A small amphibious reconnaissance robot

Abstract

The embodiment of the present application discloses a kind of amphibious reconnaissance robots, the amphibious reconnaissance robot includes: cabin, wheel foot, wheel foot steering mechanism and tail rudder;The cabin body is cylindrical structure;The wheel foot is at least provided with two groups, respectively set in the outside two ends of the cabin;The wheel foot steering mechanism is arranged on the outside of the cabin, and the wheel foot is driven to turn by transmission mechanism;The tail rudder is located at the back of the cabin, and tail rudder plate is arranged at the lower half position of the cabin.The small amphibious reconnaissance robot of the present application has the wheel foot structure design of multiple motion states, the rotation angle of paddle wheel is adjusted to realize the adjustment of the speed and motion state of amphibious reconnaissance robot quickly and efficiently, so that the special terrain of underwater and waterway junction can be better coped with.

Description

Technical Field

[0001] This invention relates to the field of amphibious robots, and more specifically to a small amphibious reconnaissance robot. Background Technology

[0002] With the development of human society, the exploitation and acquisition of resources has gradually become an important goal for all countries. As land resources are increasingly developed, they alone can no longer meet production needs, leading humanity to venture into marine resource development. The rapid advancement of robotics technology has provided new possibilities for the continued development of marine resources, and robots capable of operating in multiple environments have gradually gained attention from researchers. Compared to traditional robots that can only operate in a single environment, amphibious robots, through their specialized structural design, can move in both land and water environments, thus expanding their applicability. High-performance amphibious robots can perform reconnaissance tasks such as marine resource exploration and scientific data collection, accelerating my country's progress in developing marine resources in its nearshore waters.

[0003] Amphibious robots operate in highly complex environments. In aquatic environments, jet-propelled robots have large and heavy propulsion systems, making it difficult to perform large movements such as turning. Bionic robots are still in the research and experimental stage and have complex structures, limiting their practicality. Gliding robots are difficult to control and slow. In comparison, propeller-driven propulsion systems are currently widely used, technologically mature, have a high power density, and are easy to control. In environments where land and water meet, the terrain is often sandy or muddy, which are soft and prone to sinking. Wheeled robots experience less friction on soft ground, and soft material tends to accumulate at the front of the wheels, causing slippage and insufficient traction. Straight-legged robots often sink due to insufficient support, reducing their mobility. However, the arc-shaped leg propulsion mechanism that has emerged in recent years balances support and traction, allowing for better mobility in soft terrain. Summary of the Invention

[0004] The purpose of this invention is to propose a small amphibious reconnaissance robot that uses a propeller for underwater propulsion and arc-shaped feet for movement in water-land interface environments, thus enabling it to adapt well to various complex environments.

[0005] In view of this, the present invention provides a small amphibious reconnaissance robot, the amphibious reconnaissance robot comprising: a cabin, wheels, a wheel steering mechanism, and a tail rudder;

[0006] The main body of the cabin has a cylindrical structure;

[0007] At least two sets of wheel feet are provided, respectively located at both ends of the exterior of the cabin;

[0008] The wheel-foot steering mechanism is located on the outside of the cabin and drives the wheel-foot to steer via a transmission mechanism.

[0009] The tail rudder is located on the rear side of the hull, and the tail rudder plate is positioned in the lower half of the hull.

[0010] Preferably, the cabin includes a shell and a cover, the shell and the cover together forming a sealed cavity for sealing and placing the controller and battery pack.

[0011] Preferably, the hatch cover includes a large-diameter end and a small-diameter end, and a stepped surface is formed between the large-diameter end and the small-diameter end, the stepped surface covering the end of the hatch shell; the side of the small-diameter end of the hatch cover is also provided with an annular groove, the annular groove being used to place an O-ring.

[0012] Preferably, the battery pack includes a battery bracket, and the battery bracket includes a bracket support; the bracket support is located on the side of the main body of the battery bracket and extends outward from the main body of the battery bracket; a protrusion is also provided on the inner side of the housing, and the protrusion limits the position of the bracket support.

[0013] Preferably, the wheel foot includes a wheel foot driving mechanism and a wheel foot fixing mechanism; the wheel foot driving mechanism includes a drive motor and a paddle wheel; one end of the wheel foot fixing mechanism is fixed to the cabin body, and the other end is fixedly connected to the drive motor of the wheel foot driving mechanism;

[0014] The wheel foot fixing mechanism includes a first fixing arm, a second fixing arm, a first rotating shaft, a second rotating shaft, a first motor fixing ring, and a second motor fixing ring;

[0015] The first fixed arm and the second fixed arm are arranged opposite to each other, and one end of the first fixed arm and the second fixed arm is fixedly connected to the cabin body; the other end of the first fixed arm and the second fixed arm are respectively rotatably connected to the first rotating shaft and the second rotating shaft; the first rotating shaft and the second rotating shaft are coaxial and arranged opposite to each other; one end of the first rotating shaft and the second rotating shaft are rotatably connected to the fixed arm, and the other end is fixedly connected to the first motor fixing ring and the second motor fixing ring, respectively.

[0016] Preferably, the wheel-foot steering mechanism includes a connecting crossbar and a timing pulley set. The connecting crossbar is fixedly connected to the cabin and rotatably connected to the timing pulley set. The timing pulley set drives the rotating shaft of the wheel-foot fixing mechanism to rotate, thereby adjusting the orientation of the paddle wheel.

[0017] Preferably, the synchronous pulley set includes a driving group and a driven group;

[0018] The active assembly includes a first steering timing pulley, a first steering gear, and a second steering timing pulley, and is mounted on the active shaft;

[0019] The driven assembly includes a third steering synchronous pulley and a second steering gear, which are threaded through the driven shaft;

[0020] The active group is driven to rotate by a drive servo motor;

[0021] The second steering timing pulley is connected to the servo timing pulley on the drive servo output shaft via a timing belt;

[0022] The first steering gear meshes with the second steering gear;

[0023] The wheel foot fixing mechanism also includes wheel foot synchronous belt pulleys, and the first steering synchronous belt pulley, the third steering synchronous belt pulley and the wheel foot synchronous belt pulleys on both sides are respectively connected by synchronous belts.

[0024] Preferably, the rotation angle range of the drive servo is 0°~120°, the ratio of the pitch circle diameter of the first steering synchronous pulley, the third steering synchronous pulley and the wheel foot synchronous pulley is 3 / 2, and the rotation angle range of the wheel foot drive mechanism is 0°~180°.

[0025] Preferably, the servo timing pulley and the second steering timing pulley have the same pitch circle diameter.

[0026] Preferably, the amphibious reconnaissance robot further includes an antenna, which is disposed on the upper side of the cabin and is used for data transmission and control of the amphibious reconnaissance robot.

[0027] Through the above technical solutions, the present invention can achieve the following technical effects:

[0028] (1) The amphibious robot has a detachable independent battery compartment. Through the designed push-type battery pack structure, the structural volume of the compartment can be reduced, so as to achieve the purpose of high-efficiency battery replacement.

[0029] (2) The amphibious robot has a wheel-foot structure design with multiple motion states. By adjusting the rotation angle of the paddle wheel, the speed and motion state of the amphibious robot can be adjusted quickly and efficiently, thus enabling it to better cope with special terrains underwater and at the junction of waterways. Attached Figure Description

[0030] Figure 1 This is a front view of an amphibious robot.

[0031] Figure 2 This is a top view of an amphibious robot.

[0032] Figure 3This is a side view of an amphibious robot.

[0033] Figure 4 This is a schematic diagram of an amphibious robot exploding.

[0034] Figure 5 This is another schematic diagram of an amphibious robot exploding.

[0035] Figure 6 This is a schematic diagram of an explosion of the amphibious robot's cabin.

[0036] Figure 7 This is a partial explosion diagram of the wheeled legs of an amphibious robot.

[0037] Figure 8 This is a partial exploded diagram of the wheel-foot fixing mechanism of an amphibious robot.

[0038] Figure 9 An exploded schematic diagram of another part of the wheel-foot fixing mechanism of an amphibious robot.

[0039] Figure 10 This is a schematic diagram of an explosion of the wheel-foot steering mechanism of an amphibious robot.

[0040] Figure 11 This is a schematic diagram of the transmission structure of an amphibious robot. Detailed Implementation

[0041] Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are for teaching those skilled in the art how to implement the present invention, and are not intended to exhaustively describe all possible ways of the invention, nor to limit the scope of the invention.

[0042] This embodiment provides an amphibious robot with high mobility and multiple motion states, designed for transitional amphibious environments. For example... Figure 1-5 As shown, the amphibious robot includes a cabin 1, wheels 3, a wheel-leg steering mechanism 2, and a tail rudder 4. The cabin 1 has a cylindrical structure; there are at least two sets of wheels 3, respectively located at the outer ends of the cabin 1; the wheel-leg steering mechanism 2 is located on the outer side of the cabin 1, possibly on the upper side, and drives the wheels 3 to steer via a transmission mechanism; the tail rudder 4 is located on the rear side of the cabin 1, with a tail rudder plate 4-1 positioned in the lower half of the cabin 1. In a preferred embodiment, the amphibious robot also includes an antenna 5, located on one side of the cabin 1, possibly on the upper side, for data transmission and control of the amphibious reconnaissance robot.

[0043] (1) Cabin

[0044] like Figure 6As shown, the cabin 1 includes a shell 1-1 and a cover 1-2. The shell 1-1 and the cover 1-2 combine to form a sealed cavity for sealing and housing the controller and battery pack 1-3. The shell 1-1 has a cylindrical structure; in this embodiment, it is cylindrical, but in other embodiments, it can be rectangular, triangular, or other cylindrical shapes. The cover 1-2 matches the shape of the ends of the shell 1-1, and two covers are provided, each sealing one of the axial ends of the shell 1-1. The cover 1-2 includes a large-diameter end and a small-diameter end, with a stepped surface 1-21 formed between the large-diameter end and the small-diameter end, which seals the end of the shell 1-1. Furthermore, a cover fixing through hole 1-22 is provided on the stepped surface 1-21, and a shell threaded hole 1-11 is provided on the end face of the shell 1-1. The cover fixing through hole 1-22 and the shell threaded hole 1-11 are fixedly connected by screws. Furthermore, an annular groove 1-23 is provided on the side of the small diameter end of the hatch cover 1-2. The annular groove 1-23 is used to place an O-ring. The hatch cover 1-2 and the hatch shell 1-1 press the O-ring to form a seal of the main body 1.

[0045] In a preferred embodiment, facing the front of the amphibious robot (the front side of the cabin 1), the cabin 1-1 is also provided with an observation window 1-12, which is used by sensing devices (such as cameras) inside the cabin 1 to detect environmental information.

[0046] In a preferred embodiment, the battery pack 1-3 is disposed within a sealed housing 1. To facilitate the placement of the battery pack 1-3, the battery pack 1-3 further includes a battery bracket 1-31, which includes a support 1-311. The battery bracket 1-31 covers the outside of the battery and is used to secure the battery. The support 1-311 is located on the side of the main body of the battery bracket 1-31 and extends outward from the main body of the battery bracket 1-31. The surface of the support 1-311 that contacts the housing 1-1 has the same curvature as the inner surface of the housing 1-1. This surface can also be polished to facilitate insertion into the housing 1-1. A protrusion 1-13 is also provided on the inner side of the housing 1-1, which limits the position of the support 1-311, thereby fixing the battery pack 1-3 within the housing 1. In this embodiment, four sets of support 1-311 are provided at each end of the battery pack 1-3, and are symmetrically distributed circumferentially around the battery pack 1-3. In a preferred embodiment, the extended end of the bracket support 1-311 is further provided with a bracket hook 1-312 to form an L-shaped bending structure. A slide (not shown in the figure) is provided inside the cabin 1. By extending the L-shaped bending structure into the slide, the battery pack 1-3 can be stably pushed in and fixed inside the cabin 1.

[0047] During installation, first attach the battery clip into the battery bracket 1-31; then clip the bracket support 1-311 into the entrance of the housing 1-1 and push it into the housing 1-1; install the housing cover 1-2 with O-rings on both ends of the housing 1-1, with the housing cover fixing through hole 1-22 corresponding to the housing thread hole 1-11 and fixedly connected by screws.

[0048] The above design improves the waterproofness of the amphibious robot cabin 1 and facilitates its disassembly. The design of the battery brackets 1-31 facilitates the pushing and installation of the battery packs 1-3, improving battery installation efficiency and battery fixation stability.

[0049] (2) Wheel feet

[0050] like Figure 1 As shown, the wheel foot 3 includes a wheel foot drive mechanism 3-1 and a wheel foot fixing mechanism 3-2. The wheel foot drive mechanism 3-1 includes a drive motor 3-11 and a propeller wheel 3-12. One end of the wheel foot fixing mechanism 3-2 is fixed to the cabin 1, and the other end is fixedly connected to the drive motor 3-11 of the wheel foot drive mechanism 3-1. The output shaft of the drive motor 3-11 is connected to the propeller wheel 3-12. The propeller wheel 3-12 includes a shaft 3-121, blades 3-122, and a rim 3-123. The shaft 3-121 is connected to the output shaft of the drive motor 3-11, the blades 3-122 are evenly distributed circumferentially along the shaft 3-121, and the inner side of the rim 3-123 is connected to the outer extension end of each blade 3-122. The propeller wheel 3-12 is driven to rotate by the drive motor 3-11. The wheel rim 3-123 can contact the contact surface (ground) to generate thrust along the circumference of the propeller wheel 3-12, while the propeller blade 3-122 can generate thrust along the axial direction of the propeller wheel 3-12 underwater. The propeller blade 3-122 and the wheel rim 3-123 form a semi-arc-shaped foot. When the propeller wheel 3-12 sinks into soft medium, the propeller blade 3-122 can provide a certain amount of support and traction, thereby overcoming the shortcomings of the wheel structure and providing better maneuverability.

[0051] like Figure 7-9As shown, the wheel foot fixing mechanism 3-2 includes a first fixing arm 3-21, a second fixing arm 3-22, a first rotating shaft 3-23, a second rotating shaft 3-24, a first motor fixing ring 3-25, and a second motor fixing ring 3-26. The first fixing arm 3-21 and the second fixing arm 3-22 are arranged opposite to each other. One end of each fixing arm 3-21 and the second fixing arm 3-22 is fixedly connected to the housing 1, and the other ends of each fixing arm 3-21 and the second fixing arm 3-22 are rotatably connected to the first rotating shaft 3-23 and the second rotating shaft 3-24, respectively. The first rotating shaft 3-23 and the second rotating shaft 3-24 are coaxial and arranged opposite to each other. One end of each rotating shaft 3-23 and the second rotating shaft 3-24 is rotatably connected to the fixing arm, and the other end is fixedly connected to the first motor fixing ring 3-25 and the second motor fixing ring 3-26, respectively. The first motor retaining ring 3-25 and the second motor retaining ring 3-26 fix and clamp the drive motor 3-11. The ends of the first motor retaining ring 3-25 and the second motor retaining ring 3-26 are provided with opposing lugs 3-27. The lugs 3-27 are provided with connecting through holes 3-28, which can be fixedly connected to the first motor retaining ring 3-25 and the second motor retaining ring 3-26 by bolts, thereby fixing them to the drive motor 3-11.

[0052] Specifically, the hatch cover 1-2 is provided with a hatch cover threaded hole 1-23, and one end of the fixed arm is provided with a lug, and a connecting hole 3-29 for connecting the fixed arm is provided on the lug. The fixed arm can be fixedly connected to the hatch cover 1-2 by screws through the hatch cover threaded hole 1-23 and the connecting hole 3-29. Further, the other end of the fixed arm is provided with a fixed arm shaft through hole 3-30, which is used to rotatably connect a rotating shaft. A bearing 3-31 can be installed between the through hole and the rotating shaft. A connecting part 3-32 is provided on the outer side of the middle position of the first motor fixing ring 3-25 and the second motor fixing ring 3-26. The connecting part 3-32 is used to fixally connect to the rotating shaft; one end of the connecting part 3-32 is connected to the fixing ring, and the opposite end is provided with a slot 3-33. A rotating shaft fixing hole 3-34 is provided on the side of the connecting part 3-32, and the rotating shaft fixing hole 3-34 communicates with the slot 3-33. The rotating shaft extends into the through hole 3-30 of the fixed arm shaft, with one end locked outside the through hole 3-30 and the other end having a connecting hole 3-35 that inserts into the slot 3-33. Thus, the rotating shaft can be fixedly connected to the motor retaining ring by screws through the fixing hole 3-34 and the connecting hole 3-35.

[0053] (3) Wheel-foot steering mechanism

[0054] like Figure 10As shown, the wheel-foot steering mechanism 2 includes a connecting crossbar 2-1, which is fixed to the side of the cabin 1, with its length direction parallel to the axial direction of the cabin 1. The connecting crossbar 2-1 is used to connect the synchronous pulley set. For the first rotating shaft 3-23 of the wheel-foot fixing mechanism 3-2, a wheel-foot synchronous pulley 3-40 is also provided at one end, which is locked outside the shaft through hole 3-30 of the first fixing arm 3-21. The wheel-foot synchronous pulley 3-40 is connected to the synchronous pulley set of the wheel-foot steering mechanism 2 via a synchronous belt and is driven to rotate by the drive servo 2-100 of the wheel-foot steering mechanism 2, thereby further driving the rotating shaft to rotate and adjust the orientation of the wheel-foot drive mechanism 3-1.

[0055] For the installation of the aforementioned wheel foot synchronous pulley 3-40, the first rotating shaft 3-23 is provided with a limiting protrusion 3-36, a groove 3-37, and a key 3-38 between the two. The wheel foot synchronous pulley 3-40 is engaged between the protrusion 3-36 and the groove 3-37 through the keyway, and the elastic retaining ring 3-29 is engaged in the groove 3-37 to fix the axial position of the wheel foot synchronous pulley 3-40.

[0056] The following describes in detail the timing pulley set connected by the connecting crossbar 2-1. The timing pulley set includes a driving group and a driven group.

[0057] The drive assembly includes a first steering timing pulley 2-2, a first steering gear 2-3, and a second steering timing pulley 2-4, all passing through the drive shaft 2-5. The drive shaft 2-5 includes a key 2-6, and the first steering timing pulley 2-2, the first steering gear 2-3, and the second steering timing pulley 2-4 are fixedly connected to the drive shaft 2-5 via a keyway 2-7. A connecting through hole 2-8 is provided on the connecting crossbar 2-1, and one end of the drive shaft 2-5 is fitted into the connecting through hole 2-8. A bearing 2-9 is provided between the drive shaft 2-5 and the connecting through hole 2-8. The other end of the drive shaft 2-5 is rotatably connected to the upper end of the housing 1-1; a groove is provided at the upper end of the housing 1-1, and the other end of the drive shaft 2-5 extends into the groove. A bearing 2-10 is provided between the drive shaft 2-5 and the groove.

[0058] The driven assembly includes a third steering timing pulley 2-11 and a second steering gear 2-12, which are mounted on a driven shaft 2-13. The driven shaft 2-13 fixes the third steering timing pulley 2-11 and the second steering gear 2-12 in the same way as the driving assembly, and the driven shaft 2-13 rotatably connects to the crossbar 2-1 and the hull 1-1; these details will not be repeated here. Furthermore, the second steering gear 2-12 meshes with the first steering gear 2-3.

[0059] A drive servo motor 2-100 is fixedly mounted on the rear of the amphibious robot. The output end of the drive servo motor 2-100 is connected to a servo motor timing pulley 2-14, which is connected to the second steering timing pulley 2-4 via a timing belt. The first steering timing pulley 2-2 and the third steering timing pulley 2-11 are respectively connected to the wheel foot timing pulleys 3-40 on both sides via timing belts. As shown in the figure, the connecting crossbar 2-1 has a convex structure, and through holes 2-15 are provided on the lateral step surfaces on both sides for the timing belt to pass through.

[0060] During robot motion state transitions, the drive servo motor 2-100 controls the rotation of the servo motor synchronous pulley 2-14. In this embodiment, since the servo motor synchronous pulley 2-14 and the second steering synchronous pulley 2-4 have the same pitch circle diameter, the second steering synchronous pulley 2-4 rotates at the same angular velocity as the servo motor synchronous pulley 2-14 via the synchronous belt. Because the second steering synchronous pulley 2-4 and the drive shaft 2-5 are connected by a keyway and a key, the first steering synchronous pulley 2-2, the first steering gear 2-3, and the second steering synchronous pulley 2-4 on the rotating shaft rotate at the same angular velocity. The first steering gear 2-3 meshes with the second steering gear 2-12; since the two gears have the same radius, the drive shaft 2-5 and the driven shaft 2-13 rotate at the same angular velocity. The first steering synchronous pulley 2-2 transmits power via the synchronous belt to rotate the wheel foot synchronous pulley 3-40 on one side, and the third steering synchronous pulley 2-11 transmits power via the synchronous belt to rotate the wheel foot synchronous pulley 3-40 on the other side. The wheel-foot synchronous pulley 3-40 adjusts the orientation of the wheel-foot drive mechanism 3-1 via the rotation axis of the wheel-foot. The rotation angle range of the drive servo motor 2-100 is 0°~120°. The ratio of the pitch circle diameter of the first steering synchronous pulley 2-2, the third steering synchronous pulley 2-11, and the wheel-foot synchronous pulley 3-40 is 3 / 2. The rotation angle range of the wheel-foot drive mechanism 3-1 is 0°~180°. This allows for rapid adjustment of the amphibious reconnaissance robot's speed and motion state by adjusting the rotation angle of the wheel-foot drive mechanism 3-1.

[0061] like Figure 5 As shown, the tail rudder 4 position also includes a tail rudder servo 4-2 and a tail rudder gear set 4-3. The tail rudder gear set 4-3 is connected to the rotation axis of the tail rudder plate 4-1. The rotation axis of the tail rudder plate 4-1 is parallel to the axis of the robot body, so the tail rudder servo 4-2 drives the tail rudder gear set 4-3 to make the tail rudder plate 4-1 swing in the vertical direction of the robot. In water, during the robot's descent, the tail rudder plate 4-1 is driven to swing downward; the larger the downward swing angle, the faster the descent speed. During the ascent, the tail rudder plate 4-1 is driven to swing upward; the larger the upward swing angle, the faster the ascent speed. On land, the downward swing of the tail rudder plate 4-1 supports the ground, which can adjust the pitch angle of the robot cabin, facilitating the adjustment of the acquisition angle of the sensing equipment inside the cabin 1, such as the observation angle of the camera.

[0062] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A small amphibious reconnaissance robot, characterized in that, The amphibious reconnaissance robot includes: a cabin, wheels, a wheel steering mechanism, and a tail rudder; The main body of the cabin has a cylindrical structure; At least two sets of wheel feet are provided, respectively located at both ends of the exterior of the cabin; The wheel-foot steering mechanism is located on the outside of the cabin and drives the wheel-foot to steer via a transmission mechanism. The tail rudder is located on the rear side of the hull, and the tail rudder plate is positioned in the lower half of the hull. The wheel foot includes a wheel foot drive mechanism and a wheel foot fixing mechanism; the wheel foot drive mechanism includes a drive motor and a paddle wheel; one end of the wheel foot fixing mechanism is fixed to the cabin body, and the other end is fixedly connected to the drive motor of the wheel foot drive mechanism; The wheel foot fixing mechanism includes a first fixing arm, a second fixing arm, a first rotating shaft, a second rotating shaft, a first motor fixing ring, and a second motor fixing ring; The first fixed arm and the second fixed arm are arranged opposite to each other, and one end of the first fixed arm and the second fixed arm is fixedly connected to the cabin body; the other end of the first fixed arm and the second fixed arm are respectively rotatably connected to the first rotating shaft and the second rotating shaft; the first rotating shaft and the second rotating shaft are coaxial and arranged opposite to each other; one end of the first rotating shaft and the second rotating shaft are rotatably connected to the fixed arm, and the other end is respectively fixedly connected to the first motor fixing ring and the second motor fixing ring; The wheel-foot steering mechanism includes a connecting crossbar and a timing pulley set. The connecting crossbar is fixedly connected to the cabin and rotatably connected to the timing pulley set. The timing pulley set drives the rotating shaft of the wheel-foot fixing mechanism to rotate, thereby adjusting the orientation of the propeller wheel.

2. The amphibious reconnaissance robot according to claim 1, characterized in that, The cabin includes a shell and a cover, which together form a sealed cavity for sealing and housing the controller and battery pack.

3. The amphibious reconnaissance robot according to claim 2, characterized in that, The hatch cover includes a large-diameter end and a small-diameter end, and a stepped surface is formed between the large-diameter end and the small-diameter end. The stepped surface covers the end of the hatch shell. The side of the small-diameter end of the hatch cover is also provided with an annular groove for placing an O-ring.

4. The amphibious reconnaissance robot according to claim 2, characterized in that, The battery pack includes a battery bracket, which includes a bracket support. The bracket support is located on the side of the main body of the battery bracket and extends outward from the main body of the battery bracket. A protrusion is also provided on the inner side of the housing, which limits the position of the bracket support.

5. The amphibious reconnaissance robot according to claim 1, characterized in that, The synchronous belt pulley set includes a driving group and a driven group; The active assembly includes a first steering timing pulley, a first steering gear, and a second steering timing pulley, and is mounted on the active shaft; The driven assembly includes a third steering synchronous pulley and a second steering gear, which are threaded through the driven shaft; The active group is driven to rotate by a drive servo motor; The second steering timing pulley is connected to the servo timing pulley on the drive servo output shaft via a timing belt; The first steering gear meshes with the second steering gear; The wheel foot fixing mechanism also includes wheel foot synchronous belt pulleys, and the first steering synchronous belt pulley, the third steering synchronous belt pulley and the wheel foot synchronous belt pulleys on both sides are respectively connected by synchronous belts.

6. The amphibious reconnaissance robot according to claim 5, characterized in that, The rotation angle range of the drive servo motor is 0°~120°, the ratio of the pitch circle diameter of the first steering synchronous pulley, the third steering synchronous pulley and the wheel foot synchronous pulley is 3 / 2, and the rotation angle range of the wheel foot drive mechanism is 0°~180°.

7. The amphibious reconnaissance robot according to claim 6, characterized in that, The servo timing pulley and the second steering timing pulley have the same pitch circle diameter.

8. The amphibious reconnaissance robot according to claim 1, characterized in that, The amphibious reconnaissance robot also includes an antenna, which is disposed on the upper side of the cabin and is used for data transmission and control of the amphibious reconnaissance robot.

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