A sea and air amphibious robot

Abstract

The present invention discloses a sea-air amphibious robot, comprising a bracket, an arm assembly, an aerial propulsion assembly, an underwater propulsion assembly, an outer shell and a waterproof cabin, wherein the outer shell is fixedly connected to the bracket, the waterproof cabin is installed in the outer shell, the arm assembly comprises a plurality of arms, the plurality of arms are symmetrically connected to both sides of the bracket, the aerial propulsion assembly comprises a plurality of aerial thrusters, the underwater propulsion assembly comprises a plurality of underwater thrusters, the plurality of aerial thrusters and the plurality of underwater thrusters are respectively installed on the plurality of arms, wherein the installation position of each underwater thruster is lower than the installation position of each aerial thruster, and the buoyancy of the sea-air amphibious robot in water is greater than the gravity, so that when the sea-air amphibious robot is stationary and floats on the water surface, at least part of each aerial thruster is above the water surface, and each underwater thruster is below the water surface. The sea-air amphibious robot proposed by the present invention can realize efficient propulsion of the robot in both water and air.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation robots, and in particular to an amphibious three-dimensional monitoring and grasping integrated robot for sea and air. Background Art

[0002] The sea-air cross-media robot is an emerging robot that can work in both water and air and repeatedly cross the water-air interface. It has both the stealth of underwater vehicles and the speed of aerial vehicles. It is a breakthrough technology that can expand the application scenarios of aerial vehicles and underwater vehicles.

[0003] Although the current sea-air cross-medium robots have made certain research progress and developed a variety of prototypes, there are still some shortcomings in practical application and technical maturity, including: (1) Single function: The existing sea-air cross-medium robots need to be expanded in terms of functionality. At present, these robots mainly realize environmental exploration functions by integrating visual modules, lacking advanced functions such as multi-sensor fusion, underwater operation capabilities, and multi-task execution. (2) Environmental adaptability: During the take-off and landing process near the sea surface, the sea-air cross-medium robots are affected by environmental factors such as wind, waves, and currents, and their stability and reliability face challenges. (3) Propulsion efficiency: The current sea-air cross-medium robots cannot meet the efficient movement requirements of both water and air. For example, although the fixed-wing design is conducive to air flight, its propulsion efficiency in water is low; and the design of underwater thrusters may not be conducive to air flight. How to design a propulsion system that can be efficiently propulsed both in the air and underwater is a difficulty in current research. (4) Communication issues: Since sea-air cross-border robots use wireless communications, communication is a major challenge in cross-media environments, especially when sailing underwater and transitioning from underwater to air. Most existing sea-air cross-media robots navigate underwater through autonomous path planning and cannot achieve real-time control. There is also room for improvement in the continuity of communication when crossing the water-air interface.

[0004] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0005] In view of the shortcomings of the existing sea-air cross-medium robots, the present invention proposes a sea-air amphibious robot that can achieve efficient propulsion of the robot in both water and air.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention discloses a sea-air amphibious robot, comprising a bracket, an arm assembly, an aerial propulsion assembly, an underwater propulsion assembly, an outer shell and a waterproof cabin, wherein the outer shell is fixedly connected to the bracket, the waterproof cabin is installed in the outer shell, the arm assembly comprises a plurality of arms, and the plurality of arms are symmetrically connected to both sides of the bracket, the aerial propulsion assembly comprises a plurality of aerial thrusters, and the underwater propulsion assembly comprises a plurality of underwater thrusters, wherein the plurality of aerial thrusters and the plurality of underwater thrusters are respectively installed on the plurality of arms, wherein the installation position of each of the underwater thrusters is lower than the installation position of each of the aerial thrusters, and the buoyancy of the sea-air amphibious robot in water is greater than gravity, so that when the sea-air amphibious robot is stationary and floating on the water surface, at least part of each of the aerial thrusters is above the water surface, and each of the underwater thrusters is below the water surface.

[0008] Preferably, the bracket includes an upper sub-bracket, a lower sub-bracket and a plurality of connecting columns, and the upper sub-bracket and the lower sub-bracket are fixedly connected by a plurality of connecting columns to form a double-layer structure, wherein a plurality of the aerial thrusters are respectively installed on a plurality of the arms connected to the upper sub-bracket, and at least part of the underwater thrusters are respectively installed on a plurality of the arms connected to the lower sub-bracket.

[0009] Preferably, the multiple arms connected to the upper sub-bracket are detachably connected to the upper sub-bracket via fasteners, and the multiple arms connected to the lower sub-bracket are integrally connected to the lower sub-bracket.

[0010] Preferably, some of the underwater thrusters are respectively mounted on the lower side of the arm on which the aerial thrusters are mounted through right-angle flanges.

[0011] Preferably, the bracket is a hollow structure made of carbon fiber material, and each of the arms is made of carbon fiber material.

[0012] Preferably, a first hole is opened on the front side of the waterproof cabin, and a transparent cover is sealed and connected to the first hole. A second hole is opened on the front side of the shell, and the transparent cover can extend from the second hole.

[0013] Preferably, the sea and air amphibious robot also includes a grasping assembly, which includes a mechanical arm, a mechanical gripper and a plurality of flexible pads, the mechanical gripper is installed at the front end of the mechanical arm, the plurality of flexible pads are respectively fixed to the inner surface of the mechanical gripper, and the mechanical arm is fixed to the lower side of the bracket by fasteners.

[0014] Preferably, the sea-and-air amphibious robot also includes a landing assembly, which includes a plurality of landing gears, and the plurality of aerial thrusters are respectively installed on the upper sides of the free ends of the plurality of arms, and the plurality of landing gears are respectively connected to the lower sides of the middle sections of the plurality of arms on which the aerial thrusters are installed.

[0015] Preferably, the aerial propulsion device comprises an aerial motor and an aerial rotor, each of the aerial motors is fixedly connected to the free end of the arm by a fastener, and the aerial rotor is concentrically installed above the aerial motor, wherein when the sea-air amphibious robot is stationary and floating on the water surface, the aerial rotor of each of the aerial propulsion devices is above the water surface.

[0016] Preferably, when the sea-air amphibious robot is stationary and floating on the water surface, the center of buoyancy of the sea-air amphibious robot is located above the center of gravity.

[0017] Compared with the prior art, the beneficial effects of the present invention are: the sea and air amphibious robot proposed in the present invention includes an aerial propulsion component and an underwater propulsion component, and the buoyancy of the sea and air amphibious robot in water is adjusted by an outer shell connected to the bracket and a waterproof cabin installed in the outer shell, so that the buoyancy of the sea and air amphibious robot is greater than the gravity, so that when the sea and air amphibious robot is stationary and floating on the water surface, at least part of each aerial propeller is above the water surface, and each underwater propeller is below the water surface, so that when the robot needs to enter the underwater from the air, it only needs to quickly switch the start of the propulsion component on the water surface to achieve efficient propulsion of the robot in both water and air media, effectively solving the problem that a single propulsion system is difficult to take into account both media.

[0018] In a further solution, the bracket of the present invention adopts a double-layer structure design, which not only makes the fuselage lighter, but also solves the problem of mutual interference that may exist in the dual propulsion systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of a sea-air amphibious robot according to a preferred embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the connection structure of the bracket and the arm assembly;

[0021] Figure 3 is a schematic diagram of the connection structure between the first machine arm and the upper sub-bracket;

[0022] Figure 4 yes Figure 1 A partial enlarged schematic diagram of the China Sea and Air Amphibian Robot;

[0023] Figure 5 It is a schematic diagram of the structure of the waterproof cabin;

[0024] Figure 6 It is a schematic diagram of the structure of the watertight compartment hatch cover;

[0025] Figure 7 It is a structural diagram of the grabbing component.

[0026] Description of reference numerals:

[0027] 1. Bracket; 11. Upper sub-bracket; 111. Fixing bar; 12. Lower sub-bracket; 13. Connecting column;

[0028] 2. Arm assembly; 21. First arm; 211. Circular hole; 212. Straight slot hole; 213. Circular plate; 214. First circular hole; 215. Right-angle flange; 216. Second circular hole; 22. Second arm;

[0029] 3. Aerial propulsion assembly; 30. Aerial propeller; 31. Aerial motor; 32. Aerial rotor; 33. Self-locking nut;

[0030] 4. underwater propulsion assembly; 40. underwater propeller; 41. underwater motor; 42. underwater propeller;

[0031] 5. Shell;

[0032] 6. Waterproof cabin body; 61. Waterproof cabin base; 62. Waterproof cabin hatch; 63. Sealing ring; 64. Transparent cover;

[0033] 7. Grabbing assembly; 71. Mechanical arm; 72. Mechanical gripper; 73. Flexible pad; 74. Fixing piece;

[0034] 8. Landing assembly; 80. Landing gear; 81. Disc structure; 82. Cross leg. DETAILED DESCRIPTION

[0035] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope and application of the present invention.

[0036] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for both fixing and circuit / signal communication.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] like Figure 1 As shown, a preferred embodiment of the present invention discloses a sea-air amphibious robot, comprising a bracket 1, an arm assembly 2, an aerial propulsion assembly 3, an underwater propulsion assembly 4, a shell 5 and a waterproof cabin, wherein the shell 5 is fixedly connected to the bracket 1, the waterproof cabin is installed in the shell 5, the arm assembly 2 includes a plurality of arms, and the plurality of arms are symmetrically connected to both sides of the bracket 1, the aerial propulsion assembly 3 includes a plurality of aerial propellers 30, and the underwater propulsion assembly 4 includes a plurality of underwater propellers 40, and the plurality of aerial propellers 30 and the plurality of underwater propellers 40 are respectively installed on the plurality of arms, wherein the installation position of each underwater propeller 40 is lower than the installation position of each aerial propeller 30, and the buoyancy of the sea-air amphibious robot in water is greater than the gravity, so that when the sea-air amphibious robot is stationary and floating on the water surface, at least part of each aerial propeller 30 is above the water surface, and each underwater propeller 40 is below the water surface.

[0040] Combination Figure 2 As shown, in this embodiment, the bracket 1 includes an upper sub-bracket 11, a lower sub-bracket 12 and a plurality of connecting columns 13, and the upper sub-bracket 11 and the lower sub-bracket 12 are fixedly connected by the plurality of connecting columns 13 to form a double-layer structure; the arm assembly 2 includes four first arms 21 and two second arms 22, the four first arms 21 are detachably and symmetrically connected to the upper sub-bracket 11 by fasteners, and the two second arms 22 are symmetrically and integrally connected to the lower sub-bracket 12; the aerial propulsion assembly 3 includes a total of four aerial thrusters 30, and the underwater propulsion assembly 4 includes a total of four underwater thrusters 40, the four aerial thrusters 30 are respectively installed at the free ends of the four first arms 21, the two underwater thrusters are respectively installed at the free ends of the two second arms 22, and the other two underwater thrusters 40 are respectively installed in the middle of the two first arms 21 located at the rear end.

[0041] Furthermore, combined with Figure 3 , four first arms 21 are symmetrically connected to the bottom of both sides of the upper sub-bracket 11, and a fixing bar 111 is installed at the bottom of the upper sub-bracket 11 to further strengthen the connection between the first arms 21 and the upper sub-bracket 11, so as to increase the connection strength between the upper sub-bracket 11 and the four first arms 21. In this embodiment, the four first arms 21 are symmetrically connected to both sides of the upper sub-bracket 11 in an X-shaped shape.

[0042] The upper sub-bracket 11 and the lower sub-bracket 12 are both hollow structures made of carbon fiber materials, and the four first arms 21 and the two second arms 22 are also made of carbon fiber materials, wherein the two second arms 22 and the lower sub-bracket 12 can be integrally formed. In a further embodiment, the upper sub-bracket 11 and the lower sub-bracket 12 are both symmetrical hollow designs of special shapes, and through customized carbon fiber printing, the overall weight of the sea and air amphibious robot can be reduced while meeting system requirements. The connecting column 13 connecting the upper sub-bracket 11 and the lower sub-bracket 12 is, for example, an aluminum column.

[0043] Combination Figure 3 and Figure 4 A circular hole 211 and a straight slot hole 212 are provided at the free end of the first arm 21. The aerial propeller 30 includes an aerial motor 31 and an aerial rotor 32. The aerial motor 31 is fixed to the circular hole 211 and the straight slot hole 212 provided at the free end of the first arm 21 by fasteners. The aerial rotor 32 is concentrically installed above the aerial motor 31 and is fixed by a self-locking nut 33.

[0044] A circular plate 213 is provided in the middle of the two first arms 21 at the rear side of the four first arms 21 connected to the upper sub-bracket 11. The circular plate 213 is integrally formed with the first arms 21. A first circular hole 214 is provided on the circular plate 213 for fixing a right-angle flange 215. The right-angle flange 215 is fixed to the lower side of the two first arms 21, so as to fix the underwater propeller 40 in the horizontal direction below the two first arms 21 at the rear side. Among the four underwater propellers 40, two underwater propellers 40 are installed on the second arms 22 on both sides of the lower sub-bracket 12 in the vertical direction, and the other two underwater propellers 40 are installed on the right-angle flanges 215 on the two first arms 21 at the rear side in the horizontal direction. The underwater propeller 40 is composed of an underwater motor 41 and an underwater propeller 42. The underwater propeller 42 is coaxially mounted on the underwater motor 41. The underwater motor 41 is installed above the second arm 22 or behind the right-angle flange 215. In this embodiment, the second arms 22 on each side of the lower sub-support 12 are respectively disposed between the two first arms 21 on each side of the upper sub-support 11 .

[0045] Combination Figure 1 and Figure 5 The outer shell 5 is fixedly connected to the upper sub-bracket 11, and the waterproof cabin 6 is installed in the outer shell 5. The outer wall of the outer shell 5 has a streamlined structure, which covers the outside of the waterproof cabin 6 and is fixed to the upper sub-bracket 11. It can also be used as a buoyancy block to accurately adjust the buoyancy of the sea-air amphibious robot as a whole; the waterproof cabin 6 is used to load core electronic devices such as flight controllers, GPS, control panels, and receivers.

[0046] Combination Figure 5 and Figure 6 As shown, the waterproof cabin body 6 is composed of a waterproof cabin base 61 and a waterproof cabin cover 62. The contact surfaces of the waterproof cabin base 61 and the waterproof cabin cover 62 are respectively provided with grooves and protrusions. In this embodiment, a protrusion is provided on the waterproof cabin base 61, a groove is provided on the waterproof cabin cover 62, and a sealing ring 63 (for example, a rubber ring) is provided in the groove of the waterproof cabin cover 62 for waterproofing. The waterproof cabin base 61 and the waterproof cabin cover 62 are fixed by screws. In addition, a hole can be opened on the front side of the waterproof cabin base 61, and a spherical transparent cover 64 made of acrylic can be sealed and fixed at the opening; correspondingly, a hole is also opened on the front side of the shell 5 so that the transparent cover 64 can be extended to facilitate the operation of the visual system.

[0047] The sea-air amphibious robot also includes a grasping assembly 7, which is fixedly connected to the lower sub-bracket 12. Figure 7 The grabbing assembly 7 includes a mechanical arm 71, a mechanical gripper 72 and a plurality of flexible pads 73. The mechanical gripper 72 is installed at the front end of the mechanical arm 71. The plurality of flexible pads 73 are respectively fixed to the inner surface of the mechanical gripper 72. A fixing member 74 is fixed to the mechanical arm 71. The fixing member 74 is fixed to the lower side of the front of the lower sub-bracket 12 by a fastener. In this embodiment, the mechanical arm 71 is a cylindrical structure, and the flexible pad 73 is attached to the inner surface of the mechanical gripper 72 so as not to cause damage to the marine life when the mechanical gripper 72 grabs it. Among them, the sea-air amphibious robot can be installed with grabbing assemblies 7 of different functions or structures according to the operation form.

[0048] The sea-air amphibious robot also includes a landing assembly 8, which includes four landing gears 80. Four aerial thrusters 30 are respectively installed on the upper side of the free ends of the four first arms 21, and the four landing gears 80 are respectively connected to the lower side of the middle section of the four first arms 21. The landing gear 80 is composed of a disc structure 81 and a cross leg 82, and the cross leg 82 is fixedly connected to the disc structure 81. The middle of the four first arms 21 is provided with a second circular hole 216, and the disc structure 81 is fixedly connected to the position below the second circular hole 216 by screws. By setting up four landing gears 80, the sea-air amphibious robot can play a role of buffering and supporting when taking off and landing on land.

[0049] The operation process of the sea-air amphibious robot of the preferred embodiment of the present invention is as follows: (1) The front landing gear 80 supports the sea-air amphibious robot on the ground, and the aerial propeller 30 rotates to generate upward lift, and the sea-air amphibious robot takes off from the ground into the air. (2) When flying in the air, the traditional four-rotor control method is adopted to realize the free flight of the sea-air amphibious robot in the air, and aerial exploration can be realized in combination with the visual system. (3) When arriving at the operating sea area, the throttle is reduced to make the sea-air amphibious robot slowly land on the sea surface, and the aerial propeller 30 stops rotating after landing on the sea surface. Based on the design, the buoyancy of the sea-air amphibious robot is controlled to be slightly greater than the gravity, so as to maintain its slight positive buoyancy. Specifically, the buoyancy and gravity can be adjusted by increasing or decreasing the buoyancy foam or gravity block. Among them, the adjustment standard of the slight positive buoyancy is to ensure that when the sea-air amphibious robot is still floating on the water surface, the air rotor 32 is just above the water surface and in the air; and because the underwater propeller 42 and the air rotor 32 have an up-down position relationship, when the air rotor 32 is above the water surface, the underwater propeller 42 is still immersed in the water. The relative position relationship between each propeller and the water surface can ensure that the sea-air amphibious robot successfully takes off or sinks into the water; start the vertical underwater propeller 40 to generate downward thrust, which can drive the sea-air amphibious robot across the water-air interface and enter the ocean. (4) When underwater, the two vertical underwater propellers 40 and the two horizontal underwater propellers 40 jointly control the robot, which can realize six-degree-of-freedom movement and realize underwater exploration in combination with the visual system. (5) When arriving at the underwater grabbing task location, the sea-air amphibious robot hovers underwater, and autonomously or controlledly completes underwater grabbing through the grabbing component 7 and the coordinated control of the visual system. (6) After completing the grabbing task, the sea-air amphibious robot returns to the sea surface through the control of the vertical underwater propeller 40, and the air propeller 30 rotates at the sea surface to generate upward lift to pull the sea-air amphibious robot out of the water, fly to the target location and land.

[0050] In addition to underwater grabbing operations, the sea-air amphibious robot of the preferred embodiment of the present invention can also realize fixed-point delivery. The specific process is similar to the above process, except that after the grabbing component 7 of the sea-air amphibious robot grabs the delivered object, it reaches the target location through a combination of flying and sailing, and delivers the delivered object to the target location.

[0051] The preferred embodiment of the present invention aims at the existing deficiencies of the sea-air cross-medium robot, and designs a cross-medium robot that integrates sea-air stereoscopic exploration and grasping. The robot is mainly composed of a bracket 1, an arm assembly 2, an aerial propulsion assembly 3, an underwater propulsion assembly 4, a shell 5, a waterproof cabin 6, a grasping assembly 7, and a landing assembly 8. The waterproof cabin 6 can be 3D printed with waterproof materials to ensure waterproof performance while reducing the overall weight; in the design of the propulsion system, the present invention adopts a dual propulsion mechanism. The aerial propulsion assembly 3 includes four aerial motors 31 and corresponding four aerial rotors 32. The speed of the four aerial rotors 32 is changed by adjusting the speed of the four aerial motors 31 to achieve the change of lift, thereby controlling the posture and position of the sea-air amphibious robot. This design not only provides excellent vertical lifting capability, but also ensures the maneuverability of the sea-air amphibious robot in the horizontal plane. The underwater propulsion assembly 4 is propelled by an underwater propeller 42, and the thrust and maneuverability of the underwater propeller 42 are used to achieve stable navigation in an underwater environment. This combination of propulsion methods realizes the efficient propulsion of the sea and air amphibious robot in both water and air, and effectively solves the problem that a single propulsion system is difficult to take into account both media. The sea and air amphibious robot is equipped with a flexible gripper, combined with an advanced visual system and a grasping system, which greatly improves the functionality of the sea and air amphibious robot. This combination not only enhances the performance of the sea and air amphibious robot in environmental exploration and observation, but also enables it to adapt to more complex task requirements, such as precise fishing operations or maintenance inspections of underwater structures in a changing marine environment. In terms of communication, the present invention adopts frequency hopping technology to adapt to the communication challenges in both underwater and air media. Frequency hopping technology increases the anti-interference ability of the signal by constantly changing the frequency of radio waves, thereby ensuring the stability of real-time control and data transmission in complex marine environments. In terms of material selection, the bracket and arm of the whole machine are customized with carbon fiber. This material, with its high strength and low density, provides the required structural strength for the sea and air amphibious robot, while minimizing the weight of the whole machine. The foam-customized streamlined shell can improve the fluid dynamics performance of the cross-media robot, and optimize the gravity and buoyancy balance of the sea and air amphibious robot, ensuring that it has a slightly positive buoyancy, so as to maintain stability during underwater operations. In addition, the foam-customized streamlined shell also provides additional protection for the overall structure of the sea and land amphibious robot, enhancing its durability and reliability in complex environments.

[0052] The amphibious robot provided by the present invention has the following advantages:

[0053] (1) Improved functional integration: The amphibious robot of the present invention not only has the function of environmental exploration, but also integrates a grasping component, which can perform precise fishing operations or structural maintenance inspections underwater, thereby improving the multi-task execution capability of the amphibious robot and better meeting the operational requirements in the changing marine environment.

[0054] (2) Enhanced environmental adaptability: The instrument cabin is the main source of buoyancy for the amphibious robot, while the battery pack is the main source of weight. Together, they finely adjust the center of buoyancy and center of gravity of the amphibious robot. This up-and-down layout design places the center of buoyancy above the center of gravity, providing sufficient restoring torque for the vehicle in the water, thereby ensuring the stability of the vehicle. This structural design significantly enhances the stability and reliability of the amphibious robot during takeoff and landing near the sea surface. By adopting an optimized gravity and buoyancy balance design, it can be ensured that the amphibious robot will not lose control due to excessive or insufficient buoyancy when taking off and landing near the water surface, which helps the robot maintain a stable posture in the face of environmental factors such as wind, waves, and currents, thereby enhancing the robot's stability and reliability during takeoff and landing near the sea surface.

[0055] (3) Enhanced cross-media stability: The present invention integrates a dual propulsion mechanism, in which the aerial propulsion assembly is composed of four aerial motors and four aerial rotors, and the underwater propulsion system is composed of four underwater motors and four efficient underwater propellers. The design of the double-layer carbon plate fuselage structure solves the problem of possible mutual interference between the dual propulsion systems. In addition, the various components of the amphibious robot provided by the preferred embodiment of the present invention are very streamlined (wherein the aerial propulsion assembly is composed of only four aerial propellers, the aerial propellers are composed of only aerial motors and aerial rotors, and the underwater propulsion assembly is composed of only four underwater propellers, and the underwater propellers are composed of only underwater motors and underwater propellers), ensuring that even in the dual propulsion system configuration, the amphibious robot can still maintain a low dead weight, effectively solving the problem of high dead weight usually associated with the dual propulsion system. This innovative design not only ensures that the amphibious robot can exhibit excellent stability and maneuverability in both air and water, but also significantly improves the stability of the robotic arm in grasping operations whether in the air or underwater, ensuring the efficient and reliable operation of the amphibious robot in a changing environment.

[0056] (4) Improvement of communication capabilities: By adopting frequency hopping technology, the communication stability of amphibious robots in cross-media environments, especially when sailing underwater and transitioning from underwater to air, is improved, the signal's anti-interference ability is increased, and the stability of real-time control and data transmission is ensured.

[0057] (5) Optimization of materials and structure: The entire machine frame and arm are customized with carbon fiber, which reduces the overall weight while ensuring structural strength; the streamlined foam shell improves the fluid dynamics performance while balancing buoyancy and gravity, and also provides additional protection for the robot, enhancing durability and reliability.

[0058] The background section of the present invention may contain background information about the problem or environment of the present invention, rather than describing the prior art by others. Therefore, the content contained in the background section is not an admission by the applicant that the prior art is available.

[0059] The above content is a further detailed description of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, it can also make several substitutions or modifications to these described embodiments, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention. In the description of this specification, the description of reference terms "an embodiment", "some embodiments", "preferred embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, in the absence of mutual contradiction, the technical personnel in this field can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the scope defined by the attached claims.

Claims

1. A sea and air amphibious robot, characterized in that: The robot comprises a support, an arm assembly, an aerial propulsion assembly, an underwater propulsion assembly, an outer shell and a waterproof cabin, wherein the outer shell is fixedly connected to the support, the waterproof cabin is installed in the outer shell, the arm assembly comprises a plurality of arms, the plurality of arms are symmetrically connected to both sides of the support, the aerial propulsion assembly comprises a plurality of aerial thrusters, the underwater propulsion assembly comprises a plurality of underwater thrusters, the plurality of aerial thrusters and the plurality of underwater thrusters are respectively installed on the plurality of arms, wherein the installation position of each of the underwater thrusters is lower than the installation position of each of the aerial thrusters, and the buoyancy of the sea-air amphibious robot in water is greater than the gravity, so that when the sea-air amphibious robot is stationary and floating on the water surface, at least part of each of the aerial thrusters is above the water surface, and each of the underwater thrusters is below the water surface; Wherein, the bracket includes an upper sub-bracket, a lower sub-bracket and a plurality of connecting columns, the upper sub-bracket and the lower sub-bracket are fixedly connected to each other through the plurality of connecting columns to form a double-layer structure, the arm assembly includes four first arms and two second arms, the four first arms are symmetrically connected to the upper sub-bracket, the two second arms are symmetrically connected to the lower sub-bracket, and the second arms on each side of the lower sub-bracket are respectively arranged at a position between the two first arms on each side of the upper sub-bracket; The number of the aerial thrusters included in the aerial propulsion assembly is four, and the number of the underwater thrusters included in the underwater propulsion assembly is four. The four aerial thrusters are respectively installed at the free ends of the four first arms, two of which are respectively installed at the free ends of the two second arms in the vertical direction, and the other two underwater thrusters are respectively installed at the lower side of the middle of the two first arms in the horizontal direction through right-angle flanges.

2. The sea-air amphibious robot according to claim 1, characterized in that: The bracket is a hollow structure made of carbon fiber material, and each of the machine arms is made of carbon fiber material.

3. The sea-air amphibious robot according to claim 1, characterized in that: A first hole is opened on the front side of the waterproof cabin, and a transparent cover is sealed and connected to the first hole. A second hole is opened on the front side of the shell, and the transparent cover can extend from the second hole.

4. The sea-air amphibious robot according to claim 1, characterized in that: It also includes a grasping assembly, which includes a mechanical arm, a mechanical gripper and a plurality of flexible pads. The mechanical gripper is installed at the front end of the mechanical arm, and the plurality of flexible pads are respectively fixed to the inner surface of the mechanical gripper. The mechanical arm is fixed to the lower side of the bracket by fasteners.

5. The sea-air amphibious robot according to claim 1, characterized in that: It also includes a landing assembly, which includes multiple landing gears. The multiple aerial thrusters are respectively installed on the upper sides of the free ends of the multiple arms, and the multiple landing gears are respectively connected to the lower sides of the middle sections of the multiple arms on which the aerial thrusters are installed.

6. The sea-air amphibious robot according to claim 1, characterized in that: The aerial propulsion device includes an aerial motor and an aerial rotor. Each of the aerial motors is fixedly connected to the free end of the machine arm by a fastener. The aerial rotor is concentrically installed above the aerial motor. When the sea-air amphibious robot is stationary and floating on the water surface, the aerial rotor of each of the aerial propulsion devices is above the water surface.

7. The sea-air amphibious robot according to claim 1, characterized in that: When the sea-air amphibious robot is stationary and floating on the water surface, the buoyancy center of the sea-air amphibious robot is located above the center of gravity.

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