An amphibious robot

Abstract

The present application discloses an amphibious robot, comprising a body; a walking mechanism disposed on the body, with two sets of the walking mechanism respectively disposed on both sides of the body. The walking mechanism includes a land walking assembly, a undulating fin assembly and a swing driving assembly. The swing driving assembly is connected to the undulating fin assembly for adjusting the attitude of the undulating fin assembly; a driving member, the output shaft of the driving member is connected to a transmission mechanism, a first output shaft and a second output shaft are disposed on the transmission mechanism, the first output shaft is connected to the undulating fin assembly, and the second output shaft is connected to the land walking assembly. The amphibious robot provided by the present application, compared with the prior art, can adapt to both water and land environments, has good terrain adaptability, is simple in structure and smaller in volume.

Description

Technical Field

[0001] This application relates to the technical field of amphibious robots, and more specifically, to an amphibious robot. Background Art

[0002] With the increasing demand for the development of marine resources, there is a need for amphibious robots that can adapt to complex operating environments and mission requirements to perform various near-sea exploration tasks that humans cannot complete. Therefore, developing amphibious robots that can adapt to the changing terrains of land and near-shore tidal flats as well as complex underwater environments has important practical value and significance.

[0003] There are many organisms in nature with excellent amphibious locomotion abilities, such as crabs, frogs, snakes, newts, etc. They have both shapes inherited from fish ancestors that are adapted to underwater life and the ability to adapt to terrestrial life. Therefore, the research on amphibious robots has important reference significance. In fact, scholars at home and abroad have successively developed various amphibious robots that imitate amphibious organisms in nature. However, in terms of results, simply imitating the propulsion methods of natural organisms does not have an advantage. They often only have relatively good performance in a single medium, either on land or underwater, and have poor performance in the other environment. For example, bionic legged robots are more suitable for walking on the ground but not good at swimming underwater, while bionic robotic fish are more suitable for swimming underwater.

[0004] Therefore, there is an urgent need for an amphibious robot that can adapt to both land and water environments, has good terrain adaptability, a simple structure, and a smaller volume. Summary of the Invention

[0005] To solve the above technical problems, this application provides an amphibious robot that can adapt to both land and water environments, has good terrain adaptability, a simple structure, and a smaller volume.

[0006] The technical solution provided by this application is as follows:

[0007] An amphibious robot, comprising:

[0008] A body;

[0009] A walking mechanism arranged on the body. There are two sets of the walking mechanism, which are respectively arranged on both sides of the body. The walking mechanism includes a land walking component, a flapping fin component, and a swing driving component. The swing driving component is connected to the flapping fin component for adjusting the attitude of the flapping fin component;

[0010] A driving member, the output shaft of the driving member is connected to a transmission mechanism. A first output shaft and a second output shaft are arranged on the transmission mechanism. The first output shaft is connected to the flapping fin component, and the second output shaft is connected to the land walking component.

[0011] Preferably, the transmission mechanism includes:

[0012] A transmission structure connecting the output end of the driving member and the first output shaft;

[0013] A first bevel gear disposed at one end of the first output shaft away from the undulating fin assembly;

[0014] A second bevel gear disposed on the second output shaft and cooperating with the first bevel gear;

[0015] Wherein, the transmission structure is specifically one or a combination of a gear transmission structure, a belt transmission structure, and a chain transmission structure.

[0016] Preferably, the land walking assembly is specifically a wheeled propulsion structure or a tracked propulsion structure.

[0017] Preferably, the land walking assembly includes:

[0018] A first track wheel connected to the output shaft of the second bevel gear;

[0019] A second track wheel disposed at one end of the body away from the first track wheel;

[0020] A track disposed on the first track wheel and the second track wheel, and a track hole group is disposed on the track, and the track hole group is spaced at intervals along the length of the track;

[0021] Wherein, a group of the track hole group includes at least two track holes, the track holes are spaced along the width direction of the track, and sawteeth cooperating with the track holes are disposed on the outer circumferential surfaces of the first track wheel and the second track wheel.

[0022] Preferably, the land walking assembly further includes:

[0023] A first connecting shaft disposed at one end of the body, and both ends of the first connecting shaft are respectively connected to two groups of the first track wheels;

[0024] A first support seat connected to the body, and an arc surface adapted to the outer surface of the first connecting shaft is disposed on the first support seat;

[0025] A fixing seat detachably connected to the first support seat, and a clamping surface cooperating with the arc surface is disposed on the fixing seat;

[0026] An axial limiting step disposed on the first connecting shaft and abutting against the first support seat.

[0027] Preferably, the land walking assembly further includes:

[0028] A second support seat connected to one end of the body away from the first support seat, with two second support seats provided and spaced along the width direction of the body;

[0029] A tail seat handle for connecting the two second support seats;

[0030] The second crawler wheel is arranged on the side of the second support seat away from the tail seat handle, and the second crawler wheel is rotatably connected to the second support seat.

[0031] Preferably, the land walking assembly further includes:

[0032] Mounting grooves provided on both sides of the body, with mounting shafts arranged in the mounting grooves, at least two mounting shafts provided and spaced along the length direction of the crawler, and a set of third crawler wheel assemblies are respectively arranged at both ends of any one of the mounting shafts;

[0033] The third crawler wheel assembly includes a third crawler wheel, and the outer circumferential surface of the third crawler wheel abuts against the crawler.

[0034] Preferably, the third crawler wheel assembly further includes:

[0035] A support shaft, with both ends of the support shaft connected to both sides of the mounting groove respectively;

[0036] A mounting rod hinged to the support shaft, with one end of the mounting rod connected to the middle of the third rotating shaft, and the third crawler wheels are arranged at both ends of the third rotating shaft;

[0037] A first resetting member connecting the mounting rod and the mounting shaft, and the first resetting member is used to drive the mounting rod to rotate around the mounting shaft so that the outer circumferential surface of the third crawler wheel always abuts against the crawler.

[0038] Preferably, the undulating fin assembly includes:

[0039] A transmission shaft arranged on one side of the body and fixedly connected to the first output shaft;

[0040] A cam transmission assembly sleeved on the transmission shaft, with at least two groups of cam transmission assemblies provided and spaced along the axial direction of the transmission shaft;

[0041] A clamping mechanism for connecting with the undulating fin is arranged at the end of the cam transmission assembly, and the first output shaft drives the transmission shaft to rotate, and drives the undulating fin to generate undulating force through the cam transmission assembly and the clamping mechanism.

[0042] Preferably, the cam drive assembly includes:

[0043] A cam disc fixedly sleeved on the transmission shaft, with a cam groove provided inside the cam disc;

[0044] A roller used in cooperation with the cam groove, a swing rod connected to the roller shaft of the roller, one end of the swing rod away from the roller is connected to a swing lever, a swing disc is provided on the swing lever, and the clamping mechanism is connected to the swing disc.

[0045] Preferably, the clamping mechanism includes:

[0046] A clip fixedly connected to the swing disc;

[0047] A rotating seat hinged to the clip, with a mounting hole provided inside the rotating seat, and the mounting hole is arranged along the axial direction of the rotating seat;

[0048] A first bearing arranged inside the mounting hole, there are two first bearings, respectively arranged at both ends of the mounting hole;

[0049] A clip bar arranged below the rotating seat and hinged to the first bearing, and an installation opening for the wave fin to pass through is provided on the clip bar;

[0050] A locking member for fixing the wave fin to the clip bar.

[0051] Preferably, the wave fin assembly further includes:

[0052] A sleeve sleeved on the transmission shaft;

[0053] A swing seat arranged on one side of the cam disc and fixedly connected to the sleeve;

[0054] An installation hole provided on the swing seat for the swing rod to pass through, and the swing rod is rotatably arranged inside the installation hole.

[0055] Preferably, the swing drive assembly includes:

[0056] A swing drive member;

[0057] A swing plate connected to the output shaft of the swing drive member, the outer side of the swing plate is hinged to a connecting rod, and one end of the connecting rod away from the swing plate is hinged to a rocker;

[0058] A swing output shaft connected to the rocker, and the swing output shaft is connected to the sleeve to drive the sleeve to rotate axially around the transmission shaft.

[0059] Preferably, it further includes:

[0060] A first sealed cabin disposed on the body for placing a driving member, and a first connection hole is provided on the side surface of the first sealed cabin;

[0061] A second sealed cabin disposed at one end of the body away from the first sealed cabin, the second sealed cabin is used for placing the swing driving member, and a second connection hole is provided on the side surface of the second sealed cabin;

[0062] Dynamic seal connections are adopted between the first connection hole and the output shaft of the driving member, and between the second connection hole and the output shaft of the swing driving member.

[0063] Preferably, it further includes:

[0064] A third sealed cabin disposed on the body for placing a control unit, and a wire passing hole is provided on the side surface of the third sealed cabin;

[0065] A sealing groove disposed on the top of the third sealed cabin and hermetically connected to a third cover plate through a sealing member.

[0066] The amphibious robot provided by the present invention, firstly, due to the provision of a body and a walking mechanism, wherein, there are two groups of walking mechanisms, and the two groups of walking mechanisms are respectively disposed on both sides of the body. The walking mechanism includes a land walking component, a flapping fin component, and a swing driving component. Among them, the swing driving component is connected to the flapping fin component for adjusting the attitude of the flapping fin component. The flapping fin component has a land walking attitude, an underwater walking attitude, and an amphibious transition environment attitude. When the flapping fin component is in the land walking attitude, the body is pushed to move in the land environment through the land walking component. When the flapping fin component is in the underwater walking attitude, the body is pushed to move in the underwater environment through the flapping fin component. When the flapping fin component is in the amphibious transition environment attitude, the land walking component and the flapping fin component jointly push the body to move in the amphibious transition environment. In this way, it can better adapt to the land and water environments, and has better terrain adaptability. Secondly, a driving member is also provided. Among them, the output shaft of the driving member is connected to a transmission mechanism. The transmission mechanism is provided with a first output shaft and a second output shaft. Among them, the first output shaft is connected to the flapping fin component for driving the flapping fin component, and the second output shaft is connected to the land walking component for driving the land walking component. The land walking component and the flapping fin component in the same group of walking components are driven by the same driving member, reducing the number of driving members, effectively reducing the installation space of the driving members and the complexity of the structure. It can be seen that, compared with the prior art, the amphibious robot in the embodiment of the present invention can adapt to both land and water environments, has good terrain adaptability, is simple in structure, and has a smaller volume. Description of the Drawings

[0067] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0068] Figure 1 A schematic structural diagram of an amphibious robot provided by an embodiment of the present invention;

[0069] Figure 2 A structural diagram inside the amphibious robot provided by an embodiment of the present invention;

[0070] Figure 3 A schematic structural diagram of a transmission mechanism provided by an embodiment of the present invention;

[0071] Figure 4 A schematic structural diagram of a first crawler wheel provided by an embodiment of the present invention;

[0072] Figure 5 For Figure 4 The split structural schematic diagram;

[0073] Figure 6 A schematic structural diagram of a second crawler wheel unit provided by an embodiment of the present invention;

[0074] Figure 7 For Figure 6 The split structural schematic diagram;

[0075] Figure 8 A three-dimensional structural schematic diagram of a third crawler wheel assembly provided by an embodiment of the present invention;

[0076] Figure 9 A schematic structural diagram of a flapping fin assembly provided by an embodiment of the present invention;

[0077] Figure 10 A schematic structural diagram of a cam transmission assembly provided by an embodiment of the present invention;

[0078] Figure 11 For Figure 10 The split three-dimensional structural schematic diagram;

[0079] Figure 12 A schematic structural diagram of a transmission shaft;

[0080] Figure 13 A schematic structural diagram of a swing driving member provided by an embodiment of the present invention;

[0081] Figure 14A schematic structural diagram of the main body provided by an embodiment of the present invention;

[0082] Figure 15 A schematic structural diagram of the amphibious robot provided by an embodiment of the present invention in a land environment;

[0083] Figure 16 A schematic structural diagram of the amphibious robot provided by an embodiment of the present invention in an underwater environment;

[0084] Figure 17 A schematic structural diagram of the amphibious machine provided by an embodiment of the present invention in an amphibious transition environment.

[0085] Reference numerals: 1, main body; 2, land walking assembly; 3, undulating fin assembly; 4, swing drive assembly; 5, driving member; 6, transmission mechanism; 7, control unit; 8, battery;

[0086] 11, first sealed cabin; 12, first connection hole; 13, second sealed cabin; 14, second connection hole 15, third sealed cabin; 16, wire passing hole; 17, third cover plate; 18, first cover plate; 19, second cover plate; 111, first sealing groove; 131, second sealing groove; 151, third sealing groove;

[0087] 21, first crawler wheel; 22, second crawler wheel; 23, crawler; 24, crawler hole; 25, sawtooth; 26, mounting groove; 27, mounting shaft; 28, third crawler wheel assembly; 211, first connecting shaft; 212, first support seat; 213, arc surface; 214, fixed seat; 215, clamping surface; 216, axial limiting step; 217, second mounting port; 218, fourth bearing; 221, second support seat; 222, tailstock handle; 281, third crawler wheel; 282, support shaft; 283, mounting rod; 284, third rotating shaft; 285, first resetting member; 2121, first mounting port; 223, second crawler wheel mounting shaft; 224, fifth bearing, 2212, second mounting port; 2231, fixing hole; 225, connecting hole, 2211, tailstock handle fixing hole; 286, sixth bearing;

[0088] 31. Fluctuating connector; 32. Transmission shaft; 33. Cam drive assembly; 34. Fluctuating fin; 35. Clamping mechanism; 36. Sleeve; 321. First square mounting surface; 322. First circular mounting surface; 323. Second square mounting surface; 324. Second circular mounting surface; 331. Cam disc; 332. Cam groove; 333. Roller; 334. Rocker arm; 335. Swing rod; 336. Swing disc; 337. Square mounting portion; 338. Swing seat; 339. Second bearing; 351. Clip; 352. Rotating seat; 353. First bearing; 354. Clip strip; 355. Mounting port; 3381. Mounting hole; 3382. Third bearing; 37. Swing connector

[0089] 41. Swing driving member; 42. Swing plate; 43. Link; 44. Rocker; 45. Swing output shaft; 46. Second dynamic seal ring

[0090] 51. First dynamic seal ring

[0091] 61. First output shaft; 62. Second output shaft; 63. Transmission structure; 64. First bevel gear; 65. Second bevel gear; 66. Bevel gear mounting seat; 631. First spur gear; 632. Second spur gear; 633. Third spur gear; 634. First rotating shaft; 635. Second rotating shaft; 67. Seventh bearing Detailed implementation manners

[0092] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0093] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly disposed on the other element; when an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0094] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0095] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more such features. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise specifically defined.

[0096] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that this application can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in this application.

[0097] The embodiments of the present invention are written in a progressive manner.

[0098] As Figures 1 to 17 shown, an embodiment of the present invention provides an amphibious robot, including: a body 1; a traveling mechanism provided on the body 1, with two sets of traveling mechanisms respectively provided on both sides of the body 1. The traveling mechanism includes a land traveling component 2, a flapping fin component 3, and a swing driving component 4. The swing driving component 4 is connected to the flapping fin component 3 and is used to adjust the attitude of the flapping fin component 3; a driving member 5, the output shaft of the driving member 5 is connected to a transmission mechanism 6. The transmission mechanism 6 is provided with a first output shaft 61 and a second output shaft 62. The first output shaft 61 is connected to the flapping fin component 3, and the second output shaft 62 is connected to the land traveling component 2.

[0099] Currently, traditional robots can usually only perform tasks in a single physical domain such as the sea, land, and air, and it is difficult to meet the requirements of complex tasks such as autonomous landing, autonomous recovery, amphibious reconnaissance, and cross-media operations.

[0100] There are many organisms in nature with excellent amphibious locomotion abilities, such as crabs, frogs, snakes, salamanders, etc. They have both shapes inherited from fish ancestors that are adapted to underwater life and the ability to adapt to terrestrial life. Therefore, it has important reference significance for the research of amphibious robots. In fact, scholars at home and abroad have successively developed a variety of amphibious robots that imitate natural amphibious organisms. However, in terms of the effect, simply imitating the propulsion methods of natural organisms does not have advantages. It often only has relatively good performance in a single medium of land or water, while having poor performance in the other environment. For example, bionic legged robots are more suitable for walking on the ground and not good at swimming underwater, while bionic robotic fish, etc. are more suitable for swimming underwater. The reason is that the artificial amphibious propulsion device cannot fully replicate the excellent amphibious locomotion performance of natural organisms, and the result is often only similar in shape but insufficient in performance.

[0101] The amphibious robot provided by the present invention, firstly, because there is a body 1 and a walking mechanism provided. Among them, there are two groups of walking mechanisms, and the two groups of walking mechanisms are respectively arranged on both sides of the body 1. The walking mechanism includes a land walking component 2, a flapping fin component 3 and a swing driving component 4. Among them, the swing driving component 4 is connected to the flapping fin component 3 and is used to adjust the attitude of the flapping fin component 3. The flapping fin component 3 has a land walking attitude, an underwater walking attitude and an amphibious transition environment attitude. When the flapping fin component 3 is in the land walking attitude, the body 1 is pushed to move in the land environment through the land walking component 2. When the flapping fin component 3 is in the underwater walking attitude, the body 1 is pushed to move in the underwater environment through the flapping fin component 3. When the flapping fin component 3 is in the amphibious transition environment attitude, the land walking component 2 and the flapping fin component 3 jointly push the body 1 to move in the amphibious transition environment. In this way, it can better adapt to the land and water environments and has better terrain adaptability. Secondly, a driving member 5 is also provided. Among them, the output shaft of the driving member 5 is connected to a transmission mechanism 6. A first output shaft 61 and a second output shaft 62 are arranged on the transmission mechanism 6. Among them, the first output shaft 61 is connected to the flapping fin component 3 and is used to drive the flapping fin component 3, and the second output shaft 62 is connected to the land walking component 2 and is used to drive the land walking component 2. The land walking component 2 and the flapping fin component 3 in the same group of walking components are driven by the same driving member 5, reducing the number of driving members 5 and effectively reducing the installation space of the driving member 5 and the complexity of the structure. It can be seen that compared with the prior art, the amphibious robot in the embodiment of the present invention can adapt to both land and water environments, has good terrain adaptability, is simple in structure and smaller in volume.

[0102] The amphibious robot provided by the present invention uses the same driving member to drive the walking mechanism on one side. Only two driving members are required for the walking mechanisms on both sides of the driving body, reducing the number of driving members, effectively reducing the installation space, and lowering the structural complexity. A swing driving assembly is also provided. The swing driving assembly is connected to the undulating fin assembly to control the attitude of the undulating fin assembly. In the land walking attitude, the land walking assembly pushes the robot to walk. In the underwater walking attitude, the undulating fin assembly generates undulations to push the robot to swim. When in the water-land transition attitude, the land walking assembly and the undulating fin assembly act simultaneously. The land walking assembly walks along the bottom of the water, and the undulating fin assembly paddles at the same time. Under the dual driving effect, the robot can enter or exit the water.

[0103] In the above structure, as one of the implementation manners, the transmission mechanism 6 in the embodiment of the present invention includes a transmission structure 63 connecting the output end of the driving member 5 and the first output shaft 61; a first bevel gear 64 provided at one end of the first output shaft 61 away from the undulating fin assembly 3; a second bevel gear 65 provided on the second output shaft 62 and cooperating with the first bevel gear 64; wherein, the transmission structure 63 is specifically a combination of one or more of a gear transmission structure, a belt transmission structure, and a chain transmission structure.

[0104] Specifically, the transmission structure 63 transmits the power output by the driving member 5 to the first output shaft 61. The driving member 5 drives the first output shaft 61 to rotate. The first output shaft 61 is connected to the undulating fin assembly 3 to drive the undulating fin assembly 3 to generate undulations. The first bevel gear 64 is installed on the first output shaft 61 to drive the second bevel gear 65 and the second output shaft 62 to rotate. The second output shaft 62 is connected to the land walking assembly 2 to drive the land walking assembly 2 to move. Through the meshing between the first bevel gear 64 and the second bevel gear 65, the second output shaft 62 is driven to rotate. The power output by the driving member 5 in the embodiment of the present invention can drive the undulating fin assembly 3 and the land walking assembly 2 at the same time. Whether the amphibious robot provided by the present invention is in a land environment, an underwater environment, or a water-land transition environment, the undulating fin assembly 3 and the land walking assembly are both in a driving state. Only the attitude of the undulating fin assembly 3 needs to be adjusted by the swing driving assembly 4 to adapt to the environment where the amphibious robot is located. With such a setting, the control complexity is reduced, and the amphibious robot does not need to switch the drive. At any time, the undulating fin assembly and the land walking assembly are in a linkage state.

[0105] In the above structure, the transmission structure 63 in the embodiment of the present invention is specifically one or a combination of a gear transmission structure, a belt transmission structure, and a chain transmission structure. The main function is to transmit the power output by the driving member 5 to the first output shaft 61. As a specific implementation manner, the transmission structure 63 in the embodiment of the present invention is specifically a gear transmission structure, including a first spur gear 631, a second spur gear 632, and a third spur gear 633. Among them, the first rotating shaft 634 of the first spur gear 631 is fixedly connected to the output shaft of the driving member 5, the second rotating shaft 635 of the second spur gear 632 is rotatably connected to the main body 1, and the third spur gear 633 is fixedly connected to the first output shaft 61. Among them, the first rotating shaft 634, the second rotating shaft 635, and the first output shaft 61 are all rotatably connected to the frame through a seventh bearing 67. Through the meshing of the first spur gear 631, the second spur gear 632, and the third spur gear 633, the continuous rotation output by the driving member 5 is converted into the continuous rotation of the first output shaft 61 parallel to the output shaft of the driving member.

[0106] Furthermore, as one of the implementation manners, the transmission mechanism 6 in the embodiment of the present invention further includes a bevel gear mounting seat 66. Among them, the bevel gear mounting seat 66 is connected to the main body 1, the first bevel gear 64 and the second bevel gear 65 are both mounted on the bevel gear mounting seat 66, the first bevel gear 64 is fixedly connected to the first output shaft 61, and the second bevel gear 65 is hinged on the bevel gear mounting seat 66 and is fixedly connected to the second output shaft 62. Through bevel gear transmission, the continuous rotation of the output shaft of the driving member 5 is converted into the continuous rotation of the second output shaft perpendicular to the first output shaft, and the undulating fin assembly is driven to generate undulation through the second output shaft.

[0107] Furthermore, as one of the implementation manners, the driving member 5 in the embodiment of the present invention is specifically a DC reduction motor.

[0108] In the above structure, the land walking assembly 2 in the embodiment of the present invention is specifically a wheeled propulsion structure or a tracked propulsion structure. As the first implementation manner, the land walking assembly in the embodiment of the present invention is specifically a wheeled propulsion structure (not shown in the figure). The land walking assembly 2 includes a driving wheel connected to the second output shaft 62, and a driven wheel rotatably connected to one end of the main body 1 away from the first walking wheel. The driven wheel is used to support the main body. The driving wheel is driven to rotate through the second output shaft 62 to drive the main body to move, and the driven wheel rotates passively. At this time, when the amphibious robot of the present invention is used for ground walking, it is equivalent to a four-wheel mobile robot with two-wheel drive.

[0109] As a second embodiment, the land walking component 2 in the embodiments of the present invention is specifically a crawler propulsion structure. Specifically, the land walking component 2 in the embodiments of the present invention includes: a first crawler wheel 21 connected to the second output shaft 62; a second crawler wheel 22 disposed at one end of the body 1 away from the first crawler wheel 21; a crawler 23 disposed on the first crawler wheel 21 and the second crawler wheel 22, and a crawler hole group is disposed on the crawler 23, and the crawler hole group is spaced at intervals along the length direction of the crawler. Among them, a set of crawler hole groups includes at least two crawler holes 24, and the crawler holes 24 are spaced at intervals along the width direction of the crawler 23. Saw teeth 25 for cooperating with the crawler holes 24 are disposed on the outer circumferential surfaces of the first crawler wheel 21 and the second crawler wheel 22. Specifically, the first crawler wheel 21 is connected to the second output shaft 62 to form a driving wheel, and the second output shaft 62 drives the first crawler wheel 21 to rotate. Under the cooperation of the saw teeth 25 and the crawler holes 24, the crawler 23 rotates around the first crawler wheel 21 and the second crawler wheel 22, and the body 1 is driven to walk on the ground based on the frictional force between the crawler 23 and the ground.

[0110] Furthermore, two crawler holes 24 are disposed in a set of crawler holes in the embodiments of the present invention. Two saw teeth 25 are disposed in the same axial direction on the outer circumferential surfaces of the first crawler wheel 21 and the second crawler wheel 22, and the saw teeth 25 are evenly spaced in the circumferential direction around the first crawler wheel 21 and the second crawler wheel 22. The saw teeth 25 are engaged with the crawler holes 24. When the first crawler wheel rotates, it drives the crawler to rotate. Based on the frictional force between the crawler and the land ground, the amphibious robot is pushed to walk on the land.

[0111] In the above structure, as one of the embodiments, the amphibious robot in the embodiments of the present invention further includes: a first connecting shaft 211 disposed at one end of the body 1, and both ends of the first connecting shaft 211 are rotatably connected to two sets of first crawler wheels 21; a first support base 212 connected to the body 1, and an arc surface 213 adapted to the outer surface of the first connecting shaft 211 is disposed on the first support base 212; a fixing base 214 detachably connected to the first support base 212, and a clamping surface 215 used in cooperation with the arc surface 213 is disposed on the fixing base 214; an axial limiting step 216 for abutting against the first support base 212 is disposed on the first connecting shaft 211. Specifically: two sets of land walking assemblies 2 in the embodiments of the present invention are provided and are respectively disposed on both sides of the body 1. The first crawler wheel 21 is connected to the second output shaft 62 to form a driving wheel. Both ends of the first connecting shaft 211 are rotatably connected to two sets of first crawler wheels 21. A first mounting opening 2121 is disposed on the bottom surface of the first support base 212, and the first mounting opening 2121 is fixedly connected to the body 1 by screws. An arc surface 213 adapted to the outer surface of the first connecting shaft 211 is disposed on the first support base 212. The radial direction of the first connection is positioned by the arc surface 213. A fixing base 214 is detachably disposed on the first support base 212, and a clamping plane used in cooperation with the arc surface 213 is disposed on the fixing base 214. The first connecting shaft 211 and the first support base 212 are fixed by the clamping surface and the arc surface 213. The first connecting shaft 211 is axially positioned by the axial limiting step 216. Two axial limiting steps 216 are provided and are respectively disposed on both sides of the fixing base 214. The two axial limiting steps 216 respectively abut against both sides of the first support base 212. Further, both the arc surface and the clamping surface in the embodiments of the present invention are semi-circular surfaces, and the fixing of the first connecting shaft is realized through the cooperation of the first support base 212 and the fixing base 214, and this installation method is more convenient.

[0112] As a more specific embodiment, the fixing base 214 and the first support base 212 in the embodiments of the present invention are detachably connected by a locking screw.

[0113] Further, a second connection port 217 is disposed on the side surface of the first crawler wheel 212 in the embodiments of the present invention, and the first connection port 217 is fixedly connected to the first output shaft 61 by screws.

[0114] Further, both ends of the first connecting shaft 211 and the first crawler wheel 21 in the embodiments of the present invention are rotatably connected by a fourth bearing 218.

[0115] In the above structure, as one of the embodiments, the amphibious robot in the embodiments of the present invention further includes a second support seat 221 connected to one end of the main body 1 away from the first support seat 212. There are two second support seats 221, which are arranged at intervals along the width direction of the main body 1; a tail seat handle 222 for connecting the two second support seats 221; the second crawler wheel 22 is arranged on the side of the second support seat 221 away from the tail seat handle 222, and the third rotating shaft 284 of the second crawler wheel 22 is connected to the second support seat 221. Among them, the second crawler wheel serves as a driven wheel and a load-bearing wheel. The second support seat 221 is detachably and fixedly connected to the main body 1. The second crawler wheel 22 is rotatably arranged on the second support seat 221 through a fifth bearing 224. A tail seat handle 222 is arranged between the two second support seats 221. When carrying the robot, one can hold the tail seat handle 222 and the first crawler wheel 21, or lift the tail seat handle 222 alone, which is convenient for carrying.

[0116] More specifically, the second crawler wheel mounting shaft 223 in the embodiments of the present invention is rotatably connected to the second support seat 221 through a fifth bearing 224. A tail seat handle fixing hole 2211 is provided on the side surface of the second support seat. The tail seat handle fixing hole 2211 is fixedly connected to the tail seat handle 222. A second support seat mounting opening 2212 is provided on the bottom surface of the second support seat. The second support seat mounting opening 2212 is fixedly connected to the side surface of the main body through screws.

[0117] Furthermore, a fixing hole 2231 is provided on the second crawler wheel mounting shaft 223 in the embodiments of the present invention. A connecting hole 225 that cooperates with the fixing hole 2231 is provided on the side surface of the second crawler wheel 22. The connecting hole 225 and the fixing hole 2231 are fixedly connected by threads.

[0118] More specifically, the tail seat handle 222 in the embodiments of the present invention is specifically a tubular structure.

[0119] In the above structure, as one of the implementation manners, the land walking assembly 2 in the embodiments of the present invention further includes: mounting grooves 26 provided on both sides of the body 1, a mounting shaft 27 is provided in the mounting groove 26, at least two mounting shafts 27 are provided, and the mounting shafts 27 are arranged at intervals along the length direction of the crawler belt 23; a third crawler wheel assembly 28 connected to the mounting shaft 27, and two sets of third crawler wheel assemblies 28 are provided, which are respectively used to support the upper crawler belt and the lower crawler belt above the mounting shaft 27. The third crawler wheel assembly 28 includes a third crawler wheel 281, and the outer circumferential surface of the third crawler wheel 281 abuts against the crawler belt 23. Specifically, the crawler belt 23 drives the body 1 to walk on land through the frictional force between the crawler belt 23 and the ground. In order to enable the crawler belt 23 to remain in contact with the ground, the land walking assembly 2 in the embodiments of the present invention further includes a mounting groove 26, a mounting shaft 27 and a third crawler wheel assembly 28. The mounting groove 26 is provided on both sides of the body 1, and a mounting shaft 27 is provided in the mounting groove 26. The mounting shaft 27 is used to mount the third crawler assembly. The third crawler wheel assembly 28 includes a third crawler wheel 281. Both the upper and lower parts of the mounting groove 26 are open, so that the third crawler wheel 281 can extend out, so that the outer circumferential surface of the third crawler wheel 281 can abut against the crawler belt 23. Two sets of third crawler wheel assemblies 28 are provided on one mounting shaft 27. Among them, the third crawler wheel 281 in one set of third crawler wheel assemblies 28 abuts against the lower surface of the upper crawler belt, and the third crawler wheel 281 in one set of third crawler wheel assemblies 28 abuts against the upper surface of the lower crawler belt. While tensioning the crawler belt 23, the interaction force between the lower surface of the lower crawler belt and the ground is increased, thereby increasing the frictional force between the crawler belt 23 and the ground. Further, at least two mounting shafts 27 are provided, and the mounting shafts 27 are arranged at intervals along the length direction of the crawler belt. Two sets of third crawler wheel assemblies 28 are provided on each mounting shaft 27.

[0120] Further, as one of the implementation manners, the mounting shafts 27 in the embodiments of the present invention are evenly arranged at intervals along the length direction of the mounting groove 26.

[0121] In the above structure, as one of the implementation manners, the third crawler wheel assembly 28 in the embodiments of the present invention further includes: a support shaft 282, with both ends of the support shaft 282 connected to both sides of the installation groove 26; a mounting rod 283 hinged to the support shaft 282, one end of the mounting rod 283 connected to the middle of the third rotating shaft 284, and third crawler wheels 281 provided at both ends of the third rotating shaft 284; a first reset member 285 connecting the mounting rod 283 and the mounting shaft 27, and the first reset member 285 is used to drive the mounting rod 283 to rotate around the mounting shaft 27 so that the outer circumferential surface of the third crawler wheel 281 is always in contact with the crawler 23. Specifically, the support shaft 282 serves as a support member, with both ends of the support shaft 282 connected to both sides of the installation groove 26. The mounting rod 283 is hinged to the support shaft 282 through a sleeve. One end of the mounting rod 283 is provided with a third rotating shaft 284, and the middle of the third rotating shaft 284 is connected to the mounting rod 283. Third crawler wheels 281 are respectively provided at both ends of the third rotating shaft 284, and the outer circumferential surface of the third crawler wheel 281 is in contact with the crawler. A first reset member 285 is connected between the end of the mounting rod 283 far from the third crawler wheel 281 and the mounting shaft 27. A lever structure is formed between the mounting rod 283 and the mounting shaft 27. The third crawler wheel 281 and the first reset member 285 are respectively provided at both ends of the mounting rod 283. The crawler is in contact with the ground, and the third crawler wheel 281 is in contact with the side of the crawler away from the ground. When the land walking mechanism walks on an uneven road, the third crawler wheel 281 drives the mounting rod 283 to rotate around the mounting shaft 27, so that the first reset member 285 is deformed by an external force. When the external force disappears, the first reset member 285 drives the mounting rod 283 to rotate around the mounting shaft 27. Even when walking on an uneven ground, the outer surface of the third crawler wheel 281 is always in contact with the crawler, achieving the effects of load bearing and shock absorption.

[0122] More specifically, the third crawler wheel 281 in the embodiments of the present invention is rotatably connected to the mounting shaft 27 through a sixth bearing 286.

[0123] In the above structure, as one of the implementation manners, 10 mounting shafts 27 are provided in the embodiments of the present invention, and they are symmetrically arranged on both sides of the body 1. 5 mounting shafts 27 are provided on either side of the body 1, and they are evenly spaced along the length direction of the body 1. Two groups of third crawler wheel assemblies 28 are respectively provided on both sides of one mounting shaft 27. The third crawler wheel 281 in one group of the third crawler wheel assemblies 28 is in contact with the lower surface of the upper crawler, and the third crawler wheel 281 in the other group of the third crawler wheel assemblies 28 is in contact with the upper surface of the lower crawler.

[0124] In the above structure, as one of the implementation manners, the undulating fin assembly 3 in the implementation of the present invention includes a transmission shaft 32 disposed on one side of the body 1 and connected to the first output shaft 61; a cam transmission assembly 33 sleeved on the transmission shaft 32, the cam transmission assembly 33 is provided with at least two groups and is spaced along the axial direction of the transmission shaft 32; a clamping mechanism 35 is provided at the end of the cam transmission assembly 33 for connecting with the undulating fin 34. The first output shaft 61 drives the transmission shaft 32 to rotate axially, and drives the undulating fin 34 to undulate through the cam transmission assembly 33 and the clamping mechanism 35. When the undulating fin assembly 3 is in the underwater walking posture, the body 1 is mainly pushed to move in the underwater environment by the undulating fin assembly 3. As a specific implementation manner, two groups of undulating fin assemblies 3 in the embodiment of the present invention are provided and are respectively arranged on both sides of the body. The undulating fin assembly includes a transmission shaft 32, a cam transmission assembly 33, a clamping mechanism 35 and an undulating fin 34. Among them, the transmission shaft 32 is disposed on one side of the body, and one end of the transmission shaft 32 is connected to the first output shaft 61. A cam transmission assembly 33 is sleeved on the transmission shaft 32. A clamping mechanism 35 is provided at the end of the cam transmission assembly 33. The clamping mechanism 35 is used for clamping the undulating fin 34. The cam transmission assembly 33 is provided with at least two groups and is spaced along the axial direction of the transmission shaft 32. The first output shaft 61 drives the transmission shaft 32 to rotate around the axial direction. Under the action of the cam transmission assembly 33, the rotation of the transmission shaft 32 is converted into the clamping mechanism 35 driving the undulating fin 34 to undulate, and the body is pushed to move in the underwater environment.

[0125] More specifically, in the embodiment of the present invention, the first output shaft 61 and the transmission shaft 32 are connected by a flexible connector 31. Among them, both ends of the flexible connector 31 are fixedly connected to the first output shaft 61 and the transmission shaft 32 respectively. The driving member 5 drives the first output shaft 61 and the transmission shaft 32 to rotate. Under the action of the cam transmission assembly 33 and the clamping mechanism 35, the undulating fin 34 undulates, thereby pushing the body 1 to move in the underwater environment.

[0126] In the above structure, as a specific implementation manner, the cam drive assembly 33 in the embodiment of the present invention includes: a cam disk 331 fixedly sleeved on a transmission shaft 32, and a cam groove 332 is provided in the cam disk 331; a roller 333 used in cooperation with the cam groove 332, a swing rod 334 connected to the roller shaft of the roller 333, one end of the swing rod 334 away from the roller shaft is connected to a swing rod 335, a swing disk 336 is provided on the swing rod 335, and a clamping mechanism 35 is connected to the swing disk 336. Specifically, the first output shaft 61 drives the transmission shaft 32 and the cam disk 331 to rotate around the axis direction. A cam groove 332 is provided on the side of the cam disk 331 away from the rotation center. The roller 333 is hinged in the cam groove 332, and the roller 333 is configured to be able to rotate in the cam groove 332. When the cam disk 331 rotates around its axis direction, the roller shaft rotates in the cam groove 332, driving the swing disk 336 to swing reciprocally around the roller shaft.

[0127] In the above structure, as one of the implementation manners, the clamping mechanism 35 in the embodiment of the present invention includes: a clip 351 fixedly connected to the swing disk 336; a rotating seat 352 hinged to the clip 351, and a mounting hole 3381 is provided in the rotating seat 352, and the mounting hole 3381 is arranged along the axis direction of the rotating seat 352; a first bearing 353 provided in the mounting hole 3381, there are two first bearings 353, which are respectively arranged at both ends of the mounting hole 3381; a clip bar 354 provided below the rotating seat 352 and hinged to the first bearing 353, and a mounting opening 355 for the undulating fin 34 to pass through is provided on the clip bar 354; a locking member for fixing the undulating fin 34 and the clip bar 354. Specifically, the clip 351 is connected to the swing disk 336, and the clip 351 is hinged to the rotating seat 352, so as to better adapt to the tangential change of the undulating fin 34 during the undulating process, making the waveform of the undulating fin 34 more complete.

[0128] In the above structure, as one of the implementation manners, the cam drive assembly 33 in the embodiment of the present invention further includes: a first square mounting surface 321 provided on the transmission shaft 32, and a square mounting portion 337 cooperating with the first square mounting surface 321 is provided on the cam disk 331. Specifically, the transmission shaft 32 and the cam disk 331 are fixedly connected. A square mounting portion 337 is provided on the cam disk 331, and a first square mounting surface 321 cooperating with the square mounting portion 337 is provided on the transmission shaft 32, and they are fixedly connected through the cooperation between the first square mounting surface 321 and the square mounting portion 337.

[0129] Furthermore, a second square mounting surface 323 fixedly connected to the undulating connection head 331 is also provided on the transmission shaft in the embodiment of the present invention.

[0130] In the above structure, as a more specific implementation manner, the clamping strip 354 in the embodiment of the present invention is specifically made of a thin sheet of spring steel. The clamping strip 354 has a certain bending ability and can adapt to the change of the internal tensile force during the fluctuation of the undulating fin 34.

[0131] Furthermore, as a specific implementation manner, the locking member in the embodiment of the present invention is specifically a locking bolt. An installation opening 355 is provided in the middle of the clamping strip 354 in the embodiment of the present invention. The undulating fin 34 is inserted into the installation opening 355. Threaded holes are provided on the clamping strip 354, and the undulating fin 34 and the clamping strip 354 are fixed by a locking bolt.

[0132] In the above structure, as an implementation manner, the undulating fin assembly in the embodiment of the present invention further includes: a sleeve 36, a swing seat 338, and an installation hole 3381. Among them, the sleeve 36 is sleeved outside the transmission shaft 32, and the sleeve 36 is connected to the swing driving assembly and is arranged on one side of the cam disc 331. The swing seat 338 is rotatably sleeved on the transmission shaft 32. The swing seat 338 is arranged inside the sleeve 36, and the swing seat 338 is fixedly connected to the sleeve 36. The installation hole 3381 for the swing rod 335 to pass through is provided on the swing seat 338, and the swing rod 335 is rotatably arranged in the installation hole 3381. Specifically, the swing seat 338 is arranged on one side of the cam disc 331. The swing seat 338 is rotatably installed on the transmission shaft 32. The swing seat 338 and the transmission shaft 32 are rotationally connected through a second bearing 339. The swing seat 338 and the sleeve 36 are fixedly connected by screws. An installation hole 3381 through which the swing rod 335 passes is provided on the swing seat 338. The installation hole 3381 and the swing rod 335 are rotationally connected through a third bearing 3382. The swing driving assembly is fixedly connected to the sleeve 36. The swing driving assembly drives the sleeve 36 to rotate around the axis of the transmission shaft 32, drives the swing seat 338 and the undulating fin 34 to swing, and adjusts the state of the undulating fin 34.

[0133] In the above structure, as an implementation manner, the cam transmission assembly 33 provided in the embodiment of the present invention further includes: a first circular installation surface 322 provided on the transmission shaft 32 and used in cooperation with the swing seat 338. Among them, the swing seat 338 and the transmission shaft 32 are rotationally connected through a second bearing 339, and the second bearing 339 is sleeved on the first circular installation surface 322.

[0134] In the amphibious robot provided by the embodiment of the present invention, a sine wave form is generated through a cam transmission assembly, a flapping fin is driven by a first output shaft to generate a flapping motion, and a flapping fin is driven by a swinging drive assembly to generate a swinging motion. Its structure is compact and the control is simple. In addition, the flapping fin in the embodiment of the present invention adopts a first output shaft to drive a cam transmission assembly to form a reciprocating swinging motion, which can achieve a very high driving frequency. When the flapping frequency increases, the flapping fin can generate a greater propulsion force, enabling the amphibious robot to have a faster speed underwater.

[0135] In the above structure, as one of the implementation manners, the swinging drive assembly 4 in the embodiment of the present invention includes: a swinging drive member 41; a swing plate 42 connected to the output shaft of the swinging drive member 41. The outer side of the swing plate 42 is hinged to a connecting rod 43, and the end of the connecting rod 43 away from the swing plate 42 is hinged to a rocker 44; a swinging output shaft 45 connected to the rocker 44. The swinging output shaft 45 is connected to the end of the transmission shaft 32 away from the first drive shaft through a swinging connector 37. A sleeve 36 is sleeved outside the transmission shaft 32, and the swinging connector 37 is fixedly connected to the sleeve 36, and a swinging seat 338 is fixedly arranged with the swinging connector 37. A double-rocker structure is formed among the swing plate 42, the connecting rod 43 and the rocker 44. The swing plate 42 is hinged to the connecting rod 43, the connecting rod 43 is hinged to the rocker 44, and the rocker 44 is fixedly connected to the swinging output shaft 45. Through the double-rocker mechanism, the swinging motion of the swinging drive member 41 is converted into the swinging motion of the swinging output shaft 45, and the swinging output shaft 45 is connected to the end of the transmission shaft 32 away from the first drive shaft. The swinging output shaft 45 is hinged to the transmission shaft 32 through the swinging connector 37 and the transmission shaft 32. The swinging connector 37 is hinged to the transmission shaft 32 through a second circular mounting surface 324, and the swinging connector 37 is fixedly connected to the sleeve 36. The swinging motion of the swinging connector 37 within a certain angle is converted into the reciprocating swinging of the sleeve 36 around the transmission shaft 32, thereby adjusting the attitude of the flapping fin assembly. More specifically, when the robot is in a land environment, the swinging drive assembly drives the flapping fin to swing above the body, and only the land walking mechanism functions; when the robot is in an underwater environment, the swinging drive assembly drives the flapping fin to swing to any angle of the body, and the flapping generated by the flapping fin assembly pushes the body to move; when in a water-land transition environment, the swinging drive assembly drives the flapping fin to swing below the body. At this time, the flapping fin just touches the ground, and the flapping fin assembly and the land walking assembly can function together to realize getting out of the water and entering the water.

[0136] In the above structure, as one of the embodiments, the amphibious robot in the embodiments of the present invention further includes: a first sealed cabin 11 provided on the main body 1 for placing the driving member 5, and a first connection hole 12 is provided on the side of the first sealed cabin 11; a second sealed cabin 13 provided at one end of the main body 1 away from the first sealed cabin 11, the second sealed cabin 13 is used for placing the swing driving member 41, and a second connection hole 14 is provided on the side of the second sealed cabin 13; a dynamic seal is used for sealing connection between the first connection hole 12 and the output shaft of the driving member 5, and between the second connection hole 14 and the output shaft of the swing driving member 41.

[0137] Furthermore, in the embodiments of the present invention, a first dynamic seal ring 51 is used for sealing connection between the first connection hole and the output shaft of the driving member 5, and a second dynamic seal ring 46 is used for connection between the second connection hole 14 and the output shaft of the swing driving member 41. Dynamic sealing conditions are formed by the dynamic seal rings to ensure that water does not enter the first sealed cabin 11 and the second sealed cabin 13.

[0138] In the above structure, as one of the embodiments, the undulating fin 34 in the embodiments of the present invention is specifically made of a thin sheet of silicone skin material and has good flexibility.

[0139] In the above structure, as one of the embodiments, the amphibious robot in the embodiments of the present invention further includes: a third sealed cabin 15 provided on the main body 1 for placing the control unit 7, and a wire passing hole 16 is provided on the side of the third sealed cabin 15; a third sealing groove 151 provided on the top of the third sealed cabin 15 and sealed with the third cover plate 17 through a static seal. The static seal is placed in the sealing groove. When the third sealed cabin and the third cover plate are tightened with screws, the static seal is deformed by extrusion to play a role of static seal and prevent water from seeping into the third sealed cabin.

[0140] Furthermore, a first sealing groove 111 for sealing connection with the first cover plate 12 is provided on the top of the first sealed cabin 11 in the embodiments of the present invention, and a second sealing groove 131 for sealing connection with the second cover plate 14 is provided on the top of the second sealed cabin 13.

[0141] Furthermore, the static seal in the embodiments of the present invention includes a seal ring.

[0142] The present invention separates the components that need static sealing and dynamic sealing in space. The control unit and the battery are arranged in the third sealed cabin, and static sealing is performed between the third sealing groove and the third cover plate. The driving member 5 and the swing driving member are arranged in the first sealed cabin and the second sealed cabin at both ends of the main body. The sides of the first sealed cabin and the second sealed cabin adopt a dynamic sealing method. After the separation design, if any one of the cabins gets water, it will not affect the other two cabins, greatly improving the reliability of the robot.

[0143] In the above structure, as one of the implementation manners, a battery 8 is further disposed in the third sealed cabin 15 in the embodiment of the present invention. Further, the battery 8 in the embodiment of the present invention is specifically a lithium battery.

[0144] In the above structure, as one of the implementation manners, the control unit 7 in the embodiment of the present invention includes a controller, a motor driver, an inertial navigation sensor, a voltmeter, and a wireless transmission module, and is used to perform motion control on the robot and perform wireless communication with the ground terminal.

[0145] In the above structure, the undulating fin assemblies in the embodiment of the present invention are disposed on both sides of the body, and the driving member and the swing driving assembly are respectively disposed at both ends of the body, and it is convenient to install a load, install a manipulator, or expand sensing devices such as a lidar and a depth camera on the body.

[0146] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An amphibious robot, characterized in that, it includes: a body (1); a traveling mechanism arranged on the body (1), with two sets of the traveling mechanism respectively arranged on both sides of the body (1), the traveling mechanism including a land traveling component (2), a flapping fin component (3) and a swing driving component (4), the swing driving component (4) is connected to the flapping fin component (3) and is used to adjust the attitude of the flapping fin component (3); a driving member (5), the output shaft of the driving member (5) is connected to a transmission mechanism (6), a first output shaft (61) and a second output shaft (62) are arranged on the transmission mechanism (6), the first output shaft (61) is connected to the flapping fin component (3), and the second output shaft (62) is connected to the land traveling component (2); the flapping fin component (3) includes: a transmission shaft (32) arranged on one side of the body (1) and fixedly connected to the first output shaft (61); a cam transmission component (33) sleeved on the transmission shaft (32), with at least two sets of the cam transmission component (33) and arranged at intervals along the axis direction of the transmission shaft (32); a clamping mechanism (35) provided at the end of the cam transmission component (33) for connecting with a flapping fin (34), the first output shaft (61) drives the transmission shaft (32) to rotate, and drives the flapping fin (34) to generate a wave force through the cam transmission component (33) and the clamping mechanism (35); the cam transmission component (33) includes: a cam disc (331) fixedly sleeved on the transmission shaft (32), a cam groove (332) is arranged inside the cam disc (331); a roller (333) used in cooperation with the cam groove (332), a swing rod (334) connected to the roller shaft of the roller (333), one end of the swing rod (334) far from the roller (333) is connected to a swing rod (335), a swing disc (336) is arranged on the swing rod (335), and the clamping mechanism (35) is connected to the swing disc (336); the clamping mechanism (35) includes: a clip (351) fixedly connected to the swing disc (336); a rotating seat (352) hinged to the clip (351), an installation hole is arranged inside the rotating seat (352) and is arranged along the axis direction of the rotating seat (352); a first bearing (353) arranged inside the installation hole, with two first bearings (353) respectively arranged at both ends of the installation hole; a clip bar (354) arranged below the rotating seat (352) and hinged to the first bearing (353), an installation opening (355) for the flapping fin (34) to pass through is arranged on the clip bar (354); a locking member for fixing the flapping fin (34) and the clip bar (354); The wave fin assembly (3) further includes: a sleeve (36) sleeved on the transmission shaft (32); a swing seat (338) disposed on one side of the cam disk (331) and fixedly connected to the sleeve (36); and a mounting hole (3381) disposed on the swing seat (338) for the swing rod (335) to pass through, wherein the swing rod (335) is rotatably disposed in the mounting hole (3381).

2. The amphibious robot according to claim 1, characterized in that the transmission mechanism (6) includes: a transmission structure (63) connecting the output end of the driving member (5) and the first output shaft (61); a first bevel gear (64) disposed at one end of the first output shaft (61) away from the wave fin assembly (3); a second bevel gear (65) disposed on the second output shaft (62) and cooperating with the first bevel gear (64); wherein the transmission structure (63) is specifically a combination of one or more of a gear transmission structure, a belt transmission structure, and a chain transmission structure.

3. The amphibious robot according to claim 2, characterized in that the land walking assembly is specifically a wheeled propulsion structure or a tracked propulsion structure.

4. The amphibious robot according to claim 2, characterized in that the land walking assembly (2) includes: a first track wheel (21) connected to the output shaft of the second bevel gear (65); a second track wheel (22) disposed at one end of the body (1) away from the first track wheel (21); a track (23) disposed on the first track wheel (21) and the second track wheel (22), wherein a track hole group is disposed on the track (23) and the track hole group is spaced at intervals along the length direction of the track (23); wherein a set of the track hole group includes at least two track holes (24), the track holes (24) are spaced at intervals along the width direction of the track (23), and sawteeth (25) cooperating with the track holes (24) are disposed on the outer circumferential surfaces of the first track wheel (21) and the second track wheel (22).

5. The amphibious robot according to claim 4, characterized in that the land walking assembly (2) further includes: a first connecting shaft (211) disposed at one end of the body (1), and two ends of the first connecting shaft (211) are respectively connected to two sets of the first track wheels (21); a first support seat (212) connected to the body (1), and an arc surface (213) adapted to the outer surface of the first connecting shaft (211) is disposed on the first support seat (212); a fixing seat (214) detachably connected to the first support seat (212), and a clamping surface (215) cooperating with the arc surface (213) is disposed on the fixing seat (214); an axial limiting step (216) disposed on the first connecting shaft and abutting against the first support seat (212).

6. The amphibious robot according to claim 5, characterized in that The land walking assembly (2) further includes: Two second support seats (221) connected to the end of the body (1) away from the first support seat (212), and the two second support seats (221) are arranged at intervals along the width direction of the body (1); A tail seat handle (222) for connecting the two second support seats (221); The second crawler wheel (22) is arranged on the side of the second support seat (221) away from the tail seat handle (222), and the second crawler wheel (22) is rotatably connected to the second support seat (221).

7. The amphibious robot according to claim 4, wherein, The land walking assembly (2) further includes: Mounting grooves (26) arranged on both sides of the body (1), mounting shafts (27) are arranged in the mounting grooves (26), at least two mounting shafts (27) are provided, and the mounting shafts (27) are arranged at intervals along the length direction of the crawler belt (23), and a set of third crawler wheel assemblies (28) are respectively arranged at both ends of any one of the mounting shafts (27); The third crawler wheel assembly (28) includes a third crawler wheel (281), and the outer circumferential surface of the third crawler wheel (281) abuts against the crawler belt (23).

8. The amphibious robot according to claim 7, wherein, The third crawler wheel assembly (28) further includes: A support shaft (282) whose two ends are respectively connected to both sides of the mounting groove (26); A mounting rod (283) hinged to the support shaft (282), one end of the mounting rod (283) is connected to the middle of a third rotating shaft (284), and the third crawler wheels (281) are arranged at both ends of the third rotating shaft (284); A first resetting member (285) connecting the mounting rod (283) and the mounting shaft (27), and the first resetting member (285) is used to drive the mounting rod (283) to rotate around the mounting shaft (27) so that the outer circumferential surface of the third crawler wheel (281) always abuts against the crawler belt (23).

9. The amphibious robot according to claim 1, wherein, The swing driving assembly (4) includes: A swing driving member (41); A swing plate (42) connected to the output shaft of the swing driving member (41), the outside of the swing plate (42) is hinged to a connecting rod (43), and one end of the connecting rod (43) away from the swing plate (42) is hinged to a rocker (44); A swing output shaft (45) connected to the rocker (44), and the swing output shaft (45) is connected to the sleeve to drive the sleeve to rotate axially around the transmission shaft.

10. The amphibious robot according to claim 9, wherein, It further includes: A first sealed cabin (11) arranged on the body (1) for placing a driving member (5), and a first connection hole (12) is arranged on the side surface of the first sealed cabin (11); A second sealed cabin (13) provided at one end of the said body (1) far from the said first sealed cabin (11), the second sealed cabin (13) is used for placing the swing driving member (41), and a second connection hole (14) is provided on the side surface of the second sealed cabin (13); Dynamic seal connections are adopted between the said first connection hole (12) and the output shaft of the driving member (5), and between the second connection hole (14) and the output shaft of the swing driving member (41).

11. The amphibious robot according to any one of claims 1 to 10, characterized in that, further comprising: A third sealed cabin (15) provided on the said body (1) for placing the control unit (7), and a wire passing hole (16) is provided on the side surface of the third sealed cabin (15); A third sealing groove (151) provided at the top of the third sealed cabin (15) and sealingly connected to the third cover plate (17) through a sealing member.

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