A narrow and flat water-land conversion robot

Abstract

A narrow and flat amphibious conversion robot. The matching structure in the amphibious robot can only realize one mode of use, and the structural redundancy after conversion is large, resulting in a complex matching structure and difficulty in reducing the overall weight, making it difficult to adapt to continuous use in a variety of different harsh environments. In the present invention, a multi-link control component is provided in the narrow and flat enclosed hollow shell, and four steering float units are provided at the four end corners of the narrow and flat enclosed hollow shell. Each steering float unit is in a rolling or suspended floating state under the drive of the multi-link control component; two gear sets are provided in parallel in the narrow and flat enclosed hollow shell, and the two gear sets are provided on both sides of the narrow and flat enclosed hollow shell. Each steering float unit is provided with a first hinged link and a second hinged link, and two first hinged links are provided on the outer wall of each gear set. The push-pull power part is provided in the narrow and flat enclosed hollow shell; four steering float units are provided at the four ends of the four-way articulated fork rod.

Description

Technical Field

[0001] The present invention particularly relates to a narrow and flat water-land conversion robot. Background Art

[0002] With the rapid development of modern society, robotics has become an inseparable part of human life. Amphibious robots, a type of robot, possess significant advantages in environmental adaptability and stability due to their symmetrical structure, and have been widely used in various fields. Therefore, research on amphibious robots has become a hot topic in robotics research. The continuous improvement of productivity has driven the continuous development and innovation of science and technology. In just two decades, humanity has experienced the PC era, the internet era, and the mobile internet era. Technological innovation and transformation have profoundly impacted people's lives, and the development of robotics is gradually changing our lifestyles. Amphibious robots, with their innovative structure, excellent motion characteristics, and emergency response capabilities, are an important complement to many types of robotic systems. Amphibious robots are playing an increasingly important pioneering role in various fields, including civil engineering, scientific research, and rescue operations. They can perform tasks that are difficult for traditional robots, such as deep-sea exploration, underwater archaeology, coastline monitoring, and disaster relief. Currently, amphibious robotics technology has made significant progress. On the software side, advancements in autonomous navigation, path planning, and intelligent decision-making technologies have enabled amphibious robots to complete tasks more independently. Furthermore, the application of bionics has provided new insights into the design of amphibious robots. For example, mimicking the movement patterns of fish and amphibians allows robots to move more flexibly and efficiently underwater and on land. However, the mating structures in current amphibious robots only support a single mode of operation. The resulting structural redundancy makes the mating structure complex and the overall weight difficult to reduce. This makes it difficult to adapt these robots to continuous use in other harsh environments, such as deep water, on land, or combined swamps. Summary of the Invention

[0003] In order to overcome the defects of the existing technology, a narrow and flat water-land conversion robot is provided to solve the above problems.

[0004] A narrow and flat amphibious conversion robot comprises a narrow and flat enclosed hollow shell, a multi-link control member, and four steering float units. The narrow and flat enclosed hollow shell is a flat rectangular shell. The multi-link control member is disposed within the narrow and flat enclosed hollow shell. The four steering float units are respectively disposed at the four end corners of the narrow and flat enclosed hollow shell. Each steering float unit is connected to the multi-link control member. Each steering float unit is driven by the multi-link control member to be in a rolling or suspended floating state.

[0005] The multi-link control component includes a main connecting shaft, a push-pull power component, a four-way hinged fork rod, two gear sets, four first hinge links and four second hinge links. The two gear sets are arranged in parallel in a narrow and flat enclosed hollow shell, and the two gear sets are respectively arranged at both ends of the narrow and flat enclosed hollow shell, and the two ends of the main connecting shaft are respectively connected to the two gear sets, and each steering floating wheel unit is correspondingly provided with a first hinge link and a second hinge link. Two first hinge links are arranged in parallel on the outer wall of each gear set, one end of each first hinge link is hinged to the gear group where it is located, and the other end of each first hinge link is hinged to its corresponding steering floating wheel unit, and the push-pull power component is arranged in the narrow and flat enclosed hollow shell; the power output end of the push-pull power component is connected to the middle part of the four-way hinged fork rod, and the four ends of the four-way hinged fork rod are respectively provided with four steering floating wheel units, and each steering floating wheel unit is hinged to the end of the four-way hinged fork rod through its corresponding second hinge link.

[0006] As a preferred solution: the narrow and flat enclosed hollow shell includes a bottom shell piece, a top shell piece, a front hollow plate, a rear hollow plate, a side hollow support plate and a transverse hollow support plate. The bottom shell piece is horizontally arranged below the top shell piece, the bottom shell piece is an irregular cross plate, the top shell piece is a rectangular sheet, and an inclined piece is respectively provided on both sides of the top shell piece. The high side of the inclined piece is fixedly connected to the side of the top shell piece as a whole, the low side of the inclined piece is a suspended side, and the inclined piece is processed with a long hole along the thickness direction of the piece, the front hollow plate, the rear hollow plate, the side hollow support plates and the transverse hollow support plates are vertically arranged between the bottom shell piece and the top shell piece, the front end of the bottom shell piece is fixedly connected to the top shell piece through the front hollow plate, the rear end of the bottom shell piece is fixedly connected to the top shell piece through the rear hollow plate, the left end of the bottom shell piece is fixedly connected to the top shell piece through the lateral hollow support plate, and the right end of the bottom shell piece is fixedly connected to the top shell piece through the transverse hollow support plate.

[0007] As a preferred solution: one end of the front hollow plate, one end of the lateral hollow support plate, the side of the bottom shell piece, and the side of the top shell piece are surrounded to form a first through-opening that cooperates with the multi-link positioning component; the other end of the front hollow plate, one end of the transverse hollow support plate, the side of the bottom shell piece, and the side of the top shell piece are surrounded to form a second through-opening that cooperates with the multi-link positioning component; one end of the rear hollow plate, the other end of the lateral hollow support plate, the side of the bottom shell piece, and the side of the top shell piece are surrounded to form a third through-opening that cooperates with the multi-link positioning component; the other end of the rear hollow plate, the other end of the transverse hollow support plate, the side of the bottom shell piece, and the side of the top shell piece are surrounded to form a fourth through-opening.

[0008] As a preferred solution: the bottom shell plate is processed with multiple first weight-reducing holes along the direction of its thickness, the front hollow plate is processed with multiple second weight-reducing holes along the direction of its thickness, the rear hollow plate is processed with multiple third weight-reducing holes along the direction of its thickness, the lateral hollow support plate is processed with multiple fourth weight-reducing holes along the direction of its thickness, and the transverse hollow support plate is processed with multiple fifth weight-reducing holes along the direction of its thickness.

[0009] As a preferred solution: each steering floating wheel unit includes a connecting shaft, a cylindrical drive motor and multiple floating fan wheel bodies, the power output end of the cylindrical drive motor is coaxially arranged with the connecting shaft, and the multiple floating fan wheel bodies are arranged on the connecting shaft along the outer circumferential direction of the connecting shaft, and each floating fan wheel body includes an arc-shaped wheel piece and a fan-shaped piece. The outer wall of the arc-shaped wheel piece is a rolled wall, and the fan-shaped piece is fixedly connected to the inner wall of the arc-shaped wheel piece. The narrow side of the fan-shaped piece is fixedly connected to the outer wall of the connecting shaft, and the wide side of the fan-shaped piece is inclined on the inner wall of the arc-shaped wheel piece.

[0010] As a preferred solution: a control and acquisition component is arranged on the top surface of the narrow and flat enclosed hollow shell, and the control and acquisition component includes a control compartment, a camera, a fixed bracket, a servo and a base. The control compartment is arranged on the top surface of the narrow and flat enclosed hollow shell, and a notch is processed at the front end of the control compartment. The base is arranged in the notch, and the base is detachably connected to the top surface of the narrow and flat enclosed hollow shell. A servo is arranged on the base, and a camera is arranged on the servo, and the camera is detachably connected to the servo through a fixed bracket.

[0011] As a preferred solution: the push-pull power part includes a side drive motor, a support shell, a worm gear assembly, a screw and an outer shell. The support shell is vertically arranged in a narrow and flat enclosed hollow shell. A worm gear assembly is arranged in the support shell. The side drive motor and the outer shell are arranged side by side on one side of the support shell. The power output end of the side drive motor passes through the support shell and is connected to the worm gear assembly. One end of the screw passes through the outer shell and the support shell and is connected to the worm gear assembly. The other end of the screw is a connecting end that cooperates with the multi-link control component. Under the drive of the side drive motor, the screw makes a reciprocating motion through the worm gear assembly to extend out of the outer shell or move back the outer shell.

[0012] As a preferred solution: the multi-link control component includes a main plug rod, a main clamping rod, two auxiliary plug rods and two auxiliary clamping rods, one end of the main clamping rod is a first U-shaped end, one end of the auxiliary clamping rod is a second U-shaped end, one end of the main plug rod is hinged to the first U-shaped end of the main clamping rod, and the bottom of the first U-shaped end of the main clamping rod is hinged to the push-pull power part, the other end of the main plug rod is hinged to the outer wall of the second U-shaped end of one of the two auxiliary clamping rods, and the other end of the main clamping rod is hinged to the outer wall of the second U-shaped end of the other auxiliary clamping rod of the two auxiliary clamping rods, each auxiliary clamping rod is correspondingly provided with a auxiliary plug rod, one end of each auxiliary plug rod is hinged in the second U-shaped end of its corresponding auxiliary clamping rod, and the other end of each auxiliary plug rod is hinged to the outer wall of a steering floating wheel unit close to it through a second hinged link.

[0013] As a preferred solution: each auxiliary clamping rod is equipped with a support member, each support member includes a column and a connecting rod, the column is vertically arranged in the narrow and flat enclosed hollow shell, one end of the connecting rod is connected to the narrow and flat enclosed hollow shell, and the other end of the connecting rod passes through the column and is hinged to the bottom of the second U-shaped end of the corresponding auxiliary clamping rod.

[0014] As a preferred solution: each first hinged link includes a long support rod, a first L-shaped connecting rod and a short support rod, one end of the long support rod is hinged to a gear set adjacent to it, the other end of the long support rod is hinged to the outer wall of the vertical end of the first L-shaped connecting rod, the outer wall of the horizontal end of the first L-shaped connecting rod is connected to one end of the short support rod, and the other end of the short support rod is hinged to the outer wall of the steering float unit;

[0015] Each second articulated link includes a main support rod and a second L-shaped connecting rod, one end of the main support rod is hinged to the outer wall of the steering float unit, the other end of the main support rod is hinged to the outer wall of the vertical end of the second L-shaped connecting rod, and the inner wall of the horizontal end of the second L-shaped connecting rod is hinged to the four-way articulated fork rod.

[0016] The beneficial effects of the present invention are:

[0017] The present invention realizes the conversion between water areas and land areas through the mutual cooperation between a narrow and flat enclosed hollow shell, a multi-link control component and four steering float units. During the conversion process, the narrow and flat enclosed hollow shell, the multi-link control component and the four steering float units can play corresponding roles in each use state, without redundant parts, and all have corresponding adaptation effects. Through the mutual cooperation between the multi-link control component and the four steering float units, it can be used in complex and changeable waters, land environments or other water-land combined environments. This narrow and flat water-land conversion robot has the ability to adapt to rapid conversion in the process of crossing different media. The conversion process does not require the assistance of external components, realizing a seamless docking process between water and land. It can be efficiently propelled on water and can also move forward steadily on land. It is particularly suitable for use in narrow and short gaps, and is suitable for collecting relevant data in narrow and short gaps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the three-dimensional structure of the present invention from a first viewing angle;

[0019] Figure 2 is a schematic diagram of the three-dimensional structure of the present invention from a second viewing angle;

[0020] Figure 3 It is a top view structural diagram of the connection relationship between the steering floating wheel unit, the main connecting shaft, the push-pull power member, the four-way articulated bifurcated rod, the gear set, the first articulated connecting rod and the second articulated connecting rod;

[0021] Figure 4 A three-dimensional structural diagram illustrating the connection between the narrow, flat, enclosed hollow housing, the second through-port, the control compartment, the camera, the fixing bracket, the servo, and the base;

[0022] Figure 5 A three-dimensional structural diagram illustrating the connection between the narrow, flat, enclosed hollow housing, the first through-port, the control compartment, the camera, the fixing bracket, and the servo;

[0023] Figure 6 A schematic diagram of the three-dimensional structure showing the connection between the narrow, flat, enclosed hollow housing, the fourth through-port, the control compartment, the camera, and the fixing bracket;

[0024] Figure 7 A schematic diagram of the three-dimensional structure showing the connection between the narrow, flat, enclosed hollow housing, the third through-port, the control compartment, the camera, and the fixing bracket;

[0025] Figure 8 It is a schematic diagram of the three-dimensional structure of the steering float unit;

[0026] Figure 9 A schematic diagram of the three-dimensional structure of the connection relationship between the side drive motor, the support housing, the lead screw and the outer casing;

[0027] Figure 10 A schematic diagram of the three-dimensional structure of the connection relationship between the main insertion rod, the main clamping rod, the auxiliary insertion rod, the auxiliary clamping rod, the steering float unit, the push-pull power member, the gear set, the first hinged link and the second hinged link, the figure is tilted from an upward angle;

[0028] Figure 11 A first three-dimensional structural diagram of the connection relationship between the main insertion rod, the main clamping rod, the auxiliary insertion rod, the auxiliary clamping rod and the support member, the figure is an inclined upward angle;

[0029] Figure 12 It is a three-dimensional structural diagram of the connection relationship between the long support rod, the first L-shaped connecting rod, the short support rod, the main support rod and the steering floating wheel unit;

[0030] Figure 13 A schematic diagram of the three-dimensional structure of the connection between the main support rod and the second L-shaped connecting rod;

[0031] Figure 14 A schematic top view of the connection between the long support rod, the first L-shaped connecting rod and the short support rod;

[0032] Figure 15 is a schematic diagram of the three-dimensional structure of the present invention from a third viewing angle;

[0033] Figure 16 This is a side view schematic diagram of the steering float unit in a land-driving state;

[0034] Figure 17 It is a side view structural diagram of the steering float unit in a snorkeling state in water;

[0035] Figure 18 A second three-dimensional structural schematic diagram of the connection relationship between the main insertion rod, the main clamping rod, the auxiliary insertion rod, the auxiliary clamping rod and the support member, the figure is an inclined top view angle.

[0036] In the figure: 1-narrow and flat enclosed hollow shell; 1-1-bottom shell piece; 1-2-top shell piece; 1-3-front hollow plate; 1-4-rear hollow plate; 1-5-lateral hollow support plate; 1-6-transverse hollow support plate; 1-7-inclined piece; 1-8-long hole;

[0037] 2- multi-link control part; 2-1- main plug rod; 2-2- main clamping rod; 2-3- auxiliary plug rod; 2-4- auxiliary clamping rod;

[0038] 3-steering floating wheel unit; 3-1-connecting shaft; 3-2-columnar drive motor; 3-3-floating fan wheel body; 3-3-1-arc-shaped wheel piece; 3-3-2-fan-shaped piece;

[0039] 4- Main connecting shaft;

[0040] 5-push-pull power parts; 5-1-side drive motor; 5-2-support housing; 5-3-lead screw; 5-4-outer casing;

[0041] 6-four-way articulated fork lever; 7-gear set;

[0042] 8-first hinged connecting rod; 8-1-long support rod; 8-2-first L-shaped connecting rod; 8-3-short support rod;

[0043] 9-second hinged connecting rod; 9-1-main support rod; 9-2-second L-shaped connecting rod;

[0044] 10 - First through-hole; 11 - Second through-hole; 12 - Third through-hole; 13 - Fourth through-hole; 14 - First weight-reducing hole; 15 - Second weight-reducing hole; 16 - Third weight-reducing hole; 17 - Fourth weight-reducing hole; 18 - Fifth weight-reducing hole; 19 - Control compartment; 20 - Camera; 21 - Fixing bracket; 23 - Servo; 24 - Base;

[0045] 25-support member; 25-1-column; 25-2-connecting rod. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention.

[0047] Specific implementation method 1: Combination Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 and Figure 18This embodiment is described. This embodiment includes a narrow and flat enclosed hollow shell 1, a multi-link control member 2 and four steering floating wheel units 3. The narrow and flat enclosed hollow shell 1 is a flat rectangular shell. The multi-link control member 2 is arranged in the narrow and flat enclosed hollow shell 1. The four steering floating wheel units 3 are respectively arranged at the four end corners of the narrow and flat enclosed hollow shell 1. Each steering floating wheel unit 3 is connected to the multi-link control member 2. Each steering floating wheel unit 3 is in a rolling or suspended floating state under the drive of the multi-link control member 2.

[0048] In this embodiment, the multi-link control member 2 includes a main connecting shaft 4, a push-pull power member 5, a four-way articulated fork rod 6, two gear sets 7, four first articulated links 8 and four second articulated links 9. The two gear sets 7 are arranged in parallel in a narrow and flat enclosed hollow shell 1. The two gear sets 7 are respectively arranged at both ends of the narrow and flat enclosed hollow shell 1. The two ends of the main connecting shaft 4 are respectively connected to the two gear sets 7. Each steering floating wheel monomer 3 is correspondingly provided with a first articulated link 8 and a second articulated link 9. The outer wall of each gear set 7 is provided with a first articulated link 8 and a second articulated link 9. The column is provided with two first articulated links 8, one end of each first articulated link 8 is articulated to the gear set 7 where it is located, and the other end of each first articulated link 8 is articulated to its corresponding steering float unit 3, and the push-pull power member 5 is arranged in a narrow and flat enclosed hollow shell 1; the power output end of the push-pull power member 5 is connected to the middle part of the four-way articulated fork rod 6, and the four ends of the four-way articulated fork rod 6 are respectively provided with four steering float units 3, and each steering float unit 3 is articulated to the end of the four-way articulated fork rod 6 through its corresponding second articulated link 9.

[0049] The steering floating wheel unit 3 in this embodiment is a floating, driven integrated wheel body controlled by a multi-link control component 2, and the posture conversion is achieved through the mutual cooperation between the four-way articulated forked rod 6, two gear sets 7, four first articulated links 8 and four second articulated links 9 in the multi-link control component 2. The multi-link control component 2 is arranged in a narrow and flat enclosed hollow shell 1, and a steering float unit 3 is respectively provided at the four ends of the four-way articulated fork rod 6. While the push-pull power component 5 on the multi-link control component 2 drives the four-way articulated fork rod 6 to move, the four-way articulated fork rod 6, the four first articulated links 8 and the four second articulated links 9 cooperate with each other to drive the four steering float units 3 to realize flipping movement, thereby ensuring that the narrow and flat water-land conversion robot can switch and travel in a complex environment of water, land or the junction of water and land, and can shuttle flexibly, and can realize underwater cave exploration, river monitoring or rescue operations or detection operations in complex terrain. During the specific operation process, it can also realize the on-demand switching process of land driving posture, floating and diving posture, and forward and backward posture according to the specific terrain conditions.

[0050] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. The narrow and flat enclosed hollow shell 1 includes a bottom shell piece 1-1, a top shell piece 1-2, a front hollow plate 1-3, a rear hollow plate 1-4, a lateral hollow support plate 1-5 and a transverse hollow support plate 1-6. The bottom shell piece 1-1 is horizontally arranged below the top shell piece 1-2. The bottom shell piece 1-1 is an irregular cross plate, and the top shell piece 1-2 is a rectangular sheet. An inclined piece 1-7 is respectively provided on both sides of the top shell piece 1-2. The high side of the inclined piece 1-7 is fixedly connected to the side of the top shell piece 1-2 as a whole, and the low side of the inclined piece 1-7 is a suspended side. The oblique piece 1-7 is processed with a long hole 1-8 along the thickness direction of the piece. The front hollow plate 1-3, the rear hollow plate 1-4, the lateral hollow support plate 1-5 and the transverse hollow support plate 1-6 are vertically arranged between the bottom shell piece 1-1 and the top shell piece 1-2. The front end of the bottom shell piece 1-1 is fixedly connected to the top shell piece 1-2 through the front hollow plate 1-3, the rear end of the bottom shell piece 1-1 is fixedly connected to the top shell piece 1-2 through the rear hollow plate 1-4, the left end of the bottom shell piece 1-1 is fixedly connected to the top shell piece 1-2 through the lateral hollow support plate 1-5, and the right end of the bottom shell piece 1-1 is fixedly connected to the top shell piece 1-2 through the transverse hollow support plate 1-6.

[0051] In this embodiment, the push-pull power member 5 is arranged on the top surface of the bottom shell 1-1, and the two gear sets 7 are arranged in parallel on the bottom surface of the top shell 1-2.

[0052] Furthermore, a multi-link control member 2 is provided between the bottom shell piece 1-1, the top shell piece 1-2, the front hollow plate 1-3, the rear hollow plate 1-4, the lateral hollow support plate 1-5 and the transverse hollow support plate 1-6. A steering float unit 3 is provided at the four end corners of the multi-link control member 2. The steering float unit 3 is arranged outside the narrow and flat enclosed hollow shell 1 through the multi-link control member 2. When using this narrow and flat water-land conversion robot, it can flexibly shuttle between various areas whether in water or on land. A control and acquisition component is provided on the top shell piece 1-2, and the control and acquisition component includes a camera 20 to ensure that when using this narrow and flat water-land conversion robot, the living habits of rare animals and plants in the water can be recorded and observed or relevant data can be collected.

[0053] Specific embodiment three: This embodiment is a further limitation of specific embodiment one or two, and one end of the front hollow plate 1-3, one end of the lateral hollow support plate 1-5, the side of the bottom shell 1-1, and the side of the top shell 1-2 are enclosed to form a first through-hole 10 that cooperates with the multi-link control member 2; the other end of the front hollow plate 1-3, one end of the lateral hollow support plate 1-6, the side of the bottom shell 1-1, and the side of the top shell 1-2 are enclosed to form A second through opening 11 cooperates with the multi-link control member 2; a third through opening 12 that cooperates with the multi-link control member 2 is formed between one end of the rear hollow plate 1-4, the other end of the lateral hollow support plate 1-5, the side of the bottom shell 1-1, and the side of the top shell 1-2; a fourth through opening 13 is formed between the other end of the rear hollow plate 1-4, the other end of the lateral hollow support plate 1-6, the side of the bottom shell 1-1, and the side of the top shell 1-2.

[0054] Furthermore, the four end corners of the multi-link control member 2 extend outward through the first through-hole 10, the second through-hole 11, the third through-hole 12 and the fourth through-hole 13 on the narrow and flat enclosed hollow shell 1, respectively, to ensure that the steering float unit 3 is installed on the multi-link control member 2, so as to realize walking in water or on land, and can carry out relevant driving, floating or deep diving detection as needed, whether in deep-sea detection or coastline detection.

[0055] Specific embodiment four: This embodiment is a further limitation of specific embodiments one, two or three. The bottom shell piece 1-1 is processed with multiple first weight-reducing holes 14 along the thickness direction of the piece, the front hollow plate 1-3 is processed with multiple second weight-reducing holes 15 along the thickness direction of the piece, the rear hollow plate 1-4 is processed with multiple third weight-reducing holes 16 along the thickness direction of the piece, the lateral hollow support plate 1-5 is processed with multiple fourth weight-reducing holes 17 along the thickness direction of the piece, and the transverse hollow support plate 1-6 is processed with multiple fifth weight-reducing holes 18 along the thickness direction of the piece.

[0056] Furthermore, the narrow and flat enclosed hollow shell 1 is respectively provided with a multi-link control part 2 and a steering float unit 3 to prevent the narrow and flat water-land conversion robot from being bulky when in use, so that a plurality of first weight-reducing holes 14, second weight-reducing holes 15, third weight-reducing holes 16, fourth weight-reducing holes 17 and fifth weight-reducing holes 18 are respectively processed on the bottom shell piece 1-1, the front hollow plate 1-3, the rear hollow plate 1-4, the lateral hollow support plate 1-5 and the transverse hollow support plate 1-6. The processing position of each weight-reducing hole is to achieve the effect of reducing the overall weight of the narrow and flat water-land conversion robot without affecting the installation position of each component, so that the conversion process of each movement mode can be flexibly and conveniently realized when moving in water or on land.

[0057] Specific embodiment five: This embodiment is a further limitation of specific embodiments one, two, three or four. Each steering float unit 3 includes a connecting shaft 3-1, a cylindrical drive motor 3-2 and a plurality of floating fan wheel bodies 3-3. The power output end of the cylindrical drive motor 3-2 is coaxially arranged with the connecting shaft 3-1. The plurality of floating fan wheel bodies 3-3 are arranged on the connecting shaft 3-1 along the outer circumferential direction of the connecting shaft 3-1. Each floating fan wheel body 3-3 includes an arcuate wheel piece 3-3-1 and a fan-shaped piece 3-3-2. The outer wall of the arcuate wheel piece 3-3-1 is a rolled wall. The fan-shaped piece 3-3-2 is fixedly connected to the inner wall of the arcuate wheel piece 3-3-1. The narrow side of the fan-shaped piece 3-3-2 is fixedly connected to the outer wall of the connecting shaft 3-1, and the wide side of the fan-shaped piece 3-3-2 is inclined on the inner wall of the arcuate wheel piece 3-3-1.

[0058] Furthermore, the connecting shaft 3-1 is arranged on the columnar drive motor 3-2, and a plurality of floating impeller bodies 3-3 are arranged on the connecting shaft 3-1. The arcuate wheel piece 3-3-1 on the floating impeller body 3-3 is arranged on the connecting shaft 3-1 through the fan-shaped piece 3-3-2. When the steering floating wheel monomer 3 moves, the columnar drive motor 3-2 on the steering floating wheel monomer 3 drives the connecting shaft 3-1 to rotate, and the connecting shaft 3-1 drives the fan-shaped piece 3-3-2 and the arcuate wheel piece 3-3-1 to rotate, wherein the rotation of the steering floating wheel monomer 3 On the one hand, the dynamic principle is similar to that of the fan in the prior art, realizing the rotation process in the driving state, which is suitable for walking on land. On the other hand, it can also realize the rotation and water-paddling effect in the floating state, ensuring that this narrow and flat water-land conversion robot has corresponding adaptive performance when realizing related movements in water or land. The steering floating wheel unit 3 is adjusted by the multi-link control component 2 to present different movement postures. When on land, it presents the state of a normal walking wheel, and when in water, it presents an obliquely open state, realizing the function of diving and floating, and switching is convenient and easy.

[0059] Specific embodiment six: This embodiment is a further limitation of specific embodiments one, two, three, four or five. A control and acquisition component is provided on the top surface of the narrow and flat enclosed hollow shell 1. The control and acquisition component includes a control compartment 19, a camera 20, a fixed bracket 21, a servo 23 and a base 24. The control compartment 19 is provided on the top surface of the narrow and flat enclosed hollow shell 1. A notch is processed at the front end of the control compartment 19. The base 24 is provided in the notch. The base 24 is detachably connected to the top surface of the narrow and flat enclosed hollow shell 1. A servo 23 is provided on the base 24. A camera 20 is provided on the servo 23. The camera 20 is detachably connected to the servo 23 through the fixed bracket 21.

[0060] Furthermore, the upper side of the top shell 1-2 is respectively provided with a control compartment 19, a camera 20, a fixed bracket 21, a steering gear 23, and a base 24. The base 24 is respectively provided with a steering gear 23 and a fixed bracket 21. The fixed bracket 21 is provided with a camera 20. The base 24 is also located near the front hollow plate 1-3. When the narrow and flat water-land conversion robot moves in the water, the camera 20 on the acquisition component is controlled to capture the movement trajectory and living habits of animals. At the same time, the staff can remotely control the narrow and flat water-land conversion robot to achieve flexible shuttle underwater caving. The camera 20 is an existing product and its working principle is the same as that of existing field deep-diving cameras.

[0061] Specific embodiment seven: This embodiment is a further limitation of specific embodiments one, two, three, four, five or six. The push-pull power part 5 includes a side drive motor 5-1, a support shell 5-2, a worm gear assembly, a screw 5-3 and an outer shell 5-4. The support shell 5-2 is vertically arranged in a narrow and flat enclosed hollow shell 1, and a worm gear assembly is arranged in the support shell 5-2. The side drive motor 5-1 and the outer shell 5-4 are arranged side by side on one side of the support shell 5-2. The power output end of the side drive motor 5-1 passes through the support shell 5-2 and is connected to the worm gear assembly. One end of the screw 5-3 passes through the outer shell 5-4 and the support shell 5-2 and is connected to the worm gear assembly. The other end of the screw 5-3 is a connecting end that cooperates with the multi-link control component 2. Under the drive of the side drive motor 5-1, the screw 5-3 makes a reciprocating motion of extending out of the outer shell 5-4 or moving back the outer shell 5-4 through the worm gear assembly.

[0062] Furthermore, the push-pull power part 5 is connected to the four-way articulated fork rod 6, and the side drive motor 5-1 on the push-pull power part 5 drives the screw 5-3 to make a reciprocating motion of extending or moving back, and the screw 5-3 drives the four-way articulated fork rod 6 to reciprocate, and the four ends of the four-way articulated fork rod 6 are connected to the steering float unit 3 through the second articulated link 9, wherein the steering float unit 3 is connected to the gear set 7 through the first articulated link 8. During the movement of the four-way articulated fork rod 6, the gear set 7 also moves to ensure that the first articulated link 8 and the second articulated link 9 cooperate with each other to adjust the shape transformation of the steering float unit 3, so that this narrow and flat amphibious conversion robot can adapt to amphibious movements under different terrain conditions.

[0063] Specific embodiment eight: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six or seven. The multi-link control member 2 includes a main plug rod 2-1, a main clamping rod 2-2, two auxiliary plug rods 2-3 and two auxiliary clamping rods 2-4. One end of the main clamping rod 2-2 is a first U-shaped end, and one end of the auxiliary clamping rod 2-4 is a second U-shaped end. One end of the main plug rod 2-1 is hinged to the first U-shaped end of the main clamping rod 2-2, and the bottom of the first U-shaped end of the main clamping rod 2-2 is hinged to the push-pull power member 5. The other end of the main plug rod 2-1 is hinged to the first U-shaped end of the main clamping rod 2-2. The end is hinged to the outer wall of the second U-shaped end of one of the two auxiliary clamping rods 2-4, and the other end of the main clamping rod 2-2 is hinged to the outer wall of the second U-shaped end of the other auxiliary clamping rod 2-4. Each auxiliary clamping rod 2-4 is correspondingly provided with a secondary insertion rod 2-3, and one end of each secondary insertion rod 2-3 is hinged in the second U-shaped end of its corresponding auxiliary clamping rod 2-4, and the other end of each secondary insertion rod 2-3 is hinged to the outer wall of a steering floating wheel unit 3 close to it through a second hinged link 9.

[0064] Furthermore, the first U-shaped end of the main clamping rod 2-2 is hinged to one end of the main plug rod 2-1, and the bottom end of the first U-shaped end of the main clamping rod 2-2 is hinged to the push-pull power piece 5. At the same time, the main plug rod 2-1 is hinged to the push-pull power piece 5, and the other end of the main plug rod 2-1 is hinged to the outer wall of the second U-shaped end of one of the two auxiliary clamping rods 2-4. The other end of the main clamping rod 2-2 is hinged to the outer wall of the second U-shaped end of the other auxiliary clamping rod 2-4. One end of each auxiliary plug rod 2-3 is hinged to its corresponding auxiliary clamping rod. In the second U-shaped end of the holding rod 2-4, the other end of each auxiliary insertion rod 2-3 is hinged to the steering float unit 3 through a second hinged link 9. When the push-pull power part 5 is started, it can drive the main clamping rod 2-2 and the main insertion rod 2-1 to rotate. At the same time, the main clamping rod 2-2 and the main insertion rod 2-1 drive the auxiliary clamping rod 2-4 and the auxiliary insertion rod 2-3 to rotate, ensuring that the second hinged link 9 can be used to adjust the shape of the steering float unit 3. When using this narrow and flat water-land conversion robot, it can achieve flexible shuttle in complex and changeable water and land environments.

[0065] Specific embodiment nine: This embodiment is a further limitation of specific embodiment eight. Each auxiliary clamping rod 2-4 is provided with a support member 25. Each support member 25 includes a column 25-1 and a connecting rod 25-2. The column 25-1 is vertically provided in the narrow and flat enclosed hollow shell 1. One end of the connecting rod 25-2 is connected to the narrow and flat enclosed hollow shell 1. The other end of the connecting rod 25-2 passes through the column 25-1 and is hinged to the bottom of the second U-shaped end of its corresponding auxiliary clamping rod 2-4. The column 25-1 is a column with a fixed position, and the connecting rod 25-2 is a sliding rod. The connecting rod 25-2 is slidably matched with the column 25-1. The connecting rod 25-2 adapts to the posture change during the use state change of the multi-link control member 2 by sliding back and forth in the width direction of the column 25-1, and assists the auxiliary insertion rod 2-3 and the auxiliary clamping rod 2-4 to perform related movements. When the multi-link control member 2 is in the land use state, the connecting rod 25-2 slides to the first extreme position of its sliding path. When the multi-link control member 2 is in the water use state, the connecting rod 25-2 slides to the second extreme position of its sliding path.

[0066] Furthermore, each auxiliary clamping rod 2-4 is provided with a support member 25, and the auxiliary clamping rod 2-4 is installed in the narrow and flat enclosed hollow shell 1 through the support member 25. The column 25-1 on the support member 25 is vertically arranged between the bottom shell piece 1-1 and the top shell piece 1-2, the upper end of the column 25-1 is arranged on the bottom side of the top shell piece 1-2, and the lower end of the column 25-1 is arranged on the top side of the bottom shell piece 1-1. One end of the connecting rod 25-2 is connected to the narrow and flat enclosed hollow shell 1, and the other end of the connecting rod 25-2 passes through the column 25-1 and is hinged to its corresponding auxiliary clamping rod 2-4, ensuring that the multi-link control component 2 can be installed on the narrow and flat enclosed hollow shell 1.

[0067] Specific embodiment ten: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six, seven, eight or nine, wherein each first hinged link 8 includes a long support rod 8-1, a first L-shaped connecting rod 8-2 and a short support rod 8-3, one end of the long support rod 8-1 is hinged to a gear set 7 adjacent thereto, the other end of the long support rod 8-1 is hinged to the outer wall of the vertical end of the first L-shaped connecting rod 8-2, the outer wall of the horizontal end of the first L-shaped connecting rod 8-2 is connected to one end of the short support rod 8-3, and the other end of the short support rod 8-3 is hinged to the outer wall of the steering float unit 3;

[0068] Each second articulated link 9 includes a main support rod 9-1 and a second L-shaped connecting rod 9-2. One end of the main support rod 9-1 is hinged to the outer wall of the steering float unit 3, and the other end of the main support rod 9-1 is hinged to the outer wall of the vertical end of the second L-shaped connecting rod 9-2. The inner wall of the horizontal end of the second L-shaped connecting rod 9-2 is hinged to the four-way articulated fork rod 6.

[0069] Furthermore, the gear group 7 is hinged to the steering floating wheel unit 3 through a first hinged link 8, one end of the long support rod 8-1 on the first hinged link 8 is set on the gear group 7, and the other end of the long support rod 8-1 is connected to the short support rod 8-3 through a first L-shaped connecting rod 8-2, one end of the short support rod 8-3 is connected to the first L-shaped connecting rod 8-2, and the other end of the short support rod 8-3 is hinged to the steering floating wheel unit 3; the four-way hinged fork rod 6 is hinged to the steering floating wheel unit 3 through a second hinged link 9, one end of the main support rod 9-1 on the second hinged link 9 is set on the four-way hinged fork rod 6, and the other end of the main support rod 9-1 is hinged to the steering floating wheel unit 3 through the second L-shaped connecting rod 9-2, wherein the first hinged link 8 and the second hinged link 9 cooperate with each other to adjust the shape transformation of the steering floating wheel unit 3, ensuring that this narrow and flat water-land conversion robot can flexibly shuttle between various areas in water or land, and can achieve corresponding dynamic conversion during the shuttle process.

[0070] Gear assembly 7 includes a main support plate and two gears. The two gears are mounted on the main support plate, which is fixedly connected to the interior of the narrow, flat, enclosed hollow housing 1. The two gears mesh with each other. Gear assembly 7 is equipped with a drive motor, whose power output shaft is connected to one of the two gears. A long support rod 8-1 is hinged to the wheel surface of each gear.

[0071] The first working mode: the working process on land: at this time, the four steering floating wheel monomers 3 are in normal wheel use state, combined with Figure 1 As shown, the multi-link control component 2 and the four steering float units 3 are installed on the narrow and flat enclosed hollow shell 1, and the push-pull power component 5 on the multi-link control component 2 is started. The push-pull power component 5 drives the four-way hinged fork rod 6 to move in the narrow and flat enclosed hollow shell 1. The four steering float units 3 are installed on the four ends of the gear set 7 and the four-way hinged fork rod 6 through the first hinged link 8 and the second hinged link 9, wherein the two gear sets 7 are connected by the main connecting shaft 4, and the gear set 7 and the four-way hinged fork rod 6 move simultaneously. When the four steering float units 3 are adjusted to the state of the walking wheels, the four steering float units 3 are started to ensure that the narrow and flat water-land conversion robot moves forward or backward through the four steering float units 3.

[0072] The second working mode: The working process in water: At this time, the four steering floats 3 are in four floating rotation states, combined with the snorkeling movement, Figure 2As shown, the multi-link control component 2 and the four steering floating wheel units 3 are installed on the narrow and flat enclosed hollow shell 1, and the four steering floating wheel units 3 are installed on the gear set 7 and the four ends of the four-way hinged fork rod 6 through the first hinged link 8 and the second hinged link 9. The push-pull power component 5 is in the self-locking state, and the four-way hinged fork rod 6 remains in a fixed state. When one of the gear sets 7 performs a gear movement of 180°, the other gear set 7 performs the same gear movement of 180° through the main connecting shaft 4. The two gear sets 7 drive the four steering floating wheel units 3 to be in an obliquely opened state through the first hinged link 8, ensuring that the narrow and flat water-land conversion robot can float up and down through the four steering floating wheel units 3.

[0073] Principle of forward or backward movement: At this time, the four steering floating wheel units 3 are in the forward or backward state, showing the use state of two inner-toe wheels, combined with Figure 15 As shown, on the basis of the ordinary land form, the gear set 7 is in a self-locking state, and the steering float unit 3 is fixed in a floating and diving state. The four-way articulated bifurcated rod 6 adjusts the steering float unit 3 to an outward-opening state through the second articulated connecting rod 9, so that the narrow and flat water-land conversion robot can move forward and backward.

[0074] Combined with the figure, the process of converting the present invention from water use to land use is as follows:

[0075] When in the water state, the two long support rods 8-1 hinged on the same gear set 7 are in the minimum distance state, and each steering floating wheel unit 3 is in the floating state. The point where each long support rod 8-1 is hinged to a gear wheel surface on the gear set 7 is the connection point. At this time, the distance between the two connection points is the smallest. When it is switched from the water state to the land state, the gear set 7 rotates to rotate the two gears inside it, and each gear drives its corresponding long support rod 8-1 to move, and the two long support rods 8-1 are converted from the minimum distance state to the maximum distance state. The two long support rods 8-1 are in the outward extension state in opposite directions. Each long support rod 8-1 drives the steering floating wheel unit 3 to realize the falling process from the upward tilt state to the horizontal state through its corresponding first L-shaped connecting rod 8-2 and short support rod 8-3. At the same time that the long support rod 8-1 is converted from the minimum distance state to the maximum distance state, the push-pull power piece 5 is started, the side drive motor 5-1 in the push-pull power piece 5 is started, and the screw 5-3 extends out of the outer shell 5-4, pushing the angle between the main plug rod 2-1 and the main clamping rod 2-2 to increase and at the same time move from one side of the narrow and flat enclosed hollow shell 1 to the other side. At the same time that the main plug rod 2-1 and the main clamping rod 2-2 move, the four steering float units 3 are simultaneously driven from the upward tilt to the horizontal state through two auxiliary plug rods 2-3, two auxiliary clamping rods 2-4 and four second articulated links 9 under the control of the support member 25. Each steering float unit 3 realizes the process of double-position traction conversion of motion posture through a first articulated link 8 and a second articulated link 9. The process of converting from land use to water use is the reverse process of the above process.

Claims

1. A narrow and flat water-land conversion robot, characterized by: The invention comprises a narrow flat enclosed hollow shell (1), a multi-link control member (2) and four steering floating wheel units (3), wherein the narrow flat enclosed hollow shell (1) is a flat rectangular shell, the multi-link control member (2) is arranged in the narrow flat enclosed hollow shell (1), and the four steering floating wheel units (3) are respectively arranged at the four end corners of the narrow flat enclosed hollow shell (1), each steering floating wheel unit (3) is connected to the multi-link control member (2), and each steering floating wheel unit (3) is in a rolling or suspended floating state under the drive of the multi-link control member (2); The multi-link control member (2) comprises a main connecting shaft (4), a push-pull power member (5), a four-way articulated bifurcated rod (6), two gear sets (7), four first articulated links (8) and four second articulated links (9), the two gear sets (7) are arranged in parallel in a narrow flat enclosed hollow shell (1), the two gear sets (7) are respectively arranged at the two ends of the narrow flat enclosed hollow shell (1), the two ends of the main connecting shaft (4) are respectively connected to the two gear sets (7), each steering floating wheel monomer (3) is correspondingly provided with a first articulated link (8) and a second articulated link (9), and the outer wall of each gear set (7) is provided with a first articulated link (8) and a second articulated link (9). Two first hinged links (8) are arranged in parallel, one end of each first hinged link (8) is hinged to the gear set (7) where it is located, and the other end of each first hinged link (8) is hinged to the corresponding steering float unit (3), and the push-pull power member (5) is arranged in a narrow and flat enclosed hollow shell (1); the power output end of the push-pull power member (5) is connected to the middle part of the four-way hinged bifurcated rod (6), and four steering float units (3) are respectively arranged at the four ends of the four-way hinged bifurcated rod (6), and each steering float unit (3) is hinged to the end of the four-way hinged bifurcated rod (6) through its corresponding second hinged link (9); The narrow and flat enclosed hollow shell (1) comprises a bottom shell piece (1-1), a top shell piece (1-2), a front hollow plate (1-3), a rear hollow plate (1-4), a lateral hollow support plate (1-5) and a transverse hollow support plate (1-6). The bottom shell piece (1-1) is horizontally arranged below the top shell piece (1-2). The bottom shell piece (1-1) is a special-shaped cross plate. The top shell piece (1-2) is a rectangular sheet. An inclined sheet (1-7) is respectively arranged on both sides of the top shell piece (1-2). The high side of the inclined sheet (1-7) is fixedly connected to the side of the top shell piece (1-2) as a whole. The low side of the inclined sheet (1-7) is a suspended side. The inclined sheet (1-7) is processed with a long The hole (1-8) is provided, and the front hollow plate (1-3), the rear hollow plate (1-4), the lateral hollow support plate (1-5) and the transverse hollow support plate (1-6) are vertically arranged between the bottom shell piece (1-1) and the top shell piece (1-2); the front end of the bottom shell piece (1-1) is fixedly connected to the top shell piece (1-2) via the front hollow plate (1-3); the rear end of the bottom shell piece (1-1) is fixedly connected to the top shell piece (1-2) via the rear hollow plate (1-4); the left end of the bottom shell piece (1-1) is fixedly connected to the top shell piece (1-2) via the lateral hollow support plate (1-5); and the right end of the bottom shell piece (1-1) is fixedly connected to the top shell piece (1-2) via the transverse hollow support plate (1-6); One end of the front hollow plate (1-3), one end of the lateral hollow support plate (1-5), the side of the bottom shell (1-1), and the side of the top shell (1-2) are enclosed to form a first through-hole (10) that matches the multi-link control member (2); the other end of the front hollow plate (1-3), one end of the lateral hollow support plate (1-6), the side of the bottom shell (1-1), and the side of the top shell (1-2) are enclosed to form a second through-hole (10) that matches the multi-link control member (2). A third through-opening (12) is formed between one end of the rear hollow plate (1-4), the other end of the lateral hollow support plate (1-5), the side of the bottom shell piece (1-1), and the side of the top shell piece (1-2), and is matched with the multi-link position control member (2); a fourth through-opening (13) is formed between the other end of the rear hollow plate (1-4), the other end of the lateral hollow support plate (1-6), the side of the bottom shell piece (1-1), and the side of the top shell piece (1-2).

2. The narrow and flat land-water conversion robot according to claim 1, characterized in that: The bottom shell (1-1) is processed with a plurality of first weight-reducing holes (14) along the thickness direction of the sheet, the front hollow plate (1-3) is processed with a plurality of second weight-reducing holes (15) along the thickness direction of the sheet, the rear hollow plate (1-4) is processed with a plurality of third weight-reducing holes (16) along the thickness direction of the sheet, the lateral hollow support plate (1-5) is processed with a plurality of fourth weight-reducing holes (17) along the thickness direction of the sheet, and the transverse hollow support plate (1-6) is processed with a plurality of fifth weight-reducing holes (18) along the thickness direction of the sheet.

3. The narrow and flat land-water conversion robot according to claim 1, characterized in that: Each steering floating wheel unit (3) comprises a connecting shaft (3-1), a columnar drive motor (3-2) and a plurality of floating fan wheel bodies (3-3); a power output end of the columnar drive motor (3-2) is coaxially arranged with the connecting shaft (3-1); the plurality of floating fan wheel bodies (3-3) are arranged on the connecting shaft (3-1) along the outer circumferential direction of the connecting shaft (3-1); each floating fan wheel body (3-3) comprises an arcuate wheel piece (3-3-1) and a fan-shaped piece (3-3-2); the outer wall of the arcuate wheel piece (3-3-1) is a rolled wall; the fan-shaped piece (3-3-2) is fixedly connected to the inner wall of the arcuate wheel piece (3-3-1); the narrow side of the fan-shaped piece (3-3-2) is fixedly connected to the outer wall of the connecting shaft (3-1); and the wide side of the fan-shaped piece (3-3-2) is obliquely arranged on the inner wall of the arcuate wheel piece (3-3-1).

4. The narrow and flat land-water conversion robot according to claim 1, characterized in that: A control and acquisition component is provided on the top surface of the narrow and flat enclosed hollow shell (1), and the control and acquisition component includes a control chamber (19), a camera (20), a fixing bracket (21), a steering gear (23) and a base (24). The control chamber (19) is provided on the top surface of the narrow and flat enclosed hollow shell (1), a notch is processed at the front end of the control chamber (19), and the base (24) is provided in the notch. The base (24) is detachably connected to the top surface of the narrow and flat enclosed hollow shell (1), a steering gear (23) is provided on the base (24), and a camera (20) is provided on the steering gear (23), and the camera (20) is detachably connected to the steering gear (23) via the fixing bracket (21).

5. The narrow and flat land-water conversion robot according to claim 1, characterized in that: The push-pull power member (5) includes a side drive motor (5-1), a support shell (5-2), a worm gear assembly, a lead screw (5-3) and an outer shell (5-4). The support shell (5-2) is vertically arranged in a narrow and flat enclosed hollow shell (1). The support shell (5-2) is provided with a worm gear assembly. The side drive motor (5-1) and the outer shell (5-4) are arranged in parallel on one side of the support shell (5-2). The power of the side drive motor (5-1) is The output end passes through the support housing (5-2) and is connected to the worm gear assembly. One end of the lead screw (5-3) passes through the outer casing (5-4) and the support housing (5-2) and is connected to the worm gear assembly. The other end of the lead screw (5-3) is a connection end that cooperates with the multi-link control member (2). Driven by the side drive motor (5-1), the lead screw (5-3) makes a reciprocating motion extending out of the outer casing (5-4) or moving back the outer casing (5-4) through the worm gear assembly.

6. The narrow and flat land-water conversion robot according to claim 1 or 5, characterized in that: The multi-link control member (2) comprises a main insert rod (2-1), a main clamping rod (2-2), two auxiliary insert rods (2-3) and two auxiliary clamping rods (2-4), one end of the main clamping rod (2-2) is a first U-shaped end, one end of the auxiliary clamping rod (2-4) is a second U-shaped end, one end of the main insert rod (2-1) is hinged to the first U-shaped end of the main clamping rod (2-2), the bottom of the first U-shaped end of the main clamping rod (2-2) is hinged to the push-pull power member (5), the other end of the main insert rod (2-1) is hinged to one of the two auxiliary clamping rods (2-4), and the other end of the main insert rod (2-1) is hinged to one of the two auxiliary clamping rods (2-4). The outer wall of the second U-shaped end of the rod (2-4) is hinged, the other end of the main clamping rod (2-2) is hinged to the outer wall of the second U-shaped end of the other of the two auxiliary clamping rods (2-4), each auxiliary clamping rod (2-4) is correspondingly provided with a secondary insertion rod (2-3), one end of each secondary insertion rod (2-3) is hinged in the second U-shaped end of its corresponding auxiliary clamping rod (2-4), and the other end of each secondary insertion rod (2-3) is hinged to the outer wall of a steering floating wheel monomer (3) adjacent to it through a second hinged connecting rod (9).

7. The narrow and flat land-water conversion robot according to claim 6, characterized in that: Each auxiliary clamping rod (2-4) is provided with a supporting member (25) in cooperation with the supporting member (25). Each supporting member (25) comprises a column (25-1) and a connecting rod (25-2). The column (25-1) is vertically provided in the narrow and flat enclosed hollow shell (1). One end of the connecting rod (25-2) is connected to the narrow and flat enclosed hollow shell (1). The other end of the connecting rod (25-2) passes through the column (25-1) and is hinged to the bottom of the second U-shaped end of the corresponding auxiliary clamping rod (2-4).

8. The narrow and flat land-water conversion robot according to claim 1, characterized in that: Each first hinged connecting rod (8) comprises a long support rod (8-1), a first L-shaped connecting rod (8-2) and a short support rod (8-3); one end of the long support rod (8-1) is hinged to a gear set (7) adjacent to it; the other end of the long support rod (8-1) is hinged to the outer wall of the vertical end of the first L-shaped connecting rod (8-2); the outer wall of the horizontal end of the first L-shaped connecting rod (8-2) is connected to one end of the short support rod (8-3); and the other end of the short support rod (8-3) is hinged to the outer wall of the steering float unit (3); Each second hinged connecting rod (9) comprises a main support rod (9-1) and a second L-shaped connecting rod (9-2); one end of the main support rod (9-1) is hinged to the outer wall of the steering float unit (3); the other end of the main support rod (9-1) is hinged to the outer wall of the vertical end of the second L-shaped connecting rod (9-2); and the inner wall of the horizontal end of the second L-shaped connecting rod (9-2) is hinged to the four-way hinged bifurcated rod (6).

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