A land-air amphibious robot

Abstract

This invention relates to the field of robotics, specifically to an amphibious robot comprising a fuselage assembly, a track assembly, a ducted propeller assembly, and a drive assembly. The track assembly is positioned directly below the fuselage assembly. The ducted propeller assembly includes at least two sets of ducted propellers, which have an deployed state and a folded state relative to the fuselage assembly. When the ducted propellers are deployed, the two sets of ducted propellers are located on either side of the fuselage assembly. When the ducted propellers are folded, both sets of ducted propellers are folded upwards and positioned directly above the fuselage assembly. The drive assembly is used to switch the ducted propellers between the deployed and folded states. This amphibious robot employs a multi-ducted propeller structure, which features low noise, high safety, and high efficiency. Furthermore, its tracked locomotion system provides good environmental adaptability and strong obstacle-crossing capability.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an amphibious robot. Background Technology

[0002] Amphibious robots are platforms capable of both flight and ground movement. They can also carry different payloads according to mission requirements and are used in scenarios such as reconnaissance, strike, power line inspection, and unmanned inspection. In recent years, amphibious robots have experienced rapid development. For example, Chinese utility model patent CN204309541U discloses an amphibious robot with a top-mounted rotor for flight and bionic wheels for ground movement. Chinese invention patent CN107097599B discloses an amphibious robot comprising a frame, propeller, landing gear, robotic arm, and control system. It features a propeller on top, landing gear below, and a robotic arm at the center of the landing gear. This type of robot is primarily intended for military and civilian applications. Chinese invention patent CN115416435A discloses a spherical amphibious robot comprising a flight module, a ground rolling module, and a support module. This robot can autonomously switch between ground rolling, aerial flight, and the two movement modes. The aforementioned amphibious robots all employ open propeller structures, which are not only noisy and unsafe, but also less efficient than ducted propellers. To address these issues, Chinese utility model patent CN212685141U discloses a ducted unmanned aerial vehicle (UAV) for both land and air use. This UAV solves the problems of poor safety and low efficiency by creating a ducted port on its main body and installing a lift fan within it. Chinese invention patent CN113199915B discloses an amphibious UAV and its flight control method. This UAV features a ducted propeller on its fuselage and retractable wings on both sides. This type of UAV also directly incorporates a duct on its fuselage, resulting in a larger overall size. Therefore, its application scenarios remain significantly limited, requiring a large footprint and exhibiting poor flexibility and adaptability, necessitating further improvements. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide an amphibious robot that employs a multi-ducted propeller structure, which features low noise, high safety, and high efficiency, and does not occupy space in the fuselage components. Furthermore, the amphibious robot's walking system adopts a tracked structure, which provides good environmental adaptability and strong obstacle-crossing ability.

[0004] To achieve the above-mentioned technical effects, the present invention adopts the following technical solution:

[0005] An amphibious robot comprising:

[0006] fuselage components;

[0007] The track assembly, located below the fuselage assembly, provides power and support when the amphibious robot walks on land.

[0008] At least two sets of duct assemblies are symmetrically arranged on both sides of the fuselage assembly. Each set of duct assemblies includes a duct support and at least one duct assembly located at the end of the duct support away from the fuselage assembly. The duct assemblies have an unfolded state and a folded state relative to the fuselage assembly. When the duct assemblies are in the unfolded state, they are located on both sides of the fuselage assembly. When the duct assemblies are in the folded state, they are all folded upwards and located directly above the fuselage assembly, thereby greatly reducing the footprint of the fuselage assembly in the folded state and improving its flexibility and convenience of use.

[0009] In this embodiment, to provide flight power for the amphibious robot, the ducted support includes a rotating connection portion. The ducted support is fixedly connected to the fuselage assembly through the rotating connection portion. At both ends of the rotating connection portion, a first shaft and a second shaft extending outward from the fuselage assembly are respectively formed. Each end of the first shaft and the second shaft is provided with a duct assembly. The duct assembly includes a duct ring and a propeller assembly disposed inside the duct ring. A first motor mounting position is also provided between the first shaft and the second shaft. The first motor mounting position is used to install a first motor, which supplies power to the propeller assembly.

[0010] Preferably, the axial height of the duct ring is 0.5 to 0.6 times the horizontal width of the track assembly, so that the amphibious robot can be folded into a cubic shape, which is convenient for transportation and gripping.

[0011] Furthermore, the duct support has an external shaft rigidly connected to the duct support at one end near the fuselage assembly. The interior of the external shaft forms a hollow channel, and a central rotating shaft is coaxially fitted inside the hollow channel. The inner wall of the external shaft is provided with a first limiting groove and a second limiting groove opposite to each other in the middle section. The central rotating shaft has a limiting pin in the middle section along the radial direction of the central rotating shaft. The two ends of the limiting pin are respectively positioned in the first limiting groove and the second limiting groove. The two ends of the limiting pin can slide along the axial direction of the central rotating shaft and / or rotate along the circumferential direction of the central rotating shaft in the first limiting groove and the second limiting groove, respectively. During the rotation of the duct support around the fuselage assembly, the limiting pin can effectively limit the rotation angle of the duct assembly to avoid damage to the duct assembly.

[0012] Preferably, one end of the central rotating shaft is provided with a first seat, and the other end of the central rotating shaft away from the first seat is provided with a second seat. The central rotating shaft is fixedly connected to the body assembly through the first and second seats. A compression spring is provided on one side of the limiting pin of the central rotating shaft. The compression spring is positioned within the gap between the outer shaft and the central rotating shaft, and the compression spring has a first end and a second end. The first end is supported by the first or second seat. A limiting protrusion is provided on the inner wall of the outer shaft between the limiting pin and the first or second seat. The second end of the compression spring is away from the first end and acts on the limiting protrusion. The compression spring allows the central rotating shaft to be positioned at the center of the outer shaft under the action of the spring force. At the same time, the compression spring can also limit the axial position of the duct assembly and eliminate the clearance of the rotating pair.

[0013] Preferably, the track assembly includes two sets of track assemblies symmetrically arranged on both sides of the fuselage assembly, enabling the amphibious robot to walk stably. Specifically, each track assembly includes a track support, a track body wound around the track support, and a rotating wheel assembly rotatably connected to the track support. The rotating wheel assembly includes at least one drive wheel that can be driven by a motor and a driven wheel assembly that can rotate relative to the track support under the drive wheel's influence.

[0014] Furthermore, the track assembly of the amphibious robot provided by the present invention serves as the power source for its ground movement, bearing the weight of the entire system. To improve the obstacle-crossing capability of the amphibious robot, the track support includes a horizontal section and two inclined sections formed at both ends of the horizontal section and tilting upwards. The horizontal section is located directly below the fuselage assembly. The horizontal section and the two inclined sections together form a U-shaped structure, and the angle between the horizontal section and the inclined sections is 120° to 170°, thereby improving the obstacle-crossing capability of the amphibious robot.

[0015] Furthermore, to reduce the overall weight of the track assembly and achieve lightweighting of the amphibious robot, the driven wheel assembly includes a first driven wheel assembly and a second driven wheel assembly. The first driven wheel assembly includes four steering driven wheels, which are respectively located at the connection between the horizontal section and the inclined section of the track support and at one end of each inclined section away from the horizontal section. The second driven wheel assembly includes multiple load-bearing driven wheels, all of which are rotatably connected to the horizontal section and / or the inclined section of the track support. Preferably, the load-bearing driven wheels are rotatably connected to the horizontal section.

[0016] Preferably, to ensure that the track body remains on the track support during the amphibious robot's movement, the driven wheel set further includes a third driven wheel set. This third driven wheel set includes at least two first pressure rollers and at least two second pressure rollers. The first pressure rollers are located at the connection between the horizontal and inclined sections of the track support. The drive wheel is positioned directly above the horizontal section and in the middle of the horizontal section. The second pressure rollers are located on either side of the drive wheel. The track body passes beneath the third driven wheel set. The drive wheel is rotatably connected to the track support via a bearing bracket. A second motor bracket is also provided at one end of the drive wheel on the track support. The interior of the second motor bracket can accommodate a second motor, and the track assembly is fixedly connected to the body assembly via the second motor bracket. Through the cooperation of the first and second pressure rollers with the track support, the track body can be effectively kept on the track support, avoiding the risk of track detachment.

[0017] Furthermore, the amphibious robot also includes a drive assembly, which includes an input end and a drive end. The drive end is driven by the input end and acts on the ducted assembly to switch the ducted assembly between a folded state and an unfolded state, thereby enabling the amphibious robot to switch between autonomous flight and autonomous walking.

[0018] Furthermore, to drive the duct assembly to switch between a folded state and an unfolded state, the input end includes an active rod rotatably connected to the fuselage assembly via a horizontal pivot, the drive end includes a driven rod rotatably connected to the active rod, the end of the driven rod away from the active rod is hinged to the duct support, and the drive assembly also includes a self-locking servo, the output end of which is fixedly connected to the horizontal pivot.

[0019] Furthermore, the fuselage assembly is also provided with a load assembly, which is located at the front end of the fuselage assembly. The load assembly includes a longitudinal connecting shaft, which can be fixedly connected to the fuselage assembly. The bottom end of the longitudinal connecting shaft is provided with a transverse load portion, which has at least two support shafts extending horizontally toward the front of the fuselage assembly. The transverse load portion is used to connect at least one functional module, which has at least one of the functions of image acquisition and signal transmission. Preferably, the functional module is either a gimbal camera or a binocular vision camera, and the functional module can be connected to the load assembly through a quick-release structure, thereby improving the flexibility of the amphibious robot and making it suitable for multiple application scenarios.

[0020] In this embodiment, a slot is also provided on the outside of the fuselage assembly, which allows the battery pack to be inserted. This external battery design enables the battery pack of the amphibious robot to be quickly replaced.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] This invention provides an amphibious robot that optimizes its overall structural design. It not only employs a ducted propeller structure, resulting in high efficiency, low noise, and high safety, but also utilizes a foldable ducted component structure. This allows the robot to fold upwards when navigating narrow spaces, reducing its size and significantly improving its task completion capability and adaptability to various scenarios. Because the ducted component does not occupy space in either the unfolded or folded state, its size is not limited, providing sufficient power for the amphibious robot. Furthermore, the optimized overall structure is compact, forming a near-cubic shape when folded for easy transport and storage, reducing volume and saving costs. The ducted ring structure protects the propeller, and its regular shape after folding facilitates gripping during transport. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of an amphibious robot with its ductwork in an deployed state, according to an embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the overall structure of an amphibious robot with its ductwork component in a folded state, according to an embodiment of the present invention.

[0025] Figure 3 An embodiment of the present invention provides a Figure 2 A magnified schematic diagram of the partial structure at point A in the middle;

[0026] Figure 4 A schematic diagram of the overall structure of a ducted component of an amphibious robot provided in an embodiment of the present invention;

[0027] Figure 5 A schematic cross-sectional view of the central rotating shaft of an amphibious robot according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the overall structure of the track assembly of an amphibious robot provided in an embodiment of the present invention;

[0029] Figure 7This is a cross-sectional structural diagram of a track assembly for an amphibious robot provided in an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the fuselage assembly of an amphibious robot according to an embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of the overall structure of the payload assembly of an amphibious robot according to an embodiment of the present invention;

[0032] The attached figures are labeled as follows: 10, fuselage assembly; 11, mounting slot; 21, first shaft; 22, second shaft; 23, first motor mounting position; 31, duct ring; 311, satellite positioning system receiving antenna mounting base; 32, propeller assembly; 33, self-locking servo; 331, horizontal pivot; 332, drive rod; 333, driven rod; 40, central pivot; 40a, first base; 40b, second base; 41, limit pin; 411, set screw; 42 43, compression spring; 43a, outer shaft; 43b, second limiting groove; 44, limiting protrusion; 50, track bracket; 51, horizontal section; 52, inclined section; 53, second motor bracket; 54, bearing bracket; 55, drive wheel; 56a, steering driven wheel; 56b, load driven wheel; 571, first pressure roller; 572, second pressure roller; 58, track body; 61, longitudinal connecting shaft; 62, lateral load section; 63, slot. Detailed Implementation

[0033] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore merely examples and should not be used to limit the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] Unless otherwise specified, in this invention, terms such as "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," "x-direction," "y-direction," and "z-direction" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe orientation or positional relationships in this invention are for illustrative purposes only and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood in conjunction with the accompanying drawings and according to the specific circumstances.

[0037] Please see Figures 1-9 This embodiment provides an amphibious robot, which includes a fuselage assembly 10. A control system can be installed inside the fuselage assembly 10. A track assembly is located directly below the fuselage assembly 10. The track assembly's design allows the amphibious robot to adapt well to different environments and has good obstacle-crossing capabilities when walking on the ground. A duct assembly is located on the upper part of the fuselage assembly 10, enabling the amphibious robot to operate both on land and in the air.

[0038] In this embodiment, the duct assembly includes two sets of duct assemblies symmetrically arranged on both sides of the fuselage assembly 10. Each set of duct assemblies includes a duct support and two duct assemblies located at the end of the duct support away from the fuselage assembly 10. Specifically, the duct support includes a rotating connection, and mounting slots 11 are correspondingly provided at the top ends of both sides of the fuselage assembly 10. The duct support is rotatably installed into the mounting slots 11 through the rotating connection, thereby connecting the duct assembly to the fuselage assembly 10. This allows the duct assembly to rotate relative to the fuselage assembly and effectively reduces the size of the amphibious robot. In practical implementation, the rotating connection effectively solves the problem of excessively large size in amphibious robots commonly used in the prior art. The duct assembly of the amphibious robot provided in this embodiment, due to the rotating connection, allows the duct assembly to have both an unfolded and folded state relative to the fuselage assembly 10. When the duct assembly is in the unfolded state, the two sets of duct assemblies are respectively located on both sides of the fuselage assembly 10. When the duct assembly is in the folded state, both sets of duct assemblies are folded upwards and located directly above the fuselage assembly 10, thereby greatly reducing the size of the amphibious robot.

[0039] To achieve the aforementioned functions, the fuselage assembly 10 is further provided with a drive assembly for driving the duct assembly to switch between a folded state and an unfolded state. More specifically, the drive assembly has an input end and a drive end. The input end includes an active rod 332 rotatably connected to the fuselage assembly 10 via a horizontal pivot 331. The active rod 332 is rotatable relative to the fuselage assembly 10. The drive end includes a driven rod 333 hinged to the active rod 332. The active rod 332 and the driven rod 333 form a linkage mechanism, and the end of the driven rod 333 away from the active rod 332 is hinged to the duct support. Furthermore, the drive assembly also includes a self-locking servo motor 33. The output end of the self-locking servo motor 33 is fixedly connected to the horizontal rotating shaft 331, which is rotatably connected to the body assembly 10 and fixedly connected to the drive rod 332. In specific implementation, the output end of the self-locking servo motor 33 drives the drive rod 332 to rotate relative to the body assembly 10, and the drive rod 332 drives the driven rod 333 to rotate relative to the body assembly 10, thereby realizing the conversion of the duct assembly between the folded state and the unfolded state. Here, the self-locking servo motor 33 preferably has a large reduction ratio and a power-off locking function, so that the amphibious robot has a power-off self-locking function.

[0040] In this embodiment, the duct support forms a first shaft 21 and a second shaft 22 extending outwards at both ends of the rotating connection portion, and each end of the first shaft 21 and the second shaft 22 is connected to a duct assembly. Specifically, each duct assembly includes a duct ring 31 and a propeller assembly 32 disposed inside the duct ring 31. The duct ring 31 provides a shaped flow field space for the propeller assembly 32, which can greatly improve the efficiency of the propeller assembly 32, reduce flight noise, and protect the propeller assembly 32. To power the propeller assembly 32, a first motor mounting position 23 is also formed between the first shaft 21 and the second shaft 22. The first motor mounting position 23 is used to install a first motor, which powers the propeller assembly 32. To improve the overall strength of the duct assembly, the duct rings 31 of the two duct assemblies connected to the first shaft 21 and the second shaft 22 are fixedly connected. Furthermore, for tracking and positioning the amphibious robot, a satellite positioning system receiving antenna mounting base 311 is installed on the duct ring 31 of the amphibious robot. Radio frequency cables are pre-embedded inside the satellite positioning system receiving antenna mounting base 311 and connected to the control system inside the fuselage assembly 10. It should be noted that, to ensure the amphibious robot forms a relatively regular shape when folded, the axial height of each duct ring 31 is preferably half the horizontal width of the track assembly. This results in the amphibious robot having a cubic shape when the duct assemblies on both sides are folded upwards, making it flexible and portable, increasing its reserves within a limited space, and enhancing its mission support and execution capabilities. The aforementioned "horizontal width" of the track assembly refers to the width occupied by the two sets of track assemblies in the direction parallel to the horizontal axis of the fuselage assembly 10.

[0041] In this embodiment, the duct assembly is connected to the fuselage assembly 10. The rotating connection part of the duct support is located on the side close to the fuselage assembly 10, and the rotating connection part includes an external shaft 43 rigidly connected to the first shaft 21 and the second shaft 22. The external shaft 43 has a hollow structure and a hollow channel is formed inside it. A central rotating shaft 40 is coaxially sleeved in the hollow channel of the external shaft 43. One end of the central rotating shaft 40 is provided with a first seat 40a, and the other end of the central rotating shaft 40 away from the first seat 40a is provided with a second seat 40b. The central rotating shaft 40 is fixedly connected to the fuselage assembly 10 through the first seat 40a and the second seat 40b and is positioned in the positioning groove of the fuselage assembly 10, so that the external shaft 43 can rotate relative to the central rotating shaft 40. Specifically, the inner wall of the outer shaft 43 is provided with a first limiting groove 43a and a second limiting groove 43b respectively. The middle part of the central rotating shaft 40 is provided with a limiting pin 41 along the radial direction of the central rotating shaft 40. The limiting pin 41 is fixedly connected to the central rotating shaft 40 by a set screw 411. The two ends of the limiting pin 41 protrude from the outer wall of the central rotating shaft 40 respectively, and the two ends of the limiting pin 41 are respectively positioned in the first limiting groove 43a and the second limiting groove 43b. To limit the rotation angle of the outer shaft 43 relative to the central rotating shaft 40, thereby controlling the rotation angle of the duct support, the two ends of the limiting pin 41 can rotate circumferentially at a certain angle within the first limiting groove 43a and the second limiting groove 43b, respectively. Preferably, the circumferential rotation angle is 80° to 120°. Simultaneously, the widths of both the first limiting groove 43a and the second limiting groove 43b are greater than the width of the limiting pin 41, allowing the outer shaft 43 to have a certain amount of movement relative to the central rotating shaft 40 along both axial directions. This ensures that the outer shaft 43 remains in the center position of the central rotating shaft 40 during its rotation relative to the central rotating shaft 40. A compression spring 42 is provided on one side of the limiting pin 41 on the central rotating shaft 40. The compression spring 42 is positioned within the gap between the outer shaft 43 and the central rotating shaft 40. The compression spring 42 has a first end and a second end. The first end is supported by the first seat 40a. A limiting protrusion 44 is provided on the inner wall of the outer shaft 43 between the limiting pin 41 and the first seat 40a or the second seat 40b. The second end of the compression spring 42 is away from the first end and acts on the limiting protrusion 44. Thus, the elastic force applied to the outer shaft 43 by the compression spring 42 can limit the axial position of the outer shaft 43 and eliminate the clearance of the rotating pair.

[0042] In this embodiment, to improve the obstacle-crossing capability of the amphibious robot, the track assembly includes two sets of track assemblies, which are symmetrically arranged on both sides of the fuselage assembly 10, enabling the amphibious robot to walk smoothly on land. Specifically, each track assembly includes a track support 50, a track body 58 wound around the track support 50, and a rotating wheel assembly rotatably mounted on the track support 50. The rotating wheel assembly drives the track body 58 to rotate around the track support 50. Specifically, the track support 50 includes a horizontal section 51 and two inclined sections 52 formed at both ends of the horizontal section 51 and inclined upwards. The horizontal section 51 is located directly below the fuselage assembly 10. Specifically, the rotating wheel assembly includes an electrically driven drive wheel 55 and a rotating wheel assembly that can rotate under the drive wheel 55. For the driven wheel assembly that rotates in the track support 50, in order to drive the drive wheel 55 to rotate, the drive wheel 55 is located directly above the horizontal section 51 and in the middle of the horizontal section 51. The drive wheel 55 is rotatably connected to the track support 50 through a bearing bracket 54, and the track support 50 has a second motor bracket 53 on the opposite side of the bearing bracket 54. The interior of the second motor bracket 53 can accommodate a second motor, and the track assembly is fixedly connected to the chassis assembly 10 through the second motor bracket 53 to achieve a fixed connection between the track assembly and the chassis assembly 10. In addition, the driven wheel assembly includes a first driven wheel assembly, a second driven wheel assembly, and a third driven wheel assembly. The first driven wheel assembly includes four steering driven wheels 56a, which are respectively located at the connection between the horizontal section 51 and the inclined section 52 of the track support 50 and at the end of the inclined section 52 away from the horizontal section 51. The second driven wheel set includes multiple load-bearing driven wheels 56b, all of which are rotatably connected to the middle section of the horizontal section 51 or the middle section of the inclined section 52 of the track support 50. The third driven wheel set includes two first pressure rollers 571 and two second pressure rollers 572. The two first pressure rollers 571 are located at the connection between the horizontal section 51 and the inclined section 52 of the track support 50 and above the steering driven wheel 56a. The second pressure rollers 572 are located on both sides of the drive wheel 55 and between the first pressure rollers 571 and the drive wheel 55. The track body 58 passes under the first pressure rollers 571 and the second pressure rollers 572. In practice, the two first pressure rollers 571, the two second pressure rollers 572, and the track support 50 work together to constrain the running direction of the track body 58, ensuring the obstacle-crossing ability of the track walking assembly while reducing the size of the first driven roller and the second driven roller, thereby achieving the goal of reducing the weight of the track assembly and the overall weight of the land and air amphibious robot.Meanwhile, because the structure of the first pressure roller 571 and the second pressure roller 572 used in the track assembly restricts the lateral movement range of the track body 58, the risk of the track body 58 easily slipping off the track during turning is reduced without having to increase the height of the guide teeth. This is more effective in reducing the overall weight of the machine compared to traditional tracked walking structures. In addition, by installing the second motor bracket 53 inside the walking mechanism, further protection can be provided for the second motor. It adopts a compact structural design and does not have the load-bearing wheel bracket structure used in traditional tracked mechanisms. Moreover, both the first driven wheel set and the second driven wheel set are enclosed inside the track bracket 50, which can prevent foreign objects from entering the wheel system to a certain extent. This improves the reliability of the track assembly of this amphibious UAV compared to traditional tracked mechanisms.

[0043] In this embodiment, to enable the amphibious unmanned aerial vehicle (UAV) to adapt to various usage scenarios, a payload assembly is also provided on the fuselage component 10 of the UAV. This payload assembly is located at the front end of the fuselage component 10 and can be used to mount a gimbal camera and / or a binocular vision camera. Because the payload assembly adopts a modular design, the equipment mounted on it can be quickly disassembled and replaced according to actual needs, thereby achieving rapid conversion of system functions to adapt to different mission scenarios. Specifically, the payload assembly includes a longitudinal connecting shaft 61, which can be connected to the fuselage component 10 via threaded connectors for flexible installation and disassembly. The bottom end of the longitudinal connecting shaft 61 is provided with a transverse load portion 62, which has at least two support shafts extending horizontally towards the front of the fuselage component 10. The transverse load portion 62 is integrally formed with the longitudinal connecting shaft 61 to improve its strength and facilitate the mounting of functional modules. Meanwhile, to facilitate power supply for the internal control of the amphibious drone, a slot 63 is provided at the rear of the fuselage component 10. The slot 63 allows the battery pack to be inserted. The fuselage component 10 or the battery pack also integrates a power management circuit to realize functions such as charging and discharging management of the battery pack, battery health management, temperature monitoring, and power monitoring. In addition, the fuselage component 10 should also be equipped with a power indicator light, a charging interface, and a data interface, so that the battery pack can be charged in the hangar or mission commands can be issued to the amphibious robot. The aforementioned functions can all be implemented using existing technologies. Therefore, the connection method and specific structure will not be described in detail here.

[0044] In this embodiment, when the ducted assembly of an amphibious unmanned aerial vehicle (UAV) is in the deployed state, its two sets of ducted ducts are symmetrically arranged relative to the fuselage assembly 10 and located on one side of the fuselage assembly 10. At this time, the UAV can fly in the air, with the ducted ducts providing lift. When the ducted assembly is in the folded state, both sets of ducts are folded upwards and located directly above the fuselage assembly 10. By rationally designing the axial height of the duct ring 31, the UAV can achieve a near-cubic shape, thereby reducing its size to pass through narrow passages and transition to ground-based walking mode, greatly improving mission completion capability and adaptability to different mission scenarios. Meanwhile, the tracked assembly structure of this amphibious UAV is lightweight, has good protection, and is highly reliable. The ducted components of this amphibious UAV are highly efficient, low-noise, and safe. In addition, the payload assembly can be modularly disassembled and quickly loaded and unloaded, thereby enabling the rapid conversion of the functions of the amphibious UAV to adapt to different mission scenarios.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. An amphibious robot, characterized in that, include: fuselage components; Track assembly; At least two sets of duct assemblies are symmetrically arranged on both sides of the fuselage assembly. Each set of duct assemblies includes a duct support and at least one duct assembly located at the end of the duct support away from the fuselage assembly. The duct assemblies have an unfolded state and a folded state relative to the fuselage assembly. When the duct assemblies are in the unfolded state, they are located on both sides of the fuselage assembly. When the duct assemblies are in the folded state, they are folded upwards and located directly above the fuselage assembly. The duct support has an external shaft rigidly connected to the duct support at one end near the fuselage assembly. A hollow channel is formed inside the external shaft, and a central rotating shaft is coaxially fitted inside the hollow channel. The inner wall of the external shaft has a first limiting groove and a second limiting groove opposite to each other in the middle section. A limiting pin is provided in the middle of the central rotating shaft along the radial direction of the central rotating shaft. The two ends of the limiting pin are respectively positioned in the first limiting groove and the second limiting groove. The two ends of the limiting pin can be respectively located in the first limiting groove. The device slides along the axial direction of the central rotating shaft and / or rotates along the circumferential direction of the central rotating shaft within the second limiting groove; a first seat is provided at one end of the central rotating shaft, and a second seat is provided at the end of the central rotating shaft away from the first seat; the central rotating shaft is fixedly connected to the body assembly through the first seat and the second seat; a compression spring is provided on one side of the limiting pin of the central rotating shaft, the compression spring is positioned within the gap between the outer shaft and the central rotating shaft, and the compression spring has a first head end and a second head end, the first head end is supported by the first seat or the second seat, the inner wall of the outer shaft is provided with a limiting protrusion between the limiting pin and the first seat or the second seat, and the second head end of the compression spring is away from the first head end and acts on the limiting protrusion; it also includes a driving assembly, which includes an input end and a driving end, the driving end is driven by the input end and acts on the duct assembly to switch the duct assembly between a folded state and an unfolded state.

2. The amphibious robot as described in claim 1, characterized in that: The duct support includes a rotating connection portion, and the duct support is fixedly connected to the fuselage assembly through the rotating connection portion. At both ends of the rotating connection portion, a first shaft and a second shaft are respectively formed, extending outward from the fuselage assembly. Each end of the first shaft and the second shaft is provided with a duct assembly, which includes a duct ring and a propeller assembly disposed inside the duct ring. A first motor mounting position is also provided between the first shaft and the second shaft. The first motor mounting position is used to install a first motor, which supplies power to the propeller assembly.

3. The amphibious robot as described in claim 1, characterized in that: The axial height of the duct ring is 0.5 to 0.6 times the horizontal width of the track assembly.

4. The amphibious robot as described in claim 1, characterized in that: The track assembly includes two sets of track assemblies symmetrically arranged on both sides of the fuselage assembly. Each track assembly includes a track bracket, a track body wound around the track bracket, and a set of rotating wheels rotatably connected to the track bracket and used to drive the track body to rotate. The set of rotating wheels includes at least one drive wheel that can be driven by a motor and a set of driven wheels that can rotate relative to the track bracket under the drive of the drive wheel. The track bracket includes a horizontal section and two inclined sections formed at both ends of the horizontal section and inclined upwards. The horizontal section is located directly below the fuselage assembly, and the horizontal section and the two inclined sections together form a U-shaped structure.

5. An amphibious robot as described in claim 4, characterized in that: The driven wheel set includes a first driven wheel set and a second driven wheel set. The first driven wheel set includes four steering driven wheels, which are respectively disposed at the connection between the horizontal section and the inclined section of the track bracket and at the end of the inclined section away from the horizontal section. The second driven wheel set includes multiple load-bearing driven wheels, which are all rotatably connected to the horizontal section and / or the inclined section of the track bracket.

6. The amphibious robot as described in claim 5, characterized in that: The driven wheel assembly further includes a third driven wheel assembly, which includes at least two first pressure rollers and at least two second pressure rollers. The first pressure rollers are located at the connection between the horizontal section and the inclined section of the track support. The drive wheel is located directly above the horizontal section and in the middle of the horizontal section. The second pressure rollers are located on both sides of the drive wheel. The track body passes under the third driven wheel assembly. The drive wheel is rotatably connected to the track support via a bearing bracket. The track support also has a second motor bracket at one end of the drive wheel. The interior of the second motor bracket can accommodate a second motor. The track assembly is fixedly connected to the chassis assembly via the second motor bracket.

7. An amphibious robot as described in claim 1, characterized in that: The input end includes an active rod rotatably connected to the fuselage assembly via a horizontal rotating shaft. The drive end includes a driven rod rotatably connected to the active rod. The end of the driven rod away from the active rod is hinged to the duct support. The drive assembly also includes a self-locking servo, the output end of which is fixedly connected to the horizontal rotating shaft.

8. An amphibious robot as described in claim 1, characterized in that: The fuselage assembly is also provided with a load assembly, which is located at the front end of the fuselage assembly. The load assembly includes a longitudinal connecting shaft, which can be fixedly connected to the fuselage assembly. The bottom end of the longitudinal connecting shaft is provided with a transverse load portion, which has at least two support shafts extending horizontally toward the front side of the fuselage assembly. The transverse load portion is used to connect at least one functional module.

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