A type of all-terrain four-wheeled amphibious robot

Abstract

This invention relates to an all-terrain four-wheeled amphibious robot, belonging to the field of amphibious robot technology. Multiple wheeled structures are symmetrically arranged on both sides of the main body via a power unit. In land-driven mode, these wheeled structures are parallel to the main body via a variable-cell mechanism. In water-driven mode, these wheeled structures are perpendicular to the main body via the variable-cell mechanism. Buoyancy chambers are symmetrically arranged on both sides of the main body. An outer cross-shaped mounting plate is connected to the drive end of the power unit via a coupling. An outer wheel arc-shaped plate is hinged to the end of the cross-shaped mounting plate. A servo motor is mounted on the side wall of the outer cross-shaped mounting plate, and a servo disk is connected to the output end of the servo motor. A locking mechanism is slidably arranged on the outer cross-shaped mounting plate. The variable-cell mechanism allows the device to switch between land-driven and water-driven modes arbitrarily according to terrain needs to adapt to different terrain environments. The deformable structure of the outer wheel arc-shaped plate allows the device to switch between off-road and high-speed modes arbitrarily according to terrain needs to adapt to different road surface environments.

Description

Technical Field

[0001] This invention belongs to the field of amphibious robot technology, specifically relating to an all-terrain four-wheeled amphibious robot. Background Technology

[0002] With the increasing problems brought about by population growth and resource scarcity, humans have begun to devote more and more energy to the development of the marine environment. However, single-function underwater robots can no longer meet people's needs, and research has begun to develop amphibious robots. The market for amphibious robots will continue to grow in the future.

[0003] Furthermore, amphibious robots play a crucial role in disaster relief efforts. When disasters strike, rescue personnel and supplies are urgently needed to reach the scene as quickly as possible. However, disasters such as floods, earthquakes, and fires can easily damage roads and pipelines, rendering land routes impassable and preventing rescue personnel from reaching the scene immediately. Conventional disaster relief methods determine a relief plan based on the type of accident. Because access to the disaster site is limited, a detailed understanding of the situation is impossible, making it difficult for the disaster relief command center to formulate effective rescue plans and measures, resulting in unnecessary casualties and economic losses. With increasing rescue demands, the requirements for robots in the disaster relief field are also rising.

[0004] Currently common wheeled, tracked, and legged mobile robots are difficult to use in certain special environments due to their limited transformation methods, the need to improve stability during transformation, and the difficulty in simultaneously adapting to multiple extreme weather conditions when switching between water and land use modes. Therefore, this project proposes a design scheme for an all-terrain four-wheeled amphibious robot that can work continuously and effectively in various complex environments such as underwater, beaches, grasslands, gravel, and stairs. Summary of the Invention

[0005] In order to solve the above-mentioned technical problems, this invention proposes an all-terrain four-wheeled amphibious robot.

[0006] The specific technical solution of this invention is as follows: An all-terrain four-wheeled amphibious robot includes: a main body, on both sides of which multiple wheel structures are symmetrically arranged via a power device; the main body changes the propulsion mode of the wheel structures through a variable-cell mechanism; in land-driven mode, the multiple wheel structures are arranged parallel to the main body via the variable-cell mechanism; in water-driven mode, the multiple wheel structures are arranged perpendicular to the main body via the variable-cell mechanism; buoyancy chambers are symmetrically arranged on both sides of the main body; a waterproof electrical control chamber is provided on the main body; each wheel structure includes: a cross mounting plate; the outer cross mounting plate is connected to the drive end of the power device via a coupling; an outer wheel arc-shaped piece is hinged to the end of the cross mounting plate; a servo motor is provided on the side wall of the outer cross mounting plate; the output end of the servo motor is connected to a servo disk; the servo disk meshes with the deformable structure of the outer wheel arc-shaped piece; a locking mechanism for limiting the deformation of the outer wheel arc-shaped piece is slidably arranged on the outer cross mounting plate; the multiple outer wheel arc-shaped pieces form a wheel.

[0007] Furthermore, the outer wheel arc-shaped plate deformation structure includes: a guide rail, a guide rail mounting component is provided between the outer cross mounting plate and the cross mounting plate, the guide rail is set on the guide rail mounting component, a sliding rail is slidably connected on the guide rail, a push rod is provided at one end of the cross rotating plate, and an internal gear disk is connected to the other end of the cross rotating plate. The internal gear disk meshes with the rudder disk for transmission. The push rod slides back and forth along the sliding rail. The side wall of the sliding rail is connected to the outer wheel arc-shaped plate through a universal coupling. The rudder motor realizes the switching between off-road mode and high-speed mode through the cooperation of the rudder disk and the internal gear disk. In the high-speed mode, the sliding rail is located at the center end of the guide rail near the wheel structure. In the off-road mode, the sliding rail is located at the center end of the guide rail away from the wheel structure.

[0008] Furthermore, the locking mechanism includes: a locking mechanism guide rail, which is disposed on the side wall of the cross mounting plate; a slider is sleeved on the locking mechanism guide rail, which slides along the locking mechanism guide rail; a U-shaped locking pin mounting shell, which slides vertically along the U-shaped locking pin mounting shell; one end of the locking pin engages with the insertion hole of the cross mounting plate to achieve limiting and locking of the outer wheel arc-shaped plate deformation structure; the other end of the locking pin is hinged to a pin connecting post; a sliding post is provided at the end of the pin connecting post away from the locking pin; one end of the pin push rod is connected to the slider; the other end of the pin push rod is provided with a sliding hole; the sliding post slides along the sliding hole to achieve the locking or unlocking action of the locking pin; a rack is provided at the outer wall end of the slider; a gap is provided between the rack and the pin push rod to accommodate the push rod.

[0009] Furthermore, the cross mounting plate is also provided with an outer wheel arc-shaped plate steering device, which includes: a rack mounting plate, the rack mounting plate being mounted on the slider, a rack being provided on the outer side wall of the rack mounting plate, a universal joint mounting box being provided at the end of the cross mounting plate near the outer wheel arc-shaped plate, a universal joint being provided inside the universal joint mounting box, one end of the universal joint being hinged to the outer wheel arc-shaped plate, and a universal joint drive gear being provided at the other end of the universal joint, the universal joint drive gear meshing with the rack for transmission.

[0010] Furthermore, the universal coupling includes: a support rod, one end of which is rotatably connected to a sliding rail, and the other end of which is rotatably connected to a universal joint connector. The universal joint connector is rotatably connected to a rotating component for the support rod, and the outer wheel arc-shaped piece is rotatably connected to the rotating component for the support rod through a flange bearing provided inside the universal joint connector.

[0011] Furthermore, the variable cell mechanism includes: a variable cell structure servo motor, which is mounted on the main body. The output end of the variable cell structure servo motor is provided with a drive gear. A double gear mounting plate is provided on the main body. A double gear is rotatably mounted on the double gear mounting plate. The drive gear meshes with the second stage gear of the double gear. The first stage gear of the double gear meshes with a variable cell rack located in a slide groove in the main body. A rack connecting rod is provided at the end of the variable cell rack away from the double gear. A triangular connecting block is provided on the side wall of the power unit. The rack connecting rod is hinged to the triangular connecting block.

[0012] Furthermore, the power unit includes: a waterproof housing, a triangular connecting block provided on the side wall of the waterproof housing, the triangular connecting block being hinged to the main body and the rack connecting rod at different angles respectively, a stepper motor being provided inside the waterproof housing, the output end of the stepper motor being connected to the rotating shaft of the cross rotating plate through a coupling, and the rotating shaft of the cross rotating plate being rotatably connected to the cross rotating plate.

[0013] Furthermore, the inner wall of the outer wheel arc-shaped plate is provided with propulsion blades for increasing thrust in water-driven mode.

[0014] Furthermore, a suspension controller is installed inside the waterproof electrical control chamber. The suspension controller determines the upward or downward movement based on the amount of water discharged from the buoyancy chamber. An air inlet is provided on the top wall of the buoyancy chamber, and a drainage hole is provided on the bottom wall of the buoyancy chamber.

[0015] Furthermore, a recess is machined on the inner wall of one end of each outer wheel arc-shaped piece, and a protrusion is machined on the other end of each outer wheel arc-shaped piece; one end of an outer wheel arc-shaped piece is engaged with the protrusion of an adjacent outer wheel arc-shaped piece through the recess, and the other end of the outer wheel arc-shaped piece is engaged with the recess of another adjacent outer wheel arc-shaped piece through the protrusion. Beneficial effects

[0016] I. By adding a variable-cell mechanism, this invention enables the device to switch between land-based and water-based driving modes according to terrain requirements, providing emergency adaptability to different terrain environments. When using the water-based driving mode, the wheel structure acts as a propeller to propel the device forward in the water, eliminating the propellers relied upon by traditional underwater robot equipment and replacing them with independent propellers to provide forward propulsion.

[0017] Second, by adding an outer wheel arc-shaped deformation structure, the present invention can switch between off-road and high-speed states in real time according to the terrain requirements. After switching, the structure remains effective and can adapt to different road conditions. By adding a locking mechanism, it can be ensured that the outer wheel arc-shaped deformation structure will not retract due to external forces or inward compression when in off-road state, thus ensuring the continuous stability and non-deformation of the overall structure in off-road state. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the invention in off-road use.

[0020] Figure 3 This is a schematic diagram of the invention in a water-driven state;

[0021] Figure 4 This is a schematic diagram of the power unit structure in this invention;

[0022] Figure 5 This is a schematic diagram of the main structure of the wheel-type structure in this invention;

[0023] Figure 6 This is a schematic diagram of the servo motor installation position in this invention;

[0024] Figure 7 This is a schematic diagram of the installation position of the variable cell structure servo motor in this invention;

[0025] Figure 8 This is a schematic diagram of the variable cell mechanism in this invention;

[0026] Figure 9 This is a schematic diagram of the main view of the outer arc-shaped plate in the deformed state in this invention;

[0027] Figure 10 This is a three-dimensional structural diagram of the universal coupling in this invention;

[0028] Figure 11 This is a schematic diagram showing the installation position of the locking mechanism guide rail in this invention;

[0029] Figure 12 This is a schematic diagram of the main structure of the locking mechanism in this invention;

[0030] Figure 13 This is a schematic diagram of the main structure of the present invention during the deformation process;

[0031] Figure 14 This is a schematic diagram of the front cross-sectional structure of the outer wheel arc-shaped plate steering device in this invention;

[0032] Figure 15 This is a schematic diagram of the front view of the outer cross mounting plate of the present invention;

[0033] Figure 16 This is a side view of the cross-shaped mounting plate of the present invention in the installation position.

[0034] Figure 17 for Figure 12 A schematic diagram of the structural relationship between the U-shaped locking pin mounting housing, locking pin, pin push rod, rack rod, insertion hole, pin connecting post, sliding hole and sliding post.

[0035] Explanation of markings in the diagram:

[0036] 1. Main body; 2. Power unit; 3. Wheel structure; 4. Variable cell mechanism; 5. Buoyancy chamber; 6. Waterproof electrical control chamber; 7. Propeller blade; 8. Drainage hole; 21. Waterproof outer shell; 22. Stepper motor; 31. Cross mounting plate; 32. Outer wheel arc plate; 32. Recessed part; 321. Protrusion; 322. Servo; 33. Rudder disk; 34. Outer wheel arc plate deformation structure; 35. Locking mechanism; 36. Outer wheel arc plate steering device; 37. Outer cross mounting plate; 38. Variable cell structure servo; 41. Drive gear; 42. Double gear; 43. Variable cell rack; 44. Triangular connecting block; 45. Recessed part; 321. , 322, 351, 352, 353, 354, 355, 356, 361, 362, 363, 364, 365, 366, 367, 368, 369, 3610, 371, 372, 373, 374, 375, 376, 3561, 3562, 363, 374, 355, 3561, 3562, 3563, 366, 372, 373, 374, 375, 3561, 3562, 3563, 3563, 3564, 3562, 3563, 3564, 3565 ...6, 367, 368, 369, 3610, 371, 372, 3563, 3564, 3565, 3566, 3566, 367, 368, 369, 361, 3562, 3563, 3564, 3565, 3566, 3566, 3566, 367, 3566, 366, 3566, 367, 3566, 366, 3566, Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be understood that the terms "upper," "middle," "outer," "inner," etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0039] Example 1: Combined with Appendix Figure 1 - Appendix Figure 17 The following describes an all-terrain four-wheeled amphibious robot: a main body 1, on which multiple wheeled structures 3 are symmetrically arranged on both sides via power units 2. The main body 1 changes the propulsion mode of the wheel structure 3 through the variable-cell mechanism 4. In land-driven mode, multiple wheel structures 3 are arranged parallel to the main body 1 through the variable-cell mechanism 4. In water-driven mode, multiple wheel structures 3 are arranged perpendicular to the main body 1 through the variable-cell mechanism 4. The main body 1 has buoyancy chambers 5 symmetrically arranged on both sides and a waterproof electrical control chamber 6 on the main body 1. The wheel structure 3 includes: a cross mounting plate 31, an outer cross mounting plate 38 connected to the drive end of the power unit 2 through a coupling, an outer wheel arc-shaped piece 32 hinged to the end of the cross mounting plate 31, a servo motor 33 arranged on the side wall of the outer cross mounting plate 38, and a servo disk 34 connected to the output end of the servo motor 33. The servo disk 34 meshes with the outer wheel arc-shaped piece deformation structure 35. A locking mechanism 36 for limiting the outer wheel arc-shaped piece deformation structure 35 is slidably arranged on the outer cross mounting plate 38. The multiple outer wheel arc-shaped pieces 32 form a wheel. With this arrangement, by adding the variable-cell mechanism, the device can adapt to the terrain. The device can switch between land-based and water-based driving modes to adapt to different terrains. When in water-based mode, the wheeled structure acts as a propeller, eliminating the need for traditional underwater robots that rely on independent propellers. By adding an outer wheel arc-shaped deformable structure, the device can switch between off-road and high-speed modes to adapt to different road conditions. A locking mechanism ensures that the outer wheel arc-shaped deformable structure will not retract due to external forces or inward compression when in off-road mode, thus guaranteeing stability. A variable-cell mechanism, a technical term, refers to a mechanism that can instantly merge / separate certain components or create geometric singularities, changing the number of effective components or degrees of freedom to produce a new configuration. In this device, it is used to switch the wheeled structure between different driving modes to adapt to different terrains and to act as a propeller for water propulsion.

[0040] Example 2: Based on Example 1, the outer wheel arc-shaped plate deformation structure 35 includes: a guide rail 351; a guide rail mounting component is provided between the outer cross mounting plate 38 and the cross mounting plate 31; the guide rail 351 is mounted on the guide rail mounting component; a sliding rail 352 is slidably connected to the guide rail 351; a push rod 354 is provided at one end of the cross rotating plate 353; an internal gear disk 355 is connected to the other end of the cross rotating plate 353; the internal gear disk 355 meshes with the rudder disk 34 for transmission; the push rod 354 slides back and forth along the sliding rail 352; the side wall of the sliding rail 352 is connected to the outer wheel arc-shaped plate 32 through a universal coupling 356; the rudder motor 33 achieves off-road and high-speed states through the cooperation of the rudder disk 34 and the internal gear disk 355. In the high-speed state, the sliding track 352 is located near the center of the wheel structure 3 on the guide rail 351. In the off-road state, the sliding track 352 is located away from the center of the wheel structure 3 on the guide rail 351. With this configuration, the servo motor 33 rotates at a specific angle, causing the servo disk 34 to rotate, which in turn drives the inner gear disk 355 to rotate. The rotation of the inner gear disk 355 in turn drives the cross rotating plate 353 to rotate. When the cross rotating plate 353 rotates, the guide rail 351 is set on the inner top wall between the two cross mounting plates 31. When the push rod 354 on the cross rotating plate 353 slides on the sliding track 352, it can slide back and forth along the guide rail 351, which in turn pushes the outer wheel arc plate 32 to open outward through the universal coupling 356, transforming it into the off-road state.

[0041] Example 3: Based on Example 2, the locking mechanism 36 includes: a locking mechanism guide rail 361, which is disposed on the side wall of the cross mounting plate 31; a slider 362 is sleeved on the locking mechanism guide rail 361 and slides along the locking mechanism guide rail 361; a U-shaped locking pin mounting shell 363; a locking pin 364 sliding vertically along the U-shaped locking pin mounting shell 363; one end of the locking pin 364 engaging with the insertion hole 367 of the cross mounting plate 31 to limit and lock the outer wheel arc-shaped deformation structure 35; the other end of the locking pin 364 hinged to a pin connecting post 368; a sliding post is provided at the end of the pin connecting post 368 away from the locking pin 364; one end of a pin push rod 365 connected to the slider 362; the other end of the pin push rod 365 provided with a sliding hole 369; the sliding post 3610 sliding along the sliding hole 369 to realize the locking or unlocking action of the locking pin 364; and the outer side wall end of the slider 362... A rack rod 366 is provided, and a gap is provided between the rack rod 366 and the pin push rod 365 to accommodate the push rod 354. This configuration, by increasing the engagement of the locking pin 364 with the insertion hole of the cross mounting plate 31, ensures that when the push rod 354 moves to the circular part of the sliding track 352, it is locked in the reverse direction. This prevents the outer wheel arc plate from being forced to rotate in the opposite direction due to excessive pressure, thus avoiding the outer wheel arc plate closing. This ensures the stability of the multiple outer wheel arc plates 32 in the open state during off-road conditions. As the push rod 354 continues to slide on the sliding track 352, it pushes the pin push rod 365 to release the locking pin 364 from the insertion hole of the cross mounting plate 31, thereby ensuring seaworthiness in the water-driven state. By adding the rack rod 366, it is ensured that when the water-driven state is at high speed, the push rod 354 can reset the locking pin 364 and reinsert it into the insertion hole of the cross mounting plate 31, completing the opening state of the outer wheel arc plates 32 in the off-road state.

[0042] Example 4: Based on Example 3, the cross mounting plate 31 is further provided with an outer wheel arc-shaped plate steering device 37. The outer wheel arc-shaped plate steering device 37 includes: a rack mounting plate 371, which is mounted on the slider 362. A rack 372 is provided on the outer side wall of the rack mounting plate 371. A universal joint mounting box 373 is provided at the end of the cross mounting plate 31 near the outer wheel arc-shaped plate 32. A universal joint 374 is provided inside the universal joint mounting box 373. One end of the universal joint 374 is hinged to the outer wheel arc-shaped plate 32, and the other end of the universal joint 374 is provided with a universal joint drive gear 375. The universal joint drive gear 375 meshes with the rack 372 for transmission. With this configuration, by adding the rack 372, when the push rod 354 pushes the locking mechanism into the unlocked state, the rack 372 drives the universal joint drive gear 375, which in turn drives the outer wheel arc plate 32 to deflect. The deflection angle and the blades mounted on the outer wheel arc plate 32 work together to propel the water flow, achieving forward movement in the water. By setting the outer wheel arc plate steering device 37, this device can switch between different rotation states using a single power source, thus changing the driving mode between water and land, without the need for a separate underwater propulsion device.

[0043] Example 5: Based on Example 2, the universal coupling 356 includes: a support rod 3561, one end of which is rotatably connected to the sliding rail 352, and the other end of which is rotatably connected to a universal joint connector 3562. The universal joint connector 3562 is rotatably connected to a rotating component 3563 for the support rod. The outer wheel arc-shaped piece 32 is rotatably connected to the rotating component 3563 for the support rod via a flange bearing provided within the universal joint connector 3562. This configuration, by increasing the specific mechanism of the universal coupling 356, provides axial support force for the connecting rod, supporting the outer wheel arc-shaped piece 32. Simultaneously, when the outer wheel arc-shaped piece 32 changes orientation, the direction and length of the spatial vector between the fixed point of the outer wheel arc-shaped piece and the fixed point of the specific rail both change. The universal joint connector 3562 can accomplish this task without affecting the axial force transmission and the axial force supporting the outer wheel arc-shaped piece.

[0044] Example 6: Based on Example 1, the variable cell mechanism 4 includes: a variable cell structure servo motor 41, which is mounted on the main body 1. The output end of the variable cell structure servo motor 41 is provided with a drive gear 42. A double gear mounting plate is provided on the main body 1. A double gear 43 is rotatably mounted on the double gear mounting plate. The drive gear 42 meshes with the second stage gear of the double gear 43. The first stage gear of the double gear 43 meshes with a variable cell rack 44 located in a slide groove in the main body 1. A rack connecting rod is provided at the end of the variable cell rack 44 away from the double gear 43. A triangular connecting block 45 is provided on the side wall of the power unit 2. The rack connecting rod is hinged to the triangular connecting block 45. With this configuration, by adding the variable cell structure servo motor 41 to drive the double gear 43, and then driving the rack connecting rod through the triangular connecting block 45, the power unit 2 can be rotated. This can change the effective number of components and degrees of freedom of the mechanism, and switch between water-based and land-based driving states.

[0045] Example 7: Based on Example 1, the power unit 2 includes: a waterproof housing 21, with triangular connecting blocks 45 on the side wall of the waterproof housing 21. The triangular connecting blocks 45 are hinged to the main body 1 and the rack connecting rod at different angles. A stepper motor 22 is installed inside the waterproof housing 21. The output end of the stepper motor 22 is connected to the rotating shaft of the cross rotating plate through a coupling. The rotating shaft of the cross rotating plate is rotatably connected to the cross rotating plate 353. With this configuration, by adding the waterproof housing 21, liquid can be prevented from entering the waterproof housing 21 and causing damage to the internal stepper motor 22 when the device is in water. Adding the stepper motor 22 can enable the individual wheel structure 3 to have power. The steering control of the device can be achieved by controlling the speed of the stepper motor 22, reducing the need to add a separate steering component for steering control.

[0046] Example 8: Based on Example 1, the inner wall of the outer wheel arc plate 32 is provided with a propulsion blade 7 for increasing thrust in the water-driven state. With this configuration, by adding the blade 7, the thrust can be increased when the device is in the water-driven state, while reducing the impact of the additional water-driven structure added in the land-driven state.

[0047] Example 9: Based on Example 1, a suspension controller is installed inside the waterproof electrical control chamber 6. The suspension controller makes the upward or downward movement based on the amount of water discharged from the buoyancy chamber 5. An air inlet is provided on the top wall of the buoyancy chamber 5, and a drain hole 8 is provided on the bottom wall of the buoyancy chamber 5. This configuration enables an all-terrain four-wheeled amphibious robot to suspend in water without the need for energy support, thereby reducing energy consumption.

[0048] Example 10: Based on Example 1, a recess 321 is machined on the inner wall of one end of each outer wheel arc-shaped piece 32, and a protrusion 322 is machined on the other end of each outer wheel arc-shaped piece 32. One outer wheel arc-shaped piece 32 engages with the protrusion 322 of its adjacent outer wheel arc-shaped piece 32 through the recess 321, and the same outer wheel arc-shaped piece 32 engages with the recess 321 of its adjacent outer wheel arc-shaped piece 32 through the protrusion 322. This achieves a stable connection process when adjacent outer wheel arc-shaped pieces 32 close to form a circular outer wheel body. The recess 321 is specifically a groove, and the protrusion 322 is specifically a protrusion. The groove and the protrusion engage to achieve a stable connection between adjacent outer wheel arc-shaped pieces 32. The shaped plate 32 has a more stable combination structure at high speeds. With this design, by machining protrusions and grooves at both ends of the outer wheel arc plate 32, when multiple outer wheel arc plates 32 are closed to form a wheel, the adjacent outer wheel arc plates 32 can be joined more tightly, increasing the stability of the wheel. At the same time, it can also ensure that the circumferential wall of the circular outer wheel body formed by multiple outer wheel arc plates 32 is a smooth circumferential wall, which is beneficial for subsequent component placement and driving. Meanwhile, the built-in snap-fit ​​connection between the protrusion 322 and the recess 321 can ensure the stability of the connection of each outer wheel arc plate 32, and prevent the outer wheel arc plates 32 from accidentally separating due to road bumps.

[0049] Work process:

[0050] Firstly, this device has three driving states: state one is high-speed land driving, state two is off-road land driving, and state three is water driving. The three states can be switched in real time as needed.

[0051] The high-speed land mode and the off-road land mode are switched via the outer wheel arc-shaped blade steering device 37. In the initial high-speed mode, multiple outer wheel arc-shaped blades 32 are in a closed state. When switching to off-road mode, the servo motor 33 first rotates to a specific angle, driving the servo disc 34 to rotate. The servo disc 34 meshes with the inner gear disc 355. Due to the eccentric arrangement of the servo disc 34 and the inner gear disc 355, the inner gear disc 355 further drives the cross rotating plate 353 to rotate. A push rod 3 is provided at the end of the cross rotating plate 353. 54 slides along the sliding rail 352 to the circular part of the sliding rail 352, and at the same time, the sliding rail 352 slides along the guide rail 351 to the end away from the center of the wheel structure 3. Through the universal coupling 356, the outer wheel arc plate 32 is pushed to open outward by sliding along the sliding rail 352, so that the device changes to the off-road state. At this time, the push rod 354 does not contact the locking mechanism 36, and the locking pin 364 is inserted into the slot of the cross mounting plate 31. The outer wheel arc plate 32 will not collapse inward due to the reverse rotation of the servo motor 33 caused by external force.

[0052] When switching from off-road to water-driven mode, the servo motor 33 continues to rotate at a specific angle. The servo disc 34, internal gear disc 355, and cross rotating plate 353 continue the above actions. The push rod 354 continues to slide along the sliding rail 352, inserting into the gap between the rack rod and the pin push rod, pushing the pin push rod 365 to a state parallel to the guide rail 351. At this time, the sliding column is pushed through the oblong hole at the bottom of the pin push rod 365 to move in the vertical direction of the pin push rod 365. Since the sliding column and the pin connecting column are hinged, the distance between the pin connecting column and the pin groove is increased by the thrust of the sliding column, causing the locking pin 364 to exit from the pin groove, releasing the locking state of the locking mechanism 36. After the locking state is released, the push rod 354 pushes the rack mounting plate 371 to continue moving, causing the rack 372 to move. The universal joint drive gear 375 rotates, and the universal joint 374 causes the outer wheel arc plate 32 to deflect, exposing the propeller blade 7 inside the outer wheel arc plate 32. This allows the propeller blade 7 to better perform its propulsion function in water. While completing the deformation of the wheel structure 3, the variable-cell structure servo 41 rotates at a specific angle. The variable-cell rack 44 on the variable-cell structure servo 41 drives the double gear 43 to rotate. At this time, the variable-cell rack 44, which meshes with the double gear 43, pushes the triangular connecting block 45 through the rack connecting rod. Since the triangular connecting block 45 is movably hinged to the rack connecting rod and the main body 1, the triangular connecting block 45 is pushed by the rack connecting rod to deflect 90 degrees along the hinge point between the triangular connecting block 4 and the main body 1. This causes the power unit 2 to deflect, so that the wheel structure 3 and the main body are in a perpendicular state, thus completing the switch from off-road mode to water-driven mode.

[0053] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0054] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An all-terrain four-wheeled amphibious robot comprising: The main body (1) has multiple wheel structures (3) symmetrically arranged on both sides via a power device (2). The main body (1) changes the propulsion mode of the wheel structures (3) via a variable-cell mechanism (4). In land-driven mode, the multiple wheel structures (3) are arranged parallel to the main body (1) via the variable-cell mechanism (4). In water-driven mode, the multiple wheel structures (3) are arranged perpendicular to the main body (1) via the variable-cell mechanism (4). The main body (1) has symmetrically arranged buoyancy chambers (5) on both sides and a waterproof electrical control chamber (6) on its surface. The wheel structure (3) includes: a cross-shaped mounting plate (31), and an outer cross-shaped mounting plate (38) and... The drive end of the power unit (2) is connected to the coupling. The end of the cross mounting plate (31) is hinged with an outer wheel arc plate (32). A servo motor (33) is provided on the side wall of the outer cross mounting plate (38). The output end of the servo motor (33) is connected to a rudder disk (34). The rudder disk (34) meshes with the outer wheel arc plate deformation structure (35) for transmission. A locking mechanism (36) for limiting the outer wheel arc plate deformation structure (35) is slidably provided on the outer cross mounting plate (38). The multiple outer wheel arc plates (32) form a wheel. The outer wheel arc-shaped deformation structure (35) includes: a guide rail (351), a guide rail mounting component is provided between the outer cross mounting plate (38) and the cross mounting plate (31), the guide rail (351) is mounted on the guide rail mounting component, a sliding rail (352) is slidably connected to the guide rail (351), a push rod (354) is provided on the cross rotating plate (353), and an inner gear disk (355) is connected to the cross rotating plate (353). The inner gear disk (355) meshes and drives the rudder disk (34). The push rod (354) slides back and forth along the sliding rail (352). The side wall of the sliding rail (352) is connected to the outer wheel arc plate (32) through the universal coupling (356). The servo motor (33) switches between off-road and high-speed states through the cooperation of the servo disc (34) and the internal gear disc (355). In the high-speed state, the sliding rail (352) is located near the center of the wheel structure (3) of the guide rail (351). In the off-road state, the sliding rail (352) is located away from the center of the wheel structure (3) of the guide rail (351). The locking mechanism (36) includes: a locking mechanism guide rail (361), which is disposed on the side wall of the cross mounting plate (31). A slider (362) is sleeved on the locking mechanism guide rail (361). The slider (362) slides along the locking mechanism guide rail (361). A U-shaped locking pin mounting shell (363) is provided. The locking pin (364) slides vertically along the U-shaped locking pin mounting shell (363). One end of the locking pin (364) cooperates with the insertion hole (367) of the cross mounting plate (31) to limit and lock the outer wheel arc-shaped deformation structure (35). 4) The other end is hinged to the pin connecting post (368). The end of the pin connecting post (368) away from the locking pin (364) is provided with a sliding post (3610). One end of the pin push rod (365) is connected to the slider (362). The other end of the pin push rod (365) is provided with a sliding hole (369). The sliding post (3610) slides along the sliding hole (369) to realize the locking or unlocking action of the locking pin (364). The outer wall end of the slider (362) is provided with a rack rod (366). A gap is provided between the rack rod (366) and the pin push rod (365) to accommodate the push rod (354).

2. The all-terrain four-wheeled amphibious robot according to claim 1, characterized in that, The cross mounting plate (31) is also provided with an outer wheel arc plate steering device (37). The outer wheel arc plate steering device (37) includes: a rack mounting plate (371), which is mounted on the slider (362). A rack (372) is provided on the outer side wall of the rack mounting plate (371). A universal joint mounting box (373) is provided at the end of the cross mounting plate (31) near the outer wheel arc plate (32). A universal joint (374) is provided inside the universal joint mounting box (373). One end of the universal joint (374) is hinged to the outer wheel arc plate (32). A universal joint drive gear (375) is provided at the other end of the universal joint (374). The universal joint drive gear (375) meshes with the rack (372) for transmission.

3. The all-terrain four-wheeled amphibious robot according to claim 1, characterized in that, The universal coupling (356) includes: a support rod (3561), one end of which is rotatably connected to a sliding rail (352), and the other end of which is rotatably connected to a universal joint connector (3562). The universal joint connector (3562) is rotatably connected to a rotating component (3563) for the support rod. The outer wheel arc plate (32) is rotatably connected to the rotating component (3563) for the support rod through a flange bearing provided in the universal joint connector (3562).

4. The all-terrain four-wheeled amphibious robot according to claim 1, characterized in that, The variable cell mechanism (4) includes: a variable cell structure servo motor (41), which is mounted on the main body (1). The output end of the variable cell structure servo motor (41) is provided with a drive gear (42). A double gear mounting plate is provided on the main body (1). A double gear (43) is rotatably mounted on the double gear mounting plate. The drive gear (42) meshes with the second stage gear of the double gear (43). The first stage gear of the double gear (43) meshes with the variable cell rack (44) located in the slide groove of the main body (1). A rack connecting rod is provided at the end of the variable cell rack (44) away from the double gear (43). A triangular connecting block (45) is provided on the side wall of the power device (2). The rack connecting rod is hinged to the triangular connecting block (45).

5. The all-terrain four-wheeled amphibious robot according to claim 4, characterized in that, The power unit (2) includes: a waterproof housing (21), the side wall of which is provided with a triangular connecting block (45), the triangular connecting block (45) is hinged to the main body (1) and the rack connecting rod at different angles respectively, and a stepper motor (22) is provided inside the waterproof housing (21). The output end of the stepper motor (22) is connected to the rotating shaft of the cross rotating plate through a coupling, and the rotating shaft of the cross rotating plate is rotatably connected to the cross rotating plate (353).

6. The all-terrain four-wheeled amphibious robot according to claim 5, characterized in that, The inner wall of the outer wheel arc-shaped plate (32) is provided with a propulsion blade (7) for increasing thrust in the water-driven state.

7. The all-terrain four-wheeled amphibious robot according to claim 1, characterized in that, The waterproof electrical control chamber (6) is equipped with a suspension controller. The suspension controller makes an upward or downward movement based on the amount of water discharged from the buoyancy chamber (5). The top wall of the buoyancy chamber (5) is equipped with an air inlet, and the bottom wall of the buoyancy chamber (5) is equipped with a drain hole (8).

8. The all-terrain four-wheeled amphibious robot according to claim 6, characterized in that, Each outer wheel arc plate (32) has a recess (321) processed on the inner wall of one end, and a protrusion (322) processed on the other end of each outer wheel arc plate (32); one end of an outer wheel arc plate (32) is engaged with the protrusion (322) of an adjacent outer wheel arc plate (32) through the recess (321), and the other end of the outer wheel arc plate (32) is engaged with the recess (321) of another adjacent outer wheel arc plate (32) through the protrusion (322).

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