Underwater wheeled propulsive chassis and multi-modal underwater robot

Abstract

The application provides an underwater open-wheel type propelling chassis and a multi-mode underwater robot, and the chassis is provided with track mechanisms on both sides, each track mechanism comprises two parallel conveying tracks, a plurality of web plates are rotationally connected between the two conveying tracks, one end of each web plate is provided with a rotating shaft rotationally connected with the conveying track and is provided with a reset mechanism at the rotating shaft, and a guide plate is arranged close to the rotating shaft of the web plate; a web plate guiding mechanism is arranged between the two conveying tracks, the web plate guiding mechanism comprises a guide frame, a guide rod and a guide rod driving mechanism, and the guide rod driving mechanism is used for changing the shape of the guide rod; the guide plate cooperates with the guide rod to make the web plate outwardly extend to the outside of the conveying track, and the guide plate is disengaged from the guide rod, and the reset mechanism drives the web plate to retract to be flush with the conveying track. The posture of the web plate is changed, so that the posture change of the robot crawling and marching modes is realized.

Description

Technical Field

[0001] This invention relates to underwater robots, specifically to an underwater paddle wheel propulsion chassis and a multimodal underwater robot. Background Technology

[0002] Currently, underwater robots researched worldwide mainly fall into two categories: AUVs and ROVs. However, both primarily operate in a planktonic state, lacking sufficient seabed operational capabilities. In existing seabed crawling robots, the crawling and swimming modules are largely separate, resulting in insufficient collaborative performance and inadequate adaptability to diverse working environments and tasks.

[0003] Furthermore, most underwater robots on the market use propeller propulsion, which is limited in complex seabed environments and easily becomes entangled in debris, rendering them unable to operate. While paddle wheels, as an earlier propulsion method with strong environmental adaptability, are underutilized in underwater robots, their advantages not being fully realized.

[0004] Tracked robots possess advantages such as high traction, resistance to slippage, and excellent off-road performance. They can be equipped with cameras, detectors, and robotic arms to replace humans in tasks such as reconnaissance and exploration, disaster relief and rescue, and industrial operations. Currently, domestic research on tracked vehicles and robots is mostly limited to land-based tracked vehicles, with only a small number of underwater tracked vehicles, such as amphibious tracked vehicles and deep-sea mining machines. Meanwhile, land-based tracked equipment is gradually becoming smaller and more intelligent, while underwater tracked equipment is generally specialized equipment, primarily used for specific tasks.

[0005] Currently, underwater propulsion methods both domestically and internationally vary depending on the overall structural characteristics of the vessel and its working environment. Propeller propulsion is one of the most widely used propulsion methods due to its simple construction, low cost, ease of use, and high efficiency. However, its power limitations necessitate the deployment of multiple propulsion devices in underwater robots, leading to a decrease in hydrodynamic performance and further limiting its application. Furthermore, motors often generate significant noise and vibration during high-speed rotation. In recent years, various other propulsion methods have emerged, such as biomimetic propulsion, magnetohydrodynamic propulsion, and hybrid propulsion, but these technologies are still under development.

[0006] Furthermore, as the primary propulsion tool for ships before propellers, paddle wheels are simple in structure and inexpensive to build. The side wheels mounted on the hull also increase the beam and maintain hull stability. In complex environments, propeller-driven ships are easily immobilized by debris entangled in the propeller, while paddle wheel propulsion does not have this problem, offering advantages such as strong environmental adaptability and high resistance to interference.

[0007] In addition, research shows that the paddle wheel propulsion method with a non-standard circular shape can provide thrust for the ship, that is, the paddle wheel propulsion proposed in this design scheme is theoretically feasible and has practical value in being applied to underwater robots. Summary of the Invention

[0008] The purpose of the present invention is to design a new propulsion method that highly combines the crawling and swimming modules, and combines the paddle wheel design to improve the environmental adaptability and anti-interference ability of underwater robots to meet the requirements of seabed operations in complex environments. The specific solutions are as follows:

[0009] An underwater paddle wheel propulsion chassis, the underwater paddle wheel propulsion chassis includes a chassis and a crawler mechanism installed on both sides of the chassis. Each crawler mechanism on each side includes two parallel conveyor crawlers. A number of telescopic webbed plates distributed along the transmission direction are connected between the two parallel conveyor crawlers. One end of the webbed plate is provided with a rotating shaft and is rotatably connected to the two conveyor crawlers, and a reset mechanism is provided at the rotating shaft. And a guide plate perpendicular to the webbed plate is provided near the rotating shaft of the webbed plate;

[0010] A webbed plate guiding mechanism is provided between the two parallel conveyor crawlers. The webbed plate guiding mechanism includes a guiding frame, a guiding rod and a guiding rod driving mechanism. A guiding groove is provided on one side end face of the guiding frame. The shape-variable guiding rod is slidably installed in the guiding groove. The guiding rod driving mechanism is used to drive the guiding rod to slide in the guiding groove and change the shape of the guiding rod;

[0011] The guide plate of the webbed plate cooperates with the guiding rod to make the webbed plate on the upper side or the lower side of the crawler mechanism extend outwards. After the guide plate and the guiding rod are disengaged, the webbed plate is retracted to be flush with the conveyor crawler by the reset mechanism.

[0012] Further, two pairs of parallel sprockets are provided on both sides of the chassis for the crawler mechanism. A conveyor crawler is传动连接 between each pair of sprockets, and the conveyor crawler is a chain.

[0013] Further, a set of independent servo drive mechanisms are respectively configured on both sides of the chassis for the crawler mechanism. The steering and speed of the two sets of servo drive mechanisms are adjustable;

[0014] The guiding rod driving mechanisms that operate independently are respectively configured for the webbed plate guiding mechanisms on both sides.

[0015] Further, the guiding frame is provided with a "艹"-shaped guiding groove. The "艹"-shaped guiding groove is composed of two vertical sliding grooves and a horizontal sliding groove that horizontally crosses the two vertical sliding grooves;

[0016] The guiding rod is composed of a driven rod in the middle and driving rods rotatably connected to both ends of the driven rod. Both ends of the driven rod are vertically slidably installed in the two vertical sliding grooves. One end of the driving rod is rotatably connected to the end of the driven rod and the other end is horizontally slidably installed in the horizontal sliding groove; It should be noted that there is an unclear expression "传动连接" in the original text. I have translated it as "传动连接" as it is, but it may need to be adjusted according to the correct technical term.

[0017] The guide rod drive mechanism is connected to the driving rod and is used to drive the driven rod to slide laterally along the transverse groove to change the shape of the guide rod.

[0018] Furthermore, let the two driving links at the front and rear ends of the driven link be the first driving link and the second driving link, respectively;

[0019] When the driven rod and the first and second driving rods at both ends are arranged in a straight line, the guide plate of the web plate does not cooperate with the driven rod, the first driving rod, and the second driving rod. Under the action of the reset mechanism, all web plates retract to be flush with the conveyor belt.

[0020] When the driven rod and the first and second driving rods at both ends are arranged in a "U" shape, during the rotation of the web plate driven by the conveyor belt, the guide plate of the web plate located in the lower half of the conveyor belt cooperates with the first driving rod, the driven rod, and the second driving rod in sequence. During the cooperation between the guide plate and the first driving rod, the web plate gradually extends downward from inside the conveyor belt. During the cooperation between the guide plate and the driven rod, the web plate extends downward and is perpendicular to the conveyor belt. During the cooperation between the guide plate and the second driving rod, the reset mechanism drives the outwardly extended web plate to gradually retract into the conveyor belt.

[0021] When the driven rod and the first and second driving rods at both ends are arranged in an inverted "U" shape, during the rotation of the web plate driven by the conveyor belt, the guide plate of the web plate located in the upper half of the conveyor belt successively cooperates with the second driving rod, the driven rod, and the first driving rod. During the cooperation between the guide plate and the second driving rod, the web plate gradually extends outward from inside the conveyor belt. During the cooperation between the guide plate and the driven rod, the web plate extends completely upward and is perpendicular to the conveyor belt. During the cooperation between the guide plate and the first driving rod, the reset mechanism drives the outwardly extended web plate to gradually retract into the conveyor belt.

[0022] Furthermore, the webs and guide plates are integrally molded, and both the webs and guide plates are made of rubber to convey the track.

[0023] The pivot at one end of the web is rotatably connected to the middle of the two conveyor belts via a pin, and the other end of the web has an arc notch that retracts to be flush with the conveyor belts so that the two adjacent webs overlap end to end.

[0024] Furthermore, propeller drive mechanisms are installed on both sides or at the bottom of the chassis.

[0025] Furthermore, the reset mechanism is a return spring.

[0026] A multimodal underwater robot, wherein the multimodal underwater robot is equipped with the aforementioned underwater paddle wheel propulsion chassis.

[0027] This invention innovatively combines tracks and paddle wheels, possessing the driving advantages of both, specifically in the following aspects:

[0028] 1) The track pins are simplified into two chains on both sides. The chains mesh with the drive wheel and the driven wheel. The drive wheel is driven by a motor, and the drive wheel drives the chain, thereby driving the movement of the entire track.

[0029] 2) Replace the track plates in traditional tracks with paddle wheels. The paddle wheels are connected to the tracks on both sides via axles, and can rotate / close during changes in motion posture.

[0030] 3) Guide rods and guide frames are installed in the center of both side tracks, and guide grooves are provided on the guide frames for the guide rods to slide. The guiding mode is changed by servo motor drive, realizing the retracted or extended (guided) state of the webs. In the extended (guided) state, the posture of the webs can be changed, thereby realizing the overall posture change of the robot. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a perspective view of the webbed plate of the underwater paddle wheel propulsion chassis of the present invention in its retracted state;

[0033] Figure 2 for Figure 1 Side view;

[0034] Figure 3 for Figure 1 Top view;

[0035] Figure 4 A three-dimensional view of the track mechanism on one side of the underwater paddle wheel propulsion chassis;

[0036] Figure 5 for Figure 4 Side view;

[0037] Figure 6 This is a three-dimensional view of the webbed guide mechanism, in which the guide rod is in the shape of an "I".

[0038] Figure 7 This is a structural diagram of the guide frame for the web-plate guiding mechanism;

[0039] Figure 8 This is a structural diagram of the guide rod of the web-plate guiding mechanism;

[0040] Figure 9 A three-dimensional view of a single webbed plate;

[0041] Figure 10 This is a diagram showing that the webbed plate does not engage with the guide rod when the guide rod is in a straight line shape.

[0042] Figure 11 A three-dimensional view of the webbed plates of an underwater paddle wheel propulsion chassis in the downward extended state;

[0043] Figure 12 for Figure 11 Side view;

[0044] Figure 13 This is a three-dimensional view of the webbed guide mechanism, in which the guide rod is U-shaped;

[0045] Figure 14 This is a schematic diagram showing how part of the webbed plate cooperates with the "U"-shaped guide rod and extends downward when the guide rod is in a "U" shape;

[0046] Figure 15 This is a schematic diagram showing how, when the guide rod is in an inverted "U" shape, part of the webbed plate engages with the inverted "U" shaped guide rod and extends upwards. Detailed Implementation

[0047] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0048] To fully understand this invention, detailed steps and structures will be presented in the following description to illustrate the technical solution of this invention. Preferred embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0049] The existing AUV and ROV technologies have the following drawbacks: 1) Due to their zero-buoyancy design, both are significantly limited in complex seabed operations. 2) Existing underwater crawling robots have fragmented crawling and swimming modules, resulting in insufficient collaboration and an inability to adapt well to diverse working environments and tasks. 3) Propeller-propelled underwater robots are easily disturbed and interrupted in complex seabed environments, exhibiting insufficient environmental adaptability. 4) While paddle wheel designs are simple in construction and inexpensive, enhancing ship stability, this mechanism is underutilized in underwater robot design.

[0050] This invention provides an underwater paddle wheel propulsion chassis, which includes a chassis 100 and track mechanisms 200 on both sides of the chassis 100. Figures 1-4 As shown, each track mechanism 200 on each side is equipped with two pairs of sprockets 202, and each pair of sprockets 202 is connected by a transmission track 201. The two sprockets on the front and rear sides of the two pairs of sprockets 202 are fixedly connected together. Each track mechanism 200 on both sides of the chassis 100 is equipped with an independent servo drive mechanism to drive the sprockets 202 to rotate. The direction and speed of the two servo drive mechanisms are adjustable.

[0051] Several telescopic webs 300 distributed along the transmission direction are connected between two parallel conveyor belts 201. One end of each web 300 has a rotating shaft that is rotatably connected to the two conveyor belts 201, and a reset mechanism is provided at the rotating shaft. A guide plate 301 perpendicular to the web 300 is provided near the rotating shaft. Figure 9 As shown, the guide plate 301 is used to control the attitude change of the fin plate. When the guide plate 301 touches the guide rod 420, it will drive the entire fin plate 300 to rotate, thereby realizing the attitude change of the fin plate 300 from retracted to extended; when the guide plate 301 disengages from the guide rod 420, the fin plate will return to the retracted state due to the action of the reset mechanism in the shaft. The reset mechanism can be a return spring, which drives the fin plate 300 to return to a state flush with the conveyor belt 201 under the action of the return spring when the guide plate 301 is not under force. It should be noted that only the portion of the fin plate 300 connected between the conveyor belts 201 is shown in the figure; in the actual product, a ring of fin plates 300 is provided in the transmission direction of the conveyor belt 201.

[0052] A webbed guide mechanism 400 is provided between two parallel conveyor belts 201. The webbed guide mechanism 400 includes a guide frame 410, a guide rod 420, and a guide rod drive mechanism (e.g., a servo motor). Figures 6-8 As shown, a guide groove 411 is provided on one end face of the guide frame 410. A guide rod 420 with a variable shape is slidably installed in the guide groove 411. The guide rod driving mechanism is used to drive the guide rod 420 to slide in the guide groove 411 and change the shape of the guide rod 420. The guide rod driving mechanisms of the two web plate guiding mechanisms 400 operate independently. The web plate 300 cooperates with the guide rod 420 through the guide plate 301, so that the web plate 300 on the upper or lower side of the track mechanism 200 extends outward. After the guide plate 301 is disengaged from the guide rod 420, the reset mechanism drives the web plate 300 to retract to be flush with the transmission track 201, thereby changing the working mode of the propulsion chassis.

[0053] In an optional embodiment, the webbed guide mechanism 400 takes the following specific form:

[0054] like Figure 7 As shown, the guide frame 410 is provided with a "艹"-shaped guide groove 411. The "艹"-shaped guide groove 411 is composed of two vertical sliding grooves 412 and a horizontal sliding groove 413 that horizontally penetrates through the two vertical sliding grooves 412. The guide rod 420 is composed of a driven rod 421 in the middle and driving rods 422 rotatably connected to both ends of the driven rod 421. The two ends of the driven rod 421 are vertically and slidably installed in the two vertical sliding grooves 412. One end of the driving rod 422 is rotatably connected to the end of the driven rod 421, and the other end is horizontally slidably installed in the horizontal sliding groove 413. The guide rod driving mechanism is connected to the driving rod 422 and is used to drive the driven rod 421 to slide horizontally along the horizontal sliding groove 413 to change the shape of the guide rod 420. No matter what shape the guide rod 420 is in, the two ends of the driven rod 421 are always limited in the two vertical sliding grooves 412, so that the driven rod 421 always remains horizontal and can only move vertically.

[0055] The guide rod driving mechanism can drive the guide rod 420 into a "一" shape ( Figure 6 state), a "U" shape ( Figure 13 state) or an inverted "U" shape ( Figure 15 state), so that part of the webbed plate 300 extends outwards from the conveyor track 201 or retracts to a state flush with the conveyor track 201. The guide rod 420 is initially horizontally located at the center of the guide groove (i.e., Figure 6 state), and at this time all the webbed plates 300 are in the retracted state. When the robot needs to switch from the crawling posture to the swimming posture, the guide rod driving mechanism moves to change the positions of the driven rod 421 and the driving rods 422 at both ends. When the webbed plate that rotates with the conveyor track 201 moves to the position of the guide rod 420, the guide plate 301 on the webbed plate first touches the inclined driving rod 422. During the rotation of the webbed plate 300, it starts to slowly rotate under the guidance of the guide rod 420. When the webbed plate 300 rotates to a state where the guide plate 301 cooperates with the driven rod 421, it reaches the fully extended state, thus completing the posture transformation of the robot.

[0056] [[ID=​​​​​​​2) When the driven rod 421 and the first driving rod 422-1 and the second driving rod 422-2 at both ends are arranged in a "U" shape, during the rotation of the webbed plate 300 driven by the conveyor belt 201, the guide plate 301 of the webbed plate 300 located in the lower half of the conveyor belt 201 sequentially engages with the first driving rod 422-1, the driven rod 421, and the second driving rod 422-2. Specifically, during the engagement of the guide plate 301 with the first driving rod 422-1, the webbed plate 300 gradually extends downward from inside the conveyor belt 201; during the engagement of the guide plate 301 with the driven rod 421, the webbed plate 300 extends downward and is perpendicular to the conveyor belt 201; during the engagement of the guide plate 301 with the second driving rod 422-2, the reset mechanism causes the outwardly extending webbed plate 300 to gradually retract back into the conveyor belt 201, as shown below. Figure 14 As shown, as the conveyor belt 201 rotates, the webbed plates 300 on the lower half of the conveyor belt 201 repeatedly extend and retract.

[0059] 3) When the driven rod 421 and the first driving rod 422-1 and the second driving rod 422-2 at both ends are arranged in an inverted "U" shape, during the rotation of the web plate 300 driven by the conveyor belt 201, the guide plate 301 of the web plate 300 located in the upper half of the conveyor belt 201 sequentially cooperates with the second driving rod 422-2, the driven rod 421, and the first driving rod 422-1. During the cooperation between the guide plate 301 and the second driving rod 422-2, the web plate 300 gradually extends outward from inside the conveyor belt 201. During the cooperation between the guide plate 301 and the driven rod 421, the web plate 300 extends completely upward and is perpendicular to the conveyor belt 201. During the cooperation between the guide plate 301 and the first driving rod 422-1, the reset mechanism drives the outwardly extending web plate 300 to gradually retract back into the conveyor belt 201. Figure 15 As shown, as the conveyor belt 201 rotates, the webbed plates 300 on the upper part of the conveyor belt 201 repeatedly extend and retract.

[0060] In an alternative embodiment, such as Figure 9As shown, the webbed plate 300 and guide plate 301 are integrally formed in an "L" shape. The webbed plate 300 and the underwater conveyor track 201 are both made of rubber, ensuring adaptability to rugged seabed terrain and maintaining robot stability during crawling. The webbed plate 300, located near the front end of the conveyor track 201 in the transmission direction, is rotatably connected to the two conveyor tracks 201 on each side of the chassis 100 via a pin. The front end of the webbed plate 300 has an arc-shaped notch 302. When retracted to be flush with the conveyor track 201, adjacent webbed plates 300 overlap end-to-end, improving the airtightness of the webbed plate 300 in the retracted state. From the front view, the right side of the main body is designed as a convex arc, while the left side of the webbed plate is designed as a concave arc, gradually thinning from right to left to ensure a tight fit with the front and rear webbed plates on the chain, guaranteeing normal operation of the track during crawling.

[0061] In addition, propeller drive mechanisms 500 are installed on both sides or at the bottom of the chassis 100. Figure 1 As shown, a propeller drive mechanism 500 is provided on both sides of the chassis 100, which can provide lift to the chassis 100 in the water.

[0062] The underwater paddle wheel propulsion chassis of this invention has multiple modes, including crawling and swimming. The following explains how to implement these modes and how to switch between them:

[0063] 1) Crawling mode:

[0064] In crawling mode, the guide rod 420 retracts to the center of the guide groove 411 in a straight line shape. Figure 6 (In the crawling state), the webbed plate retracts into the conveyor belt 201 by means of an internal return spring. The conveyor belt 201 is driven by a motor to achieve various movement requirements during crawling.

[0065] 2) Parade mode: In parade mode, the conveyor belt 201 is set to rotate counterclockwise as the driving direction.

[0066] 2.1) The forward drive method is as follows: the conveyor belt 201 drives counterclockwise, and the guide rod drive mechanism on both sides drives the guide rod 420 to form a "U" shape. The web plate 300 located in the lower half of the conveyor belt 201 extends to the bottom of the conveyor belt 201. The downwardly extending web plate 300 pushes water backward, making the robot move forward.

[0067] 2.2) The backward driving method is as follows: the conveyor belt 201 drives counterclockwise, and the guide rod drive mechanism drives the guide rod 420 to form an inverted "U" shape. The web plate 300 located on the upper half of the conveyor belt 201 extends above the conveyor belt 201. The upwardly extended web plate 300 pushes water forward, causing the robot to move backward.

[0068] 2.3) The left-turn drive method is as follows: the left conveyor track 201 rotates counterclockwise, the left guide rod 420 moves upward to form an inverted "U" shape, causing the upper webbed plate 300 of the conveyor track 201 to extend, and the left webbed plate 300 provides a backward thrust. The right conveyor track 201 rotates counterclockwise, the right guide rod 420 moves downward to form a "U" shape, the lower webbed plate of the conveyor track 201 extends, and the right webbed plate 300 provides a forward thrust.

[0069] The right-turn drive method is as follows: the left conveyor track 201 rotates counterclockwise, the left guide rod 420 moves down into a "U" shape, the lower web plate of the left conveyor track 201 extends, and the left web plate 300 provides forward thrust. The right conveyor track 201 rotates counterclockwise, the right guide rod 420 moves up into an inverted "U" shape, the upper web plate 300 of the right conveyor track 201 extends, and the right web plate 300 provides backward thrust.

[0070] Left or right turns can be achieved by controlling the opposing thrusts on both sides, allowing for turning on the spot.

[0071] 3) The vertical motion driving method is: the vertical motion of the robot is achieved by the propeller drive mechanism 500 on both sides or the bottom of the chassis 100.

[0072] Paddlewheel propulsion was originally used in surface vessels, so its application in underwater robot design only allows for horizontal movement. Therefore, this design also requires the addition of a vertical propeller to achieve vertical motion. One propeller can be installed directly beneath the robot body, or two propellers can be symmetrically installed on the left and right sides of the body to achieve vertical movement. Horizontally, the robot can achieve all its turning requirements through combinations of forward, backward, left, and right turns. When switching to a horizontal position, hovering can be achieved through the vertical propeller (i.e., propeller drive mechanism 500) to ensure robot stability.

[0073] In summary, this invention tightly integrates crawling and swimming modules in its structural design, proposing a novel crawling and swimming mechanism design that increases collaborative performance and enhances adaptability to diverse working environments and tasks. On one hand, it employs a tracked crawling structure to enhance adaptability to seabed terrain; on the other hand, it utilizes a paddle wheel propulsion method to simplify structural design, reduce manufacturing costs, enhance the robot's underwater stability, and ensure its resistance to interference in complex seabed environments.

[0074] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures not described in detail should be understood as being implemented in a conventional manner in the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the present invention. This does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the present invention's technical solutions still fall within the protection scope of the present invention.

Claims

1. An underwater paddle-wheel type propulsion chassis, the underwater paddle-wheel type propulsion chassis comprising a chassis (100) and crawler mechanisms (200) mounted on both sides of the chassis (100), characterized in that each crawler mechanism (200) on each side includes two parallel conveyor crawlers (201), and a number of telescopic webbed plates (300) distributed along the transmission direction are connected between the two parallel conveyor crawlers (201). One end of the webbed plate (300) is provided with a rotating shaft for rotatably connecting with the two conveyor crawlers (201), and a reset mechanism is provided at the rotating shaft. A guide plate (301) perpendicular to the webbed plate (300) is provided near the rotating shaft of the webbed plate (300); a webbed plate guiding mechanism (400) is provided between the two parallel conveyor crawlers (201). The webbed plate guiding mechanism (400) includes a guiding frame (410), a guiding rod (420) and a guiding rod driving mechanism. A guiding groove (411) is provided on one side end face of the guiding frame (410). The deformable guiding rod (420) is slidably mounted in the guiding groove (411), and the guiding rod driving mechanism is used to drive the guiding rod (420) to slide in the guiding groove (411) and change the shape of the guiding rod (420); the guide plate (301) of the webbed plate (300) cooperates with the guiding rod (420) to make the webbed plate (300) extend outwards beyond the conveyor crawler (201). After the guide plate (301) and the guiding rod (420) are disengaged, the reset mechanism drives the webbed plate (300) to retract to be flush with the conveyor crawler (201); the crawler mechanisms (200) on both sides of the chassis (100) are respectively equipped with a set of independent servo driving mechanisms, and the steering and speed of the two sets of servo driving mechanisms are adjustable; the webbed plate guiding mechanisms (400) on both sides are respectively equipped with independently operating guiding rod driving mechanisms; the guiding frame (410) is provided with a "艹"-shaped guiding groove (411). The "艹"-shaped guiding groove (411) is composed of two vertical sliding grooves (412) and a horizontal sliding groove (413) horizontally crossing the two vertical sliding grooves (412). The guiding rod (420) is composed of a driven rod (421) in the middle and driving rods (422) rotatably connected to both ends of the driven rod (421). The two ends of the driven rod (421) are vertically slidably mounted in the two vertical sliding grooves (412), one end of the driving rod (422) is rotatably connected to the end of the driven rod (421), and the other end is horizontally slidably mounted in the horizontal sliding groove (413); the guiding rod driving mechanism is connected to the driving rod (422) to drive the driven rod (421) to slide horizontally along the horizontal sliding groove (for changing the shape of the guiding rod (420).

2. The underwater paddle wheel propulsion chassis as described in claim 1, characterized in that, On both sides of the chassis (100), the crawler mechanisms (200) are provided with two pairs of parallelly arranged sprockets (202), and a conveyor crawler (201) is传动连接 between each pair of sprockets (202). The conveyor crawler (201) is a chain.

3. The underwater paddle wheel propulsion chassis as described in claim 1, characterized in that, Let the two driving rods (422) at the front and rear ends of the driven rod (421) be the first driving rod (422-1) and the second driving rod (422-2) respectively; When the driven rod (421) and the first driving rod (422-1) and the second driving rod (422-2) at both ends are arranged in a "I" shape, the guide plate (301) of the web plate (300) does not cooperate with the driven rod (421), the first driving rod (422-1) and the second driving rod (422-2), and under the action of the reset mechanism, all web plates (300) retract to be flush with the conveyor belt (201); When the driven rod (421) and the first driving rod (422-1) and the second driving rod (422-2) at both ends are arranged in a "U" shape, during the rotation of the web plate (300) driven by the conveyor belt (201), the guide plate (301) of the web plate (300) located in the lower half of the conveyor belt (201) cooperates with the first driving rod (422-1), the driven rod (421), and the second driving rod (422-2) in sequence. Among them, the guide plate (301) 1) During the process of cooperating with the first driving rod (422-1), the web plate (300) gradually extends downward from inside the conveyor belt (201). During the process of cooperating with the driven rod (421) of the guide plate (301), the web plate (300) extends downward and is perpendicular to the conveyor belt (201). During the process of cooperating with the second driving rod (422-2) of the guide plate (301), the reset mechanism drives the outwardly extended web plate (300) to gradually retract into the conveyor belt (201). When the driven rod (421) and the first driving rod (422-1) and the second driving rod (422-2) at both ends are arranged in an inverted "U" shape, during the rotation of the web plate (300) driven by the conveyor belt (201), the guide plate (301) of the web plate (300) located in the upper half of the conveyor belt (201) cooperates with the second driving rod (422-2), the driven rod (421), and the first driving rod (422-1) in sequence. Among them, the guide plate (301) During the engagement of the guide plate (301) with the second drive rod (422-2), the web plate (300) gradually extends outward from inside the conveyor belt (201). During the engagement of the guide plate (301) with the driven rod (421), the web plate (300) extends completely upward and is perpendicular to the conveyor belt (201). During the engagement of the guide plate (301) with the first drive rod (422-1), the reset mechanism drives the outwardly extending web plate (300) to gradually retract back into the conveyor belt (201).

4. The underwater paddle wheel propulsion chassis as described in claim 1, characterized in that, The web plate (300) and the guide plate (301) are integrally formed, and the web plate (300) and the guide plate (301) are both made of rubber to convey the track (201); The pivot at one end of the web plate is rotatably connected to the middle of the two conveyor belts (201) via a pin, and the other end of the web plate (300) is provided with an arc notch (302) so that the two adjacent web plates (300) retract to be flush with the conveyor belts (201) and overlap each other end to end.

5. The underwater paddle wheel propulsion chassis as described in claim 1, characterized in that, A propeller drive mechanism (500) is installed on both sides of the chassis (100) or at the bottom of the chassis (100).

6. The underwater paddle wheel propulsion chassis as described in claim 1, characterized in that, The reset mechanism is a return spring.

7. A multimodal underwater robot, characterized in that, The multimodal underwater robot is equipped with an underwater paddle wheel propulsion chassis as described in any one of claims 1-6.

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