Under the action of the decomposition force of the driving force in the horizontal direction, the wheel-legged amphibious robot can sail forward; the wheel-leg leg component can enable the wheel-legged amphibious robot to walk on land, and can meet the switching of the wheel-legged amphibious robot between foot walking and wheel walking states, thereby enhancing the maneuverability and flexibility of land walking. The first drive element can drive the wheel-leg leg assembly to transform, allowing the wheel-legged amphibious robot to transform its body shape and complete the transition between aerial flight, underwater navigation, and land walking. Thus, the application of the wheel-legged amphibious robot in the above scheme can achieve the reuse of the control components and drive components of the wheel-legged amphibious robot, reducing the number of components in the entire machine and facilitating the lightweighting of the wheel-legged amphibious robot.

[0011] According to one embodiment of the present invention, the wheel-legged amphibious robot further includes a first pontoon and a second pontoon, wherein the first pontoon is arranged on the side of the wheel-legged amphibious robot facing the direction of sailing on the water surface, and the second pontoon is arranged on the side of the wheel-legged amphibious robot away from the direction of sailing on the water surface; wherein the volume of the first pontoon is smaller than the volume of the second pontoon.

[0012] According to one embodiment of the present invention, a first groove is provided on the first pontoon, and the first groove is provided at the bottom of the first pontoon; or, a first groove is provided on the first pontoon, and a second groove is provided on the second pontoon, and the spatial dimension of the second groove is smaller than the spatial dimension of the first groove, the first groove is provided at the bottom of the first pontoon, and the second groove is provided at the bottom of the second pontoon.

[0013] According to one embodiment of the present invention, the first pontoon and the second pontoon are arranged on the wheel-foot-leg assembly.

[0014] According to one embodiment of the present invention, when the wheeled-legged amphibious robot is flying in the air, the bottoms of the first pontoon and the second pontoon are facing the ground.

[0015] According to one embodiment of the present invention, the first driving member is adapted to drive the wheel-foot-leg assembly to rotate along a first axis, and the first axis is parallel to the ground.

[0016] According to one embodiment of the present invention, the wheel-foot-leg assembly includes a foot bar, a roller, and a second driving member, the second driving member is connected to the foot bar, the second driving member is connected to the roller, the second driving member is suitable for driving the foot bar to move toward or away from the ground, and the second driving member is suitable for driving the roller to rotate along a second axis, wherein the second axis is perpendicular to the ground direction.

[0017] According to one embodiment of the present invention, the frame is a rectangular connecting rod assembly structure, and the wheel-foot leg assemblies are respectively provided at the corners of the frame.

[0018] According to an embodiment of the present invention, the frame is an integrally formed structure.

[0019] According to one embodiment of the present invention, the frame further includes a foot-leg connecting rod, and both ends of the foot-leg connecting rod are respectively connected to the wheel-foot-leg assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 1 is a schematic structural diagram of a wheeled and legged amphibious robot provided by an embodiment of the present invention;

[0022] Figure 2 1 is a schematic diagram of the frame structure of a wheeled and legged amphibious robot provided in an embodiment of the present invention;

[0023] Figure 3 1 is a schematic structural diagram of the wheel-foot-leg assembly of the wheel-foot amphibious robot provided by an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the wheeled-legged amphibious robot in mid-air flight according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the wheel-legged amphibious robot in a state of sailing on the water surface provided by an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the land walking state of the wheeled-legged amphibious robot provided by an embodiment of the present invention.

[0027] Reference numerals:

[0028] 1. Wheel-legged amphibious robot;

[0029] 10. Frame; 11. Foot and leg connecting rod;

[0030] 20. Control components; 21. ESC body;

[0031] 30. Wheel-foot-leg assembly; 31. Foot rod; 32. Roller; 33. Second driving member;

[0032] 40. First buoyancy chamber; 41. First groove;

[0033] 50. Second pontoon;

[0034] 60. First driving member;

[0035] 710, rotor motor mounting hole; 720, lead screw body; 730, lead screw nut; 750, rotor motor body; 760, rotor body; 770, ESC mounting hole; 780, front swing motor connecting flange. DETAILED DESCRIPTION

[0036] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0037] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0038] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0039] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0040] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0041] like Figures 1 to 3 As shown, an embodiment of the present invention provides a wheel-legged amphibious robot 1, which includes a frame 10, a control component 20, a wheel-footed leg component 30 and a first drive component 60. The control component 20 is suitable for controlling the wheel-legged amphibious robot 1 to sail on the water surface or fly in the air; the wheel-footed leg component 30 is connected to the frame 10, and the wheel-footed leg component 30 is suitable for making the wheel-footed amphibious robot 1 walk on the ground in a foot-like manner or wheel-like manner. The first drive component 60 is connected to the wheel-footed leg component 30, and the first drive component 60 is suitable for driving the wheel-footed leg component 30 to make it be in a first state adapted for sailing on the water surface, a second state for flying in the air, or a third state for walking on land.

[0042] The control assembly 20 provides the wheeled-legged amphibious robot 1 with driving force for both surface navigation and aerial flight. It also controls the robot's attitude, speed, and direction during both navigation and flight. Specifically, the control assembly 20 includes a flight control system, an ESC 21, a rotor motor 750, a rotor body 760, taillights, a GPS locator, and other components. The control assembly 20 is connected to the power supply system. The control assembly 20 utilizes the flight control system, the ESC 21, the rotor motor 750, and the rotor body 760 to provide power.

[0043] Furthermore, the wheeled-legged amphibious robot 1 may also include an integrated control system component and a motor control system. The integrated control system component includes a power distribution board, a flight control system, and an industrial computer. The motor control system includes the industrial computer, a motor control ECB board, a front swing motor, a lead screw body 720 motor, and a roller 32 motor. The motor control system can control the wheeled-legged leg assembly 30 to switch between a footed walking mode and a wheeled walking mode. The front swing motor can serve as the power output portion of the first drive element 60.

[0044] According to the wheel-legged amphibious robot 1 provided in an embodiment of the present invention, a control component 20 is provided and the control component 20 is dual-purposed, so that one control component 20 can be used to control the wheel-legged amphibious robot 1 to sail on the water surface or fly in the air, thereby simplifying the internal component structure of the wheel-legged amphibious robot 1 and reducing the weight of the entire machine. Specifically, when the wheel-legged amphibious robot 1 is flying in the air, the control component 20 can provide a driving force for the wheel-legged amphibious robot 1 to fly. By controlling the size of the driving force, the decomposition force of the driving force in the vertical direction is made greater than the gravity of the wheel-legged amphibious robot 1, and the wheel-legged amphibious robot 1 can leave the ground and take off. Under the action of the decomposition force of the driving force in the horizontal direction, the wheel-legged amphibious robot 1 can fly forward; when the wheel-legged amphibious robot 1 is sailing on the water, by controlling the size of the driving force, the decomposition force of the driving force in the vertical direction is made less than the gravity of the wheel-legged amphibious robot 1, the wheel-legged amphibious robot 1 will float on the water. Under the action of the decomposition force of the driving force in the horizontal direction, the wheel-legged amphibious robot 1 can sail forward; the wheel-foot leg component 30 can enable the wheel-legged amphibious robot 1 to walk on land, and can meet the switching between the foot walking and wheel walking states of the wheel-legged amphibious robot 1, thereby enhancing the maneuverability and flexibility of land walking. The first drive member 60 can drive the wheel-leg leg assembly 30 to transform its form, so that the wheel-legged amphibious robot 1 can achieve body shape deformation and complete the transformation between the aerial flight form, the underwater navigation form, and the land walking form. Thus, it can be seen that the application of the wheel-legged amphibious robot 1 in the above scheme can achieve the reuse of the control component 20 and the drive component of the wheel-legged amphibious robot 1, reduce the number of components of the entire machine, and contribute to the lightweighting of the wheel-legged amphibious robot 1.

[0045] Specifically, in an embodiment of the present invention, corresponding to the first state of the wheel-legged amphibious robot 1 sailing on the water, the wheel-foot-leg assembly 30 is in a horizontal state; corresponding to the second state of the wheel-legged amphibious robot 1 flying in the air, the wheel-foot-leg assembly 30 is in a horizontal state; corresponding to the third state of the wheel-legged amphibious robot 1 walking on land, the wheel-foot-leg assembly 30 is in an upright state.

[0046] In an embodiment of the present invention, the wheeled-legged amphibious robot 1 further includes a first pontoon 40 and a second pontoon 50. The first pontoon 40 is disposed on the side of the wheeled-legged amphibious robot 1 facing the direction of surface navigation, and the second pontoon 50 is disposed on the side of the wheeled-legged amphibious robot 1 facing away from the direction of surface navigation. The volume of the first pontoon 40 is smaller than that of the second pontoon 50. When the wheeled-legged amphibious robot 1 is navigating on the water surface, the first pontoon 40 and the second pontoon 50 can serve as floats to generate buoyancy on the water surface. The volume of the first pontoon 40 is smaller than that of the second pontoon 50. Thus, the displacement of the first pontoon 40 is smaller than that of the second pontoon 50, and the buoyancy of the water surface on the first pontoon 40 is smaller than that on the second pontoon 50. In the direction of surface navigation, the overall posture of the wheeled-legged amphibious robot 1 can be in a state where the front end is low and the rear end is high. The driving force provided by the control assembly 20 can generate a decomposition force in the horizontal direction, thereby propelling the wheeled-legged amphibious robot 1 to navigate on the water surface.

[0047] There can be multiple first pontoons 40 and second pontoons 50 to ensure the stability of the wheel-legged amphibious robot 1 when sailing on the water.

[0048] In an embodiment of the present invention, a first groove 41 is provided on the first pontoon 40, and the first groove 41 is provided at the bottom of the first pontoon 40; or, a first groove 41 is provided on the first pontoon 40, and a second groove is provided on the second pontoon 50, the spatial dimension of the second groove is smaller than the spatial dimension of the first groove, the first groove is provided at the bottom of the first pontoon 40, and the second groove is provided at the bottom of the second pontoon 50. Specifically, the volume difference between the first pontoon 40 and the second pontoon 50 can be achieved by providing a groove structural feature, and a first groove 41 is provided on one end of the first pontoon 40 facing the direction of navigation on the water surface, and the first groove 41 is provided at the bottom of the first pontoon 40. When the wheel-legged amphibious robot 1 is sailing on the water surface, the first pontoon 40 is located at the bottom of the wheel-legged amphibious robot 1. At this time, the first pontoon 40 can serve as a float, and the bottom surface of the first pontoon 40 is in direct contact with the water surface, so that the wheel-legged amphibious robot 1 can have higher floating stability. The bottom area of ​​the first pontoon 40 can be appropriately increased to enable the wheel-legged amphibious robot 1 to have a stronger anti-overturning ability. Figure 5As shown, a first groove 41 is provided on the end of the first pontoon 40 facing the direction of sailing on the water surface. The first groove 41 is in direct contact with the water surface, which can reduce the effective displacement at the position of the first groove 41 on the first pontoon 40. Furthermore, at the position of the first groove 41, the buoyancy of the water surface on the wheel-legged amphibious robot 1 will be reduced, and the wheel-legged amphibious robot 1 will float down accordingly at the end facing the water surface. In this way, in the direction of sailing on the water surface, the overall posture of the wheel-legged amphibious robot 1 presents a state in which the front end is relatively low and the tail end is relatively high. The driving force provided by the control component 20 can generate a decomposition force in the horizontal direction, thereby pushing the wheel-legged amphibious robot 1 to sail on the water surface.

[0049] In one embodiment of the present invention, groove structures may be provided on both the first pontoon 40 and the second pontoon 50. Specifically, a first groove 41 is provided on the first pontoon 40, and a second groove is provided on the second pontoon 50. The spatial dimensions of the second groove are smaller than those of the first groove 41, and the second groove is provided at the bottom of the second pontoon 50. The spatial dimensions of the second groove are smaller than those of the first groove 41, which can be understood as the three-dimensional volume of the second groove being smaller than that of the first groove 41. Thus, the volume of the second pontoon 50 is larger than that of the first pontoon 40, and the displacement of the second pontoon 50 is greater than that of the first pontoon 40. Therefore, the buoyancy exerted by the water on the second pontoon 50 is greater than the buoyancy exerted by the water on the first pontoon 40. When sailing on the water, the overall posture of the wheeled-legged amphibious robot 1 can be in a state where the front end is low and the rear end is high. The driving force provided by the control assembly 20 can generate a decomposition force in the horizontal direction, thereby propelling the wheeled-legged amphibious robot 1 to sail on the water.

[0050] like Figure 1 As shown, in an embodiment of the present invention, the first pontoon 40 and the second pontoon 50 are arranged on the wheel-leg assembly 30. Taking the wheel-legged amphibious robot 1 with a four-leg structure provided in an embodiment of the present invention as an example, the first pontoon 40 is respectively arranged on the two front wheel-leg assembly 30, and the second pontoon 50 is respectively arranged on the two rear wheel-leg assembly 30. This can fully utilize the installation space on the wheel-legged amphibious robot 1, making the overall structure of the wheel-legged amphibious robot 1 more compact. In addition, the pontoon is arranged on the wheel-legged amphibious robot 1, which can provide a certain degree of protection for the wheel-legged amphibious robot 1 when walking on land.

[0051] In an embodiment of the present invention, when the wheeled-legged amphibious robot 1 is in mid-air, the bottoms of the first and second pontoons 40, 50 face the ground. When the wheeled-legged amphibious robot 1 descends from mid-air, the bottoms of the first and second pontoons 40, 50 touch the ground. At this point, the first and second pontoons 40, 50 act as a structure similar to "landing gear," providing a certain cushioning effect for the wheeled-legged amphibious robot 1 and protecting it from significant impact during landing.

[0052] The first pontoon 40 and the second pontoon 50 can include at least one of a hollow shell structure and a foam structure. The hollow shell structure and the foam structure are lightweight, have moderate rigidity and flexibility, can fully ensure their cushioning effect, and can also reduce the overall weight of the wheel-legged amphibious robot 1, while also contributing to the compactness of the wheel-legged amphibious robot 1.

[0053] like Figure 1 and Figure 3 As shown, in an embodiment of the present invention, the first driving member 60 is suitable for driving the wheel-foot-leg assembly 30 to rotate along a first axis, and the first axis is parallel to the ground. The wheel-foot-leg assembly 30 can be connected to the frame 10 to present different states. When the wheel-foot-type amphibious robot 1 is walking on land, the wheel-foot-leg assembly 30 is in an upright state and in contact with the ground. When the wheel-foot-type amphibious robot 1 is sailing on the water or flying in the air, the wheel-foot-leg assembly 30 is in a horizontal state, so as to reduce the resistance of the wheel-foot-type amphibious robot 1 when sailing on the water or flying in the air. The wheel-foot-leg assembly 30 can be driven by the first driving member 60 to switch between the upright state and the horizontal state.

[0054] Specifically, one end of the wheel-leg assembly 30 is rotatably connected to the frame 10, with a first axis parallel to the ground as the rotation axis. When the wheel-legged amphibious robot 1 is to perform land locomotion, the first drive member 60 can drive the wheel-leg assembly 30 to rotate so that the wheel-leg assembly 30 changes from a horizontal state to an upright state. When the wheel-legged amphibious robot 1 is to perform aerial flight, the first drive member 60 can drive the wheel-leg assembly 30 to rotate from an upright state to a horizontal state. Therefore, through the first drive member 60, the wheel-leg assembly 30 can be controlled to adapt to the different motion states of the wheel-legged amphibious robot 1, allowing the wheel-legged amphibious robot 1 to flexibly transform.

[0055] Furthermore, when the wheel-legged amphibious robot 1 walks on land, the first driving member 60 can drive the wheel-foot-leg assemblies 30 to move in coordination. For example, by driving the wheel-foot-leg assemblies 30 to move in a diagonal gait, the walking can be completed.

[0056] like Figure 3As shown, in an embodiment of the present invention, the wheel-leg leg assembly 30 includes a foot bar 31, a roller 32, and a second drive member 33. The second drive member 33 is connected to the foot bar 31, which is connected to the roller 32. The second drive member 33 is adapted to drive the foot bar 31 toward or away from the ground, and the second drive member 33 is adapted to drive the roller 32 to rotate along a second axis, wherein the second axis is perpendicular to the ground. The wheel-legged amphibious robot 1 achieves foot-based walking through the foot bar 31 and wheeled walking through the roller 32. The second drive member 33 can drive the foot bar 31 to reciprocate linearly in a direction perpendicular to the ground. When the foot bar 31 is driven toward the ground until it contacts the ground, the roller 32 is suspended, and the wheel-legged amphibious robot 1 can perform foot-based walking. When the foot bar 31 is driven away from the ground until it contacts the ground, the roller 32 contacts the ground, and the wheel-legged amphibious robot 1 can perform wheeled walking. At the same time, the second drive member 33 can also control the rotation of the roller 32, enabling the wheel-legged amphibious robot 1 to achieve omnidirectional movement. The reuse of the second driving member 33 can further simplify the structure of the wheel-legged amphibious robot 1 and reduce its weight.

[0057] The second driving member 33 can output driving force by using a screw-nut mechanism, a hydraulic pushing mechanism or a linear motor.

[0058] like Figure 2 As shown, in an embodiment of the present invention, the frame 10 is a rectangular connecting rod assembly structure, and wheel-foot leg assemblies 30 are respectively provided at the corner positions of the frame 10. The rectangular connecting rod structure is stable, has uniform force, and is convenient for arranging the installation space of parts. The wheel-foot leg assemblies 30 are respectively provided at the four corner positions of the rectangular connecting rod assembly, so that the wheel-footed amphibious robot 1 can maintain stability during walking on the ground. At the same time, two first buoyancy tanks 40 are provided at the front of the wheel-footed amphibious robot 1, and two second buoyancy tanks 50 are provided at the rear of the wheel-footed amphibious robot 1. When the wheel-footed amphibious robot 1 is sailing on the water, it can ensure that the four corner positions are simultaneously subjected to buoyancy to ensure stability.

[0059] In the embodiment of the present invention, the frame 10 is an integrally formed structure. The integrally formed frame 10 can ensure the structural strength of the frame 10, and at the same time, can avoid assembly errors caused by assembling multiple parts, thereby ensuring the movement accuracy of the wheeled-legged amphibious robot 1.

[0060] like Figure 1 As shown, in an embodiment of the present invention, the frame 10 further includes a foot-leg connecting rod 11, both ends of which are respectively connected to the wheel-foot-leg assembly 30. The foot-leg connecting rod 11 can enhance the overall structural rigidity of the connection between the wheel-foot-leg assembly 30.

[0061] Below, the technical solution of the present invention is described in conjunction with a specific wheel-legged amphibious robot 1 structure for better understanding.

[0062] like Figures 1 to 6 As shown, the frame 10 of the wheel-legged amphibious robot 1 is a rectangular connecting rod assembly structure. The wheel-legged amphibious robot 1 is provided with only four wheel-foot-leg assemblies 30, wherein the four wheel-foot-leg assemblies 30 are respectively located at the left front, right front, left rear and right rear parts of the wheel-footed amphibious robot 1. The wheel-foot-leg assemblies 30 at the left front and right front parts are both equipped with a first pontoon 40, and the wheel-foot-leg assemblies 30 at the left rear and right rear parts are both equipped with a second pontoon 50. The first pontoon 40 is provided with a groove structure, and the second pontoon 50 has no groove structure. The two ends of the foot-leg connecting rod 11 arranged at the front of the frame 10 are respectively connected to the left front and right front wheel-foot-leg assemblies 30, and the two ends of the foot-leg connecting rod 11 arranged at the rear of the frame 10 are respectively connected to the left rear and right rear wheel-foot-leg assemblies 30. Each wheel-foot-leg assembly 30 includes a front swing motor, a screw body 720 motor, a slide rail, a fixed slider, a screw nut 730 connecting frame, a foot rod 31, a screw body 720, a screw nut 730, a roller 32 support frame, a roller 32 motor, and a roller 32.

[0063] The frame 10 is equipped with a front swing motor connection flange 780, ESC mounting holes 770, and rotor motor mounting holes 710. The control assembly 20 primarily comprises a flight controller, four ESC bodies 21, four rotor motor bodies 750, four rotor bodies 760, a taillight, and three GPS locators. The frame 10 also houses the power supply system and integrated control system components, which include a power distribution board, flight controller, and industrial computer. The wheeled-legged amphibious robot 1 also includes a motor control system, which includes an industrial computer, a motor control board (ECB), four front swing motors, four lead screw bodies 720, and four roller motors 32.

[0064] The forward swing motor rotates to control the wheel-foot-leg assembly 30 and the pontoon body mounted thereon to rotate about the motor shaft. The left front wheel-foot-leg assembly 30, the right front wheel-foot-leg assembly 30, and the leg-to-leg connecting rod 11 can rotate independently of each other about the front leg forward swing motor shaft. The left rear wheel-foot-leg assembly 30, the right rear wheel-foot-leg assembly 30, and the leg-to-leg connecting rod 11 can rotate independently of each other about the rear leg forward swing motor shaft.

[0065] like Figures 4 to 6As shown, the wheel-legged amphibious robot 1 can switch between air-water (sea) or air-land working modes. When entering the water navigation mode from the air flight mode, the wheel-legged amphibious robot 1 needs to be flown above the water surface first, and then the wheel-legged amphibious robot 1 is lowered to the water surface by reducing the throttle. The buoyancy generated by the first pontoon 40 and the second pontoon 50 is used to make the wheel-legged amphibious robot 1 float steadily in the water. When the wheel-legged amphibious robot 1 is in the water navigation mode, due to the different structures of the first pontoon 40 and the second pontoon 50, the wheel-legged amphibious robot 1 forms a certain initial inclination angle with the horizontal line when it is in the water. The driving force is applied by the control component 20 to put the wheel-legged amphibious robot 1 in an idling state. In this state, although the lift force is not enough to make the fuselage take off, the horizontal component force generated can push the wheel-legged amphibious robot 1 forward and turn.

[0066] If the state of transitioning from the water surface navigation state to the air flight state is to be changed, the driving force is simply increased until the lift force is sufficient to lift the wheeled-legged amphibious robot 1 out of the water and into the air flight.

[0067] When transitioning from flight mode to walking mode, the wheeled-legged amphibious robot 1 must first be flown above the ground. The driving force is then reduced to lower the wheeled-legged amphibious robot 1 toward the ground, and the first and second pontoons 40, 50 are used as landing gear to complete the landing. After landing, the motor control system simultaneously controls the four forward swing motors, causing the wheeled-leg assembly 30 to rotate around the forward swing motor shafts, thereby transforming the robot into a standing position on land.

[0068] like Figure 6 As shown, the wheeled-legged amphibious robot 1 has two mobility states on land: a footed walking state and a wheeled omnidirectional mobility state. In the wheeled-leg assembly 30, when the lead screw body 720 motor rotates, the foot rod 31 moves up and down along with the lead screw nut 730. Under the action of the forward swing motor, the foot rod 31 swings back and forth. Therefore, the coupling between the lead screw body 720 motor and the forward swing motor enables the foot rod 31 to produce a specific foot-end trajectory, such as cycloidal motion. By coordinating the movement of the four wheeled-legged assemblies 30 through the motor control system, such as a diagonal gait, the footed walking function can be achieved. During the footed walking process, the rollers 32 never come into contact with the ground. When transitioning from the footed mobility state to the wheeled mobility state, the wheeled-legged amphibious robot 1 first transitions from the footed walking state to the footed standing state. At this point, the four forward swing motors are locked, and the four lead screw body 720 motors are controlled to rotate, causing the foot rod 31 to move upward until the rollers 32 contact the ground. When the roller 32 contacts the ground, the yaw angle of the roller 32 can be controlled by the motor of the screw body 720, and the rotation speed of the roller 32 can be controlled by the motor of the roller 32 to control the movement speed of the wheel-legged amphibious robot 1.

[0069] To transition from a land-based mobile state to an aerial flight state, the wheeled-legged amphibious robot 1 must first be transformed into a standing state. The motor control system then simultaneously controls the rotation of the four forward swing motors, thereby driving the four wheeled-leg leg assemblies 30 to rotate around the forward swing motor axes until the four wheeled-leg leg assemblies 30, as well as the first and second pontoons 40 and 50, are completely horizontal. At this point, the first and second pontoons 40 and 50 serve as the landing gear for the wheeled-legged amphibious robot 1 during flight. The control assembly 20 controls the rotor motor bodies 750, gradually increasing the driving force until sufficient lift is generated to lift the wheeled-legged amphibious robot 1 off the ground and into flight.

[0070] When the wheeled-legged amphibious robot 1 is airborne, its structural form is the same as its surface navigation form. In flight mode, the motors in the wheeled-leg assembly 30 are locked to prevent high-frequency vibrations generated during flight from causing changes in the wheeled-leg assembly 30's form. In flight mode, the wheeled-legged amphibious robot 1 takes off and lands by locking the motors in the wheeled-leg assembly 30 and using the first pontoon 40 and the second pontoon 50 as landing gear. Power is supplied by the flight control, the ESC body 21, the rotor motor body 750, and the rotor body 760 in the control assembly 20. By controlling the flight control with a remote control and increasing the throttle, the wheeled-legged amphibious robot 1 can take off. An antenna module is provided at the taillight to enhance signal transmission between the remote control and the flight control. The GPS locator enables real-time positioning of the wheeled-legged amphibious robot 1, and control of the wheeled-legged amphibious robot 1's flight is achieved based on real-time location information.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A wheel-legged amphibious robot, characterized in that: include: frame; a control component, wherein the control component is suitable for controlling the wheel-legged amphibious robot to sail on the water surface or fly in the air; A wheel-foot-leg assembly, the wheel-foot-leg assembly being connected to the frame, and the wheel-foot-leg assembly being adapted to enable the wheel-foot-type amphibious robot to perform foot-style walking or wheel-style walking on the ground; a first driving member connected to the wheel-foot-leg assembly, the first driving member being adapted to drive the wheel-foot-leg assembly to be in a first state adapted for sailing on water, a second state adapted for flying in the air, or a third state adapted for walking on land; a first pontoon and a second pontoon, wherein the first pontoon is arranged on a side of the wheel-legged amphibious robot facing the direction of sailing on the water surface, and the second pontoon is arranged on a side of the wheel-legged amphibious robot facing away from the direction of sailing on the water surface, wherein the volume of the first pontoon is smaller than that of the second pontoon; The wheel-foot leg assembly includes a foot bar, a roller and a second driving member, wherein the second driving member is connected to the foot bar, and the second driving member is connected to the roller, the second driving member is adapted to drive the foot bar to move toward or away from the ground, and the second driving member is adapted to drive the roller to rotate along a second axis, wherein the second axis is perpendicular to the ground; When sailing on the water surface, the control component controls the decomposition force of the driving force in the vertical direction to be less than the gravity of the wheel-legged amphibious robot so that the wheel-legged amphibious robot floats on the water surface, and the decomposition force of the driving force in the horizontal direction is used to drive the wheel-legged amphibious robot to sail forward; When flying in the air, the control component controls the decomposition force of the driving force in the vertical direction to be greater than the gravity of the wheel-legged three-amphibious robot so that the wheel-legged three-amphibious robot can take off, and the decomposition force of the driving force in the horizontal direction is used to drive the wheel-legged three-amphibious robot to fly forward.

2. The wheel-legged amphibious robot according to claim 1, characterized in that: The first buoyancy box is provided with a first groove, and the first groove is provided at the bottom of the first buoyancy box; Alternatively, a first groove is provided on the first pontoon, and a second groove is provided on the second pontoon. The spatial dimension of the second groove is smaller than that of the first groove. The first groove is provided at the bottom of the first pontoon, and the second groove is provided at the bottom of the second pontoon.

3. The wheel-legged amphibious robot according to claim 1 or 2, characterized in that: The first pontoon and the second pontoon are arranged on the wheel-foot-leg assembly.

4. The wheel-legged amphibious robot according to claim 1 or 2, characterized in that: When the wheel-legged amphibious robot is flying in the air, the bottoms of the first pontoon and the second pontoon face the ground.

5. The wheel-legged amphibious robot according to claim 1 or 2, characterized in that: The first driving member is suitable for driving the wheel-foot leg assembly to rotate along a first axis, and the first axis is parallel to the ground.

6. The wheel-legged amphibious robot according to claim 1 or 2, characterized in that: The frame is a rectangular connecting rod assembly structure, and the wheel-foot leg assemblies are respectively arranged at the corners of the frame.

7. The wheel-legged amphibious robot according to claim 1 or 2, characterized in that: The frame is an integrally formed structure.

8. The wheel-legged amphibious robot according to claim 7, characterized in that: The frame also includes a foot-leg connecting rod, and both ends of the foot-leg connecting rod are respectively connected to the wheel-foot-leg assembly.

Images