A water-air amphibious robot and method of operation

Abstract

The application provides a water-air amphibious robot and a running method, and relates to the technical field of water-air amphibious robots.The water-air amphibious robot comprises a body, a main propelling unit, a propelling floating diving unit and a swing mechanism.The water-air amphibious robot and the running method can realize gliding marching in water or gliding flying in air, have a large carrying capacity, and are convenient for marching and flying control;the main propelling unit, the propelling floating diving unit and the cooperation mechanism are arranged, so that the propelling directions of the main propelling unit and the propelling floating diving unit can be changed, the posture of the body during marching or flying can be flexibly changed, and meanwhile, the position of the floating center or the gravity center of the body can be changed through the propelling floating diving unit, so that the posture of the body during marching or flying can be more flexibly changed in cooperation with the propelling directions of the main propelling unit and the propelling floating diving unit.

Description

Technical Field

[0001] This invention relates to the field of amphibious robot technology, specifically to an amphibious robot and its operation method. Background Technology

[0002] In recent years, with the continuous development of aircraft technologies such as drones, amphibious drones have gradually emerged to meet specific application needs and usage scenarios. Amphibious drones can swim in water and fly in the air, possessing broad application prospects and high application value. Currently, most amphibious drones are quadcopter drones, which limit their carrying capacity and operational control. Furthermore, the current layout of components in amphibious drones is not ideal; the overall fuselage is heavy and occupies a large space, limiting the carrying capacity of sensors and hindering their placement. Summary of the Invention

[0003] The purpose of this invention is to provide an amphibious robot and its operating method to achieve gliding or flying.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] An amphibious robot includes a fuselage, a main propulsion unit, a propulsion and snorkeling unit, and a swing mechanism;

[0006] The fuselage is provided with wings on the left and right sides at the middle position, and a tail fin is provided at the tail of the fuselage;

[0007] The main propulsion unit is located in the middle of the fuselage, with the propulsion end of the main propulsion unit facing the tail fin;

[0008] The propulsion snorkeling unit is rotatably connected to the left and right sides of the bow of the fuselage;

[0009] The swing mechanism is installed on the fuselage, and the swing mechanism drives the propulsion snorkeling unit to swing relative to the fuselage;

[0010] The propulsion end of the propulsion snorkeling unit can be directed toward the wing.

[0011] Preferably, the propulsion snorkeling unit includes a support frame and a first motor, an electromagnetic clutch, a pump, and a first bladder mounted on the support frame;

[0012] The first motor is provided with a rear output shaft facing rearward and a front output shaft facing forward;

[0013] The rear output shaft is equipped with a first propeller, the front output shaft is connected to one end of the drive shaft, the other end of the drive shaft is connected to the input end of the electromagnetic clutch, and the output end of the electromagnetic clutch is connected to the drive shaft of the pump.

[0014] The electromagnetic clutch can connect the input end of the electromagnetic clutch to the output end to drive the pump's drive shaft to rotate, or disconnect the input end of the electromagnetic clutch from the output end.

[0015] The pump is provided with a first port and a second port, and the second port is connected to the first bladder via a first pipeline;

[0016] The first capsule is made of an elastic material;

[0017] The pump's drive shaft rotates to allow gas or fluid to enter the second port through the first port and continue into the first capsule.

[0018] Preferably, it further includes a rotating sleeve and a hinge shaft. The rotating sleeve is fitted to the left and right sides of the front of the machine body. The hinge shaft is rotatably connected inside the rotating sleeve. One end of the hinge shaft is connected to the support frame. The swing mechanism drives the hinge shaft to rotate.

[0019] Preferably, the swing mechanism includes a second motor, a first rocker arm, a second rocker arm, and a transmission arm. The second motor is mounted on the machine body. The output shaft of the second motor is fixedly connected to one end of the first rocker arm, and the other end of the hinge shaft is fixedly connected to one end of the second rocker arm. One end of the transmission arm is hinged to the other end of the first rocker arm, and the other end of the transmission arm is hinged to the other end of the second rocker arm. The output shaft of the second motor rotates to drive the hinge shaft to rotate.

[0020] Preferably, it also includes a ring-shaped cover, which is disposed on the support frame, and the first propeller is located inside the cover.

[0021] Preferably, it also includes a support sleeve, the electromagnetic clutch is disposed on the support frame, one end of the support sleeve is fitted with the input end of the electromagnetic clutch, the other end of the support sleeve is fitted with the front output shaft of the first motor, and the drive shaft is located inside the support sleeve.

[0022] Preferably, the main propulsion unit includes a third motor, a steering adjustment mechanism, and a second propeller. The base of the third motor is connected to the fuselage via the steering adjustment mechanism. The third motor is arranged horizontally. The steering adjustment mechanism is used to drive the third motor to swing left and right relative to the fuselage. The output shaft of the third motor is connected to the second propeller.

[0023] Preferably, the steering adjustment mechanism includes a support slide, a swing seat, a mounting seat, and a fourth motor. The support slide is disposed on the machine body, the swing seat is located inside the support slide, and the swing seat slides circumferentially with the support slide. The mounting seat is disposed at the upper end of the swing seat, and the base of the third motor is mounted on the mounting seat. The fourth motor is disposed on the machine body, and the output shaft of the fourth motor is connected to the swing seat.

[0024] Preferably, it also includes a main snorkeling unit disposed on the fuselage, the main snorkeling unit including a main snorkeling drive mechanism and a second bladder, the main snorkeling drive mechanism being used to change the volume of the second bladder.

[0025] A method for operating an amphibious robot, using the aforementioned amphibious robot, wherein the method can selectively operate in an underwater mode or an aerial mode:

[0026] I. Underwater Operation Mode

[0027] The steering adjustment mechanism drives the second propeller to swing left and right relative to the fuselage to change the propulsion direction of the main propulsion unit.

[0028] The first propellers on both sides are driven to swing up and down relative to the fuselage by the swing mechanism, so as to change the propulsion direction of the snorkeling unit.

[0029] Optionally,

[0030] Before entering the water from the air, the input end of the electromagnetic clutch is connected to the output end to drive the pump drive shaft to rotate. The rotation of the pump drive shaft causes air to enter the second port through the first port and continue to enter the first bladder to inflate the first bladder.

[0031] During operation in water, the first bladders on the left and right sides of the fuselage each release a set amount of air to change the volume of the first bladders, thereby changing the position of the fuselage's center of buoyancy.

[0032] During operation in the water, the main snorkeling drive mechanism changes the volume of the second capsule to propel the fuselage to submerge or rise.

[0033] II. In-flight Operation Mode

[0034] The steering adjustment mechanism drives the second propeller to swing left and right relative to the fuselage to change the propulsion direction of the main propulsion unit.

[0035] The first propellers on both sides are driven to swing up and down relative to the fuselage by the swing mechanism, so as to change the propulsion direction of the snorkeling unit.

[0036] Optionally,

[0037] Before entering the air from the water, the input end of the electromagnetic clutch is connected to the output end to drive the pump drive shaft to rotate. The rotation of the pump drive shaft causes the water to enter the second port through the first port and continue to enter the first bladder.

[0038] During flight, the first bladders on the left and right sides of the fuselage each discharge a predetermined amount of water to change the fuselage's center of gravity.

[0039] The beneficial technical effects of this invention are:

[0040] The amphibious robot and its operating method of the present invention can glide through water or glide through the air, with a large carrying capacity and easy control for both movement and flight. By setting up a main propulsion unit, a propulsion buoyancy unit, and a cooperating mechanism, the propulsion direction of the main propulsion unit and the propulsion buoyancy unit can be changed to flexibly change the movement or flight attitude of the fuselage. At the same time, the propulsion buoyancy unit can change the position of the fuselage's center of buoyancy or center of gravity to more flexibly change the movement or flight attitude of the fuselage in conjunction with the propulsion direction of the main propulsion unit and the propulsion buoyancy unit. Attached Figure Description

[0041] Figure 1 The three-dimensional representation of the amphibious robot in this embodiment of the invention. Figure 1 , Figure 1 The mid-propellant snorkeling unit is in a horizontal propulsion posture;

[0042] Figure 2 This is a top view of the amphibious robot according to an embodiment of the present invention;

[0043] Figure 3 This is a bottom view of the amphibious robot according to an embodiment of the present invention;

[0044] Figure 4 This is a side view of the amphibious robot according to an embodiment of the present invention;

[0045] Figure 5 for Figure 4 Sectional view of AA;

[0046] Figure 6 This is a front view of the amphibious robot according to an embodiment of the present invention;

[0047] Figure 7 This is a rear view of the amphibious robot according to an embodiment of the present invention;

[0048] Figure 8 The three-dimensional representation of the amphibious robot in this embodiment of the invention. Figure 2 , Figure 8 The mid-propellant snorkeling unit is in a cross-propulsion posture;

[0049] Figure 9The three-dimensional representation of the amphibious robot in this embodiment of the invention. Figure 3 , Figure 9 The mid-propellant snorkeling unit is in a downward-facing propulsion position;

[0050] Figure 10 The three-dimensional representation of the amphibious robot in this embodiment of the invention. Figure 4 , Figure 10 The main propulsion unit is used for steering and attitude adjustment;

[0051] Figure 11 This is a perspective view of the amphibious robot of the present invention after the fuselage shell has been removed;

[0052] Figure 12 for Figure 11 A magnified view of a portion of point Q;

[0053] Figure 13 This is a perspective view of the snorkeling propulsion unit of the present invention;

[0054] Figure 14 This is a front view of the snorkeling propulsion unit of the present invention;

[0055] Figure 15 This is a top view of the snorkeling propulsion unit of the present invention;

[0056] Figure 16 for Figure 15 BB section view;

[0057] Figure 17 This is a right view of the propulsion snorkeling unit of the present invention;

[0058] Figure 18 This is a left view of the snorkeling propulsion unit of the present invention;

[0059] Figure 19 for Figure 18 CC section view;

[0060] Figure 20 This is a perspective view of the main propulsion unit structure of the present invention;

[0061] Figure 21 for Figure 20 DD section view. Detailed Implementation

[0062] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. Certain embodiments of the invention will be described more fully below with reference to the accompanying drawings, and some, but not all, of these embodiments will be shown. In fact, various embodiments of the invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to enable the invention to meet applicable legal requirements.

[0063] In the description of this invention, it should be noted that the terms "inner," "outer," "upper," "lower," "front," and "rear," etc., 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 for 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, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0064] In this embodiment of the invention, an amphibious robot and its operation method are provided. Please refer to [reference needed]. Figures 1 to 21 As shown.

[0065] An amphibious robot includes a fuselage 1, a main propulsion unit 2, a propulsion and snorkeling unit 3, and a swing mechanism 4.

[0066] Wings 11 are located on the left and right sides of the middle of the fuselage 1, and a tail fin 12 is located at the tail of the fuselage 1. A main propulsion unit 2 is located in the middle of the fuselage 1, with its propulsion end facing the tail fin 12. Propulsion and buoyancy units 3 are rotatably connected to the left and right sides of the nose of the fuselage 1. A swing mechanism 4 is located inside the nose of the fuselage 1, which drives the propulsion and buoyancy units 3 to swing relative to the fuselage 1. The propulsion end of the propulsion and buoyancy units 3 can face the wing 11. The propulsion end of the propulsion and buoyancy units 3 facing the wing 11 changes the flow velocity, thereby changing the magnitude of the lift force on the wing 11.

[0067] The propulsion snorkeling unit 3 includes a support frame 31 and a first motor 32, an electromagnetic clutch 33, a pump 34 and a first bladder 35 mounted on the support frame 31.

[0068] The first motor 32 can be an internal combustion engine, an electric motor, etc. In this embodiment, the first motor 32 is specifically an electric motor. The first motor 32 is provided with a rear output shaft 321 facing rearward and a front output shaft 322 facing forward.

[0069] The rear output shaft 321 is equipped with a first propeller 36. The rotation of the rear output shaft 321 of the first motor 32 drives the first propeller 36 to rotate, thereby realizing the propulsion of the amphibious robot in water and air.

[0070] The front output shaft 322 is connected to one end of the drive shaft 323, the other end of the drive shaft 323 is connected to the input end of the electromagnetic clutch 33, and the output end of the electromagnetic clutch 33 is connected to the drive shaft of the pump 34.

[0071] The electromagnetic clutch 33 can connect the input end of the electromagnetic clutch 33 to the output end to drive the drive shaft of the pump 34 to rotate, or disconnect the input end of the electromagnetic clutch 33 from the output end.

[0072] When the electromagnetic clutch 33 is activated, connecting the input end of the electromagnetic clutch 33 to the output end, the front output shaft 322 of the first motor 32 rotates, thereby driving the drive shaft of the pump 34 to rotate via the transmission shaft 323 and the electromagnetic clutch 33.

[0073] When the electromagnetic clutch 33 is activated, disconnecting the power connection between its input and output ends, the first motor 32 will not supply power to the pump 34.

[0074] Pump 34 is provided with a first port and a second port, the second port being connected to a first bladder 35 via a first conduit 371. The first bladder 35 is made of an elastic material; in this embodiment, the first bladder 35 is made of rubber.

[0075] Before being filled with gas or fluid, the first capsule 35 is in a contracted state; after being filled with gas or fluid, the first capsule 35 expands. By filling and discharging gas or fluid into the first capsule 35, the volume of the first capsule 35 is changed for buoyancy and diving.

[0076] A solenoid valve is installed on the first pipe 371. When it is necessary to discharge gas or fluid from the first bladder 35, the solenoid valve on the first pipe 371 is opened, and the gas or fluid is discharged through the first pipe 371. Of course, a bypass pipe can also be installed, which is connected to the first bladder 35. A solenoid valve is also installed on the bypass pipe. When the solenoid valve on the bypass pipe is opened, the gas or fluid is discharged through the bypass pipe.

[0077] The drive shaft of pump 34 rotates to allow gas or fluid to enter the second port through the first port and continue into the first bladder 35 through the first pipe 371. The first port of pump 34 is connected to the second pipe 372 so that gas or fluid can enter the first port through the second pipe 372.

[0078] The housing 38 is annular and is mounted on the support frame 31, with the first propeller 36 located inside the housing 38. In this way, the housing 38 protects the first propeller 36 and improves propulsion efficiency.

[0079] An electromagnetic clutch 33 is mounted on a support frame 31. One end of a support sleeve 324 is fitted with the input end of the electromagnetic clutch 33, and the other end of the support sleeve 324 is fitted with the front output shaft of the first motor 32. The drive shaft 323 is located inside the support sleeve 324. On the one hand, the support sleeve 324 encloses the drive shaft 323 inside the support sleeve 324 to prevent the drive shaft 323 from being damaged by impacts; on the other hand, the support sleeve 324 supports the first motor 32 to facilitate the installation and arrangement of the first motor 32.

[0080] The first propeller 36 is located at the rearmost position of the support frame 31, and the first capsule 35 is located at the frontmost position of the support frame 31. A first motor 32, an electromagnetic clutch 33, and a pump 34 are arranged between the first propeller 36 and the first capsule 35.

[0081] The support frame 31 has a bladder seat 311 at its front end, and a first bladder 35 is mounted on the bladder seat 311. The first bladder 35 blocks the pump 34, electromagnetic clutch 33, and first motor 32 to reduce the flow resistance of the propulsion buoyancy unit 3. In this embodiment, the front end of the first bladder 35 is set as a hemispherical shape to further reduce the flow resistance.

[0082] In this embodiment, the propulsion snorkeling unit 3 has a first propeller 36 and a pump 34 that share a first motor 32 for driving, which makes the amphibious robot lighter and occupies less space, allowing the robot to carry more sensors and making it easier to arrange the sensors.

[0083] Rotating sleeves 392 are mounted on the left and right sides of the front of fuselage 1. Hinges 391 are rotatably connected inside rotating sleeves 392. One end of hinge 391 is connected to support frame 31. The swing mechanism drives hinge 391 to rotate. The rotation of hinge 391 drives support frame 31 to rotate, thereby causing the first propeller 36 to swing up and down relative to the fuselage.

[0084] The swing mechanism includes a second motor 41, a first rocker arm 42, a second rocker arm 43, and a transmission arm 44. The second motor 41 is located inside the head of the fuselage 1.

[0085] The second motor 41 can be an internal combustion engine, an electric motor, etc.; in this embodiment, the second motor 41 is specifically an electric motor. The output shaft of the second motor 41 is fixedly connected to one end of the first rocker arm 42, and the other end of the hinge shaft 391 is fixedly connected to one end of the second rocker arm 43. One end of the transmission arm 44 is hinged to the other end of the first rocker arm 42, and the other end of the transmission arm 44 is hinged to the other end of the second rocker arm 43. The rotation of the output shaft of the second motor 41 drives the hinge shaft 391 to rotate via the first rocker arm 42, the transmission arm 44, and the second rocker arm 43.

[0086] The main propulsion unit 2 includes a third motor 21, a steering adjustment mechanism, and a second propeller 22. The third motor 21 can be an internal combustion engine, an electric motor, etc. In this embodiment, the third motor 21 is specifically an electric motor. The base of the third motor 21 is connected to the fuselage 1 via the steering adjustment mechanism. The third motor 21 is arranged horizontally. The steering adjustment mechanism is used to drive the third motor 21 to swing left and right relative to the fuselage 1. The output shaft of the third motor 21 is connected to the second propeller 22 via a gearbox 23.

[0087] The steering adjustment mechanism includes a support slide 24, a swing seat 25, a mounting seat 26, and a fourth motor 27. The support slide 24 is mounted on the body 1, the swing seat 25 is located inside the support slide 24, and the swing seat 25 slides circumferentially with the support slide 24. The upper end of the swing seat 25 is provided with the mounting seat 26, and the base of the third motor 21 is mounted on the mounting seat 26.

[0088] The fourth motor 27 can be an internal combustion engine, an electric motor, etc. In this embodiment, the fourth motor 27 is specifically an electric motor. The fourth motor 27 is mounted on the fuselage 1, and its output shaft is connected to the swing seat 25. The rotation of the output shaft of the fourth motor 27 drives the swing seat 25 to rotate relative to the support slide 24. The rotation of the swing seat 25 drives the mounting base 26 and the third motor 21 on it to rotate, thereby causing the second propeller 22 to swing left and right relative to the fuselage 1.

[0089] The fuselage 1 is also equipped with a main snorkeling unit, which includes a main snorkeling drive mechanism 51 and a second capsule 52. The main snorkeling drive mechanism 51 is used to change the volume of the second capsule 52.

[0090] A method for operating an amphibious robot, using the amphibious robot described in this embodiment, allows the method to selectively operate in either an underwater or aerial mode.

[0091] I. Underwater Operation Mode

[0092] The steering adjustment mechanism drives the second propeller 22 to swing left and right relative to the fuselage 1, thereby changing the propulsion direction of the main propulsion unit 2; the swing mechanism 4 drives the first propellers 36 on both sides to swing up and down relative to the fuselage 1, thereby changing the propulsion direction of the propulsion buoyancy unit 3. In this way, by changing the propulsion directions of the main propulsion unit 2 and the propulsion buoyancy unit 3, the flight attitude of the fuselage can be flexibly changed.

[0093] Optionally,

[0094] Before entering the water from the air, the input end of the electromagnetic clutch 33 is connected to the output end to drive the drive shaft of the pump 34 to rotate. The rotation of the drive shaft of the pump 34 causes air to enter the second port through the first port and continue into the first bladder 35 to inflate the first bladder 35. During operation in the water, the first bladders 35 on the left and right sides of the fuselage 1 each discharge a set amount of air to change the volume of the first bladder 35, thereby changing the buoyancy center position of the fuselage 1. During operation in the water, the main snorkeling drive mechanism changes the volume of the second bladder 52 to drive the fuselage 1 to submerge or rise. In this way, by propulsing the snorkeling unit 3, the buoyancy center position of the fuselage 1 can be changed, allowing for more flexible changes in the swimming attitude of the fuselage 1 in coordination with the propulsion direction of the main propulsion unit 2 and the propulsion snorkeling unit 3.

[0095] II. In-flight Operation Mode

[0096] The steering adjustment mechanism drives the second propeller 22 to swing left and right relative to the fuselage 1, thereby changing the propulsion direction of the main propulsion unit 2; the swing mechanism 4 drives the first propellers 36 on both sides to swing up and down relative to the fuselage, thereby changing the propulsion direction of the propulsion buoyancy unit 3; by changing the propulsion directions of the main propulsion unit 2 and the propulsion buoyancy unit 3, the flight attitude of the fuselage can be flexibly changed. Thus, by changing the propulsion directions of the main propulsion unit 2 and the propulsion buoyancy unit 3, the flight attitude of the fuselage can be flexibly changed.

[0097] Optionally,

[0098] Before entering the air from the water, the input end of the electromagnetic clutch 33 is connected to the output end to drive the drive shaft of the pump 34 to rotate. The rotation of the drive shaft of the pump 34 causes water to enter the second port through the first port and continue into the first bladder 35. During operation in the air, the first bladders 52 on the left and right sides of the fuselage 1 each discharge a set amount of water to change the center of gravity of the fuselage 1. In this way, by propulsing the buoyancy unit 3, the center of gravity of the fuselage 1 can be changed, allowing for more flexible changes in the flight attitude of the fuselage 1 in coordination with the propulsion direction of the main propulsion unit 2 and the propulsion buoyancy unit 3.

[0099] The present invention has been described in detail with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the amphibious robot and its operating method of the present invention. The amphibious robot and its operating method of the present invention can glide in water or glide in the air, has a large carrying capacity, and is easy to control for swimming and flight. By setting up the main propulsion unit 2, the propulsion buoyancy unit 3, and the cooperating mechanism, the propulsion direction of the main propulsion unit 2 and the propulsion buoyancy unit 3 can be changed to flexibly change the swimming or flight attitude of the fuselage 1. At the same time, the propulsion buoyancy unit 3 can change the position of the center of buoyancy or center of gravity of the fuselage 1 to more flexibly change the swimming or flight attitude of the fuselage 1 in conjunction with the propulsion direction of the main propulsion unit 2 and the propulsion buoyancy unit 3.

[0100] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An amphibious robot, characterized in that: Includes the fuselage, main propulsion unit, propulsion snorkeling unit, and oscillation mechanism; The fuselage has wings on the left and right sides at the middle position, and a tail fin at the rear of the fuselage; The main propulsion unit is located in the middle of the fuselage, with the propulsion end of the main propulsion unit facing the tail fin; The propulsion snorkeling unit is rotatably connected to the left and right sides of the bow of the fuselage; The propulsion snorkeling unit includes a support frame and a first motor, an electromagnetic clutch, a pump, and a first bladder mounted on the support frame; The first motor is provided with a rear output shaft facing rearward and a front output shaft facing forward; The rear output shaft is equipped with a first propeller, the front output shaft is connected to one end of the drive shaft, the other end of the drive shaft is connected to the input end of the electromagnetic clutch, and the output end of the electromagnetic clutch is connected to the drive shaft of the pump. The electromagnetic clutch can connect the input end of the electromagnetic clutch to the output end to drive the pump's drive shaft to rotate, or disconnect the input end of the electromagnetic clutch from the output end. The pump is provided with a first port and a second port, and the second port is connected to the first bladder via a first pipeline; The first capsule is made of an elastic material; The pump's drive shaft rotates to allow gas or fluid to enter the second port through the first port and continue into the first bladder. The swing mechanism is installed on the fuselage, and the swing mechanism drives the propulsion snorkeling unit to swing relative to the fuselage; The propulsion end of the propulsion snorkeling unit can be directed toward the wing.

2. The amphibious robot according to claim 1, characterized in that: It also includes a rotating sleeve and a hinge shaft. The rotating sleeve is fitted to the left and right sides of the front of the machine body. The hinge shaft is rotatably connected inside the rotating sleeve. One end of the hinge shaft is connected to the support frame. The swing mechanism drives the hinge shaft to rotate.

3. The amphibious robot according to claim 2, characterized in that: The swing mechanism includes a second motor, a first rocker arm, a second rocker arm, and a transmission arm. The second motor is mounted on the machine body. The output shaft of the second motor is fixedly connected to one end of the first rocker arm, and the other end of the hinge shaft is fixedly connected to one end of the second rocker arm. One end of the transmission arm is hinged to the other end of the first rocker arm, and the other end of the transmission arm is hinged to the other end of the second rocker arm. The output shaft of the second motor rotates to drive the hinge shaft to rotate.

4. An amphibious robot according to claim 1, characterized in that: It also includes a ring-shaped cover, which is disposed on the support frame, and the first propeller is located inside the cover.

5. An amphibious robot according to claim 1, characterized in that: It also includes a support sleeve, the electromagnetic clutch is mounted on the support frame, one end of the support sleeve is fitted with the input end of the electromagnetic clutch, the other end of the support sleeve is fitted with the front output shaft of the first motor, and the drive shaft is located inside the support sleeve.

6. An amphibious robot according to claim 1, characterized in that: The main propulsion unit includes a third motor, a steering adjustment mechanism, and a second propeller. The base of the third motor is connected to the fuselage via the steering adjustment mechanism. The third motor is arranged horizontally. The steering adjustment mechanism is used to drive the third motor to swing left and right relative to the fuselage. The output shaft of the third motor is connected to the second propeller.

7. An amphibious robot according to claim 6, characterized in that: The steering adjustment mechanism includes a support slide, a swing seat, a mounting seat, and a fourth motor. The support slide is disposed on the machine body, the swing seat is located inside the support slide, and the swing seat slides circumferentially with the support slide. The mounting seat is disposed at the upper end of the swing seat, and the base of the third motor is mounted on the mounting seat. The fourth motor is disposed on the machine body, and the output shaft of the fourth motor is connected to the swing seat.

8. An amphibious robot according to claim 1, characterized in that: It also includes a main snorkeling unit mounted on the fuselage, the main snorkeling unit comprising a main snorkeling drive mechanism and a second bladder, the main snorkeling drive mechanism being used to change the volume of the second bladder.

9. A method for operating an amphibious robot, using the amphibious robot described in any one of claims 1 to 8, characterized in that, The method operates in either underwater or aerial mode. I. Underwater Operation Mode The steering adjustment mechanism drives the second propeller to swing left and right relative to the fuselage to change the propulsion direction of the main propulsion unit; the swing mechanism drives the first propellers on both sides to swing up and down relative to the fuselage to change the propulsion direction of the snorkeling propulsion unit. Before entering the water from the air, the input end of the electromagnetic clutch is connected to the output end to drive the pump's drive shaft to rotate. The rotation of the pump's drive shaft causes air to enter the second port through the first port and continue into the first bladder to inflate it. During operation in the water, the first bladders on the left and right sides of the fuselage each discharge a set amount of air to change the volume of the first bladder and thus change the fuselage's center of buoyancy. During operation in the water, the main buoyancy drive mechanism changes the volume of the second bladder to propel the fuselage to submerge or ascend. II. In-flight Operation Mode The steering adjustment mechanism drives the second propeller to swing left and right relative to the fuselage to change the propulsion direction of the main propulsion unit; the swing mechanism drives the first propellers on both sides to swing up and down relative to the fuselage to change the propulsion direction of the snorkeling propulsion unit. Before entering the air from the water, the input end of the electromagnetic clutch is connected to the output end to drive the pump drive shaft to rotate. The rotation of the pump drive shaft causes water to enter the second port through the first port and continue to enter the first bladder. During the operation in the air, the first bladders on the left and right sides of the fuselage each discharge a set amount of water to change the position of the fuselage's center of gravity.

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