Light-weight, high-maneuverability and deformable multi-mode triphibian robot

Abstract

The invention discloses a light-weight, high-maneuverability and deformable multi-mode triphibian robot, and relates to the technical field of triphibian robots. The problems that an existing triphibian robot is large in size and weight, short in endurance time, poor in maneuverability and short in hang time are solved. An upper supporting plate and a lower supporting plate are horizontally and oppositely arranged on the upper side and the lower side of a watertight compartment correspondingly, two wheel paddle mechanisms which are symmetrically arranged are installed at the left end and the right end of the lower supporting plate correspondingly, and an arm folding mechanism is installed in the middle of the upper end of the upper supporting plate; the head ends of the four arms are all rotatably connected with the connecting frame up and down, four propeller assemblies are installed at the tail ends of the four arms respectively, and an arm folding driving mechanism installed in the middle of the connecting frame is connected with the head ends of the four arms so as to drive the four arms and the four propeller assemblies connected with the head ends of the four arms to achieve folding or unfolding actions. The method is used for improving the adaptability and flexibility of the triphibian robot.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious robots, and in particular to a lightweight, highly maneuverable, deformable multi-modal amphibious robot. Background Art

[0002] With the advancement of science and technology, the application areas of robots are constantly expanding, from single-environment operations to multi-environment adaptive operations. Traditional robots have limited adaptability in complex environments. Therefore, the development of amphibious robots that can work in water, land, and air has become an important research direction.

[0003] Amphibious robots have a wide range of applications, including reconnaissance and survey, integrated reconnaissance and attack, disaster relief, etc. They can perform reconnaissance tasks in specific environments, such as underwater frogman accompanying diving, anti-terrorism bomb disposal, urban street fighting, port reconnaissance, etc. At the same time, they can also conduct environmental exploration, personnel search and rescue, disaster assessment, etc. at the disaster site.

[0004] A Chinese utility model patent with publication number CN221476623U and publication date August 6, 2024 discloses an amphibious robot, which has the following disadvantages: (1) the quad-rotor structure cannot be folded, occupies too much space, and has redundant structure; (2) the multiple paddle wheel structures require too many motors, which are heavy and impose a heavy load burden on the robot; (3) there are too many voltage stabilizers and electric control devices, which consume more power per unit time and have a short battery life.

[0005] A Chinese invention patent with publication number CN114193988A and publication date March 18, 2022 discloses a four-wing three-amphibious robot, which has the following disadvantages: (1) The directional rotor propulsion mechanism and the electric landing gear may consume extra energy when switching between different modes, which is too inefficient and increases energy consumption; (2) The large size and weight will reduce the maneuverability of the robot, making it more difficult to operate in narrow or complex environments; (3) The robot uses a main aircraft model motor and a directional aircraft model motor, and the power and efficiency of these motors will directly affect the robot's hovering time. If the motor efficiency is not high or the power is not enough to support the weight of the robot, its hovering time may be reduced.

[0006] In summary, existing amphibious robots have the problems of large size and weight, short battery life, poor maneuverability and short hovering time. Summary of the invention

[0007] The purpose of the present invention is to solve the problems of existing amphibious robots, such as large size and weight, short endurance, poor maneuverability and short hovering time, and to provide a lightweight, highly maneuverable and deformable multimodal amphibious robot.

[0008] The technical solution of the present invention is:

[0009] A lightweight, highly maneuverable, deformable multimodal amphibious robot, the multimodal amphibious robot comprising a lower support plate 1, a watertight compartment 2, an upper support plate 3, an arm folding mechanism, two wheel-paddle mechanisms and two universal auxiliary wheels 13, the upper support plate 3 and the lower support plate 1 are horizontally arranged on the upper and lower sides of the watertight compartment 2, respectively, the upper end of the watertight compartment 2 is fixedly connected to the middle of the lower surface of the upper support plate 3, the lower end of the watertight compartment 2 is fixedly connected to the middle of the upper surface of the lower support plate 1, the left and right ends of the lower support plate 1 are respectively equipped with two symmetrically arranged wheel-paddle mechanisms, the front and rear ends of the lower support plate 1 are respectively equipped with two symmetrically arranged universal auxiliary wheels 13, the middle of the upper end of the upper support plate 3 is equipped with an arm folding mechanism. The arm folding mechanism comprises a connecting frame 12, an arm folding driving mechanism, four arms 10 and four propeller assemblies. The connecting frame 12 is installed in the middle of the upper surface of the upper support plate 3. Four arms 10 are evenly arranged on the outer side of the connecting frame 12 along the circumferential direction. The head ends of the four arms 10 are connected to the connecting frame 12 for vertical rotation. Four propeller assemblies are respectively installed at the ends of the four arms 10. An arm folding driving mechanism is installed in the middle of the connecting frame 12. The arm folding driving mechanism is connected to the head ends of the four arms 10 at the same time to drive the four arms 10 and the four propeller assemblies connected to the ends of the four arms 10 to realize folding or unfolding.

[0010] Furthermore, the connecting frame 12 includes a connecting base, a connecting sleeve, four U-shaped ear plates and four arm connecting pins. A connecting flange is provided at the bottom of the connecting base, and the connecting flange is connected to the upper support plate 3 through multiple connecting elements. A coaxially arranged connecting sleeve is provided at the top of the connecting base, and four U-shaped ear plates are evenly arranged along the circumferential direction on the side of the connecting sleeve. Two coaxially arranged arm connecting pin holes are opened on the upper part of the two longitudinal rods of each U-shaped ear plate, and the four U-shaped ear plates are rotatably connected to the four arms 10 through four arm connecting pins respectively.

[0011] Furthermore, the arm 10 includes an arm worm gear 15, an arm connecting rod 16 and a propeller motor base 17. The propeller motor base 17 is a circular cylindrical structure with an opening at the top. A plurality of propeller motor connecting threaded holes are processed on the lower surface of the propeller motor base 17. The side of the propeller motor base 17 is connected to the end of the arm connecting rod 16. One end of the arm worm gear 15 is a toothed worm gear body, and the other end of the arm worm gear 15 is a rectangular rod-shaped structure. Two symmetrically arranged reinforcing rib plates are respectively provided on the upper and lower sides of the connection between the toothed worm gear body and the rectangular rod-shaped structure. A worm gear connecting pin hole is processed at the center of the toothed worm gear body, and an arm connecting pin shaft is inserted in the worm gear connecting pin hole. The two ends of the arm connecting pin shaft are respectively rotatably connected to the two arm connecting pin holes on the upper part of the U-shaped ear plate.

[0012] Furthermore, the arm folding drive mechanism includes a central axis steering gear 14 and a worm 11. The central axis steering gear 14 is installed inside the watertight compartment 2. The upper surface of the upper support plate 3 is processed with a central axis steering gear shaft mounting hole. The lower optical axis part of the worm 11 is rotatably connected to the connecting sleeve of the connecting frame 12 through a bearing. The central axis steering gear 14 shaft is connected to the lower end of the worm 11 through a coupling, and the upper part of the worm 11 is engaged with four arm worm wheels 15 at the same time.

[0013] Furthermore, the propeller assembly includes a brushless propeller motor 8 and a propeller 9. The brushless propeller motor 8 is installed inside the propeller motor base 17. The bottom of the brushless propeller motor 8 is connected to the propeller motor base 17 through multiple propeller motor connecting screws, and the rotating shaft of the brushless propeller motor 8 is connected to the propeller 9.

[0014] Furthermore, each paddle wheel mechanism includes an inner steering gear U-shaped frame 18, a paddle wheel mechanism steering gear 6, an outer steering gear U-shaped frame 20, a paddle wheel motor base 5, a paddle wheel motor 4 and a paddle wheel 7. The shell of the paddle wheel mechanism steering gear 6 is installed on the upper surface of the lower support plate 1 through the inner steering gear U-shaped frame 18, and the swing arm of the paddle wheel mechanism steering gear 6 is connected to the two side wing plates of the outer steering gear U-shaped frame 20. The paddle wheel motor base 5 is an L-shaped block structure. One end of the paddle wheel motor base 5 is connected to the middle web of the outer steering gear U-shaped frame 20, and the other end of the paddle wheel motor base 5 is processed with a paddle wheel shaft mounting hole. The paddle wheel 7 shaft is rotatably connected to the paddle wheel motor base 5 through a bearing. The paddle wheel motor 4 is installed on the side of the paddle wheel motor base 5, and the paddle wheel motor 4 shaft is connected to the paddle wheel 7 shaft through a coupling.

[0015] Furthermore, the paddle 7 includes an axle, three spokes and three paddle edges 22. The spokes are a spiral fan-shaped structure. The three spokes are evenly arranged on the side of the axle along the circumferential direction. The paddle edges 22 are an arc-shaped plate-like structure. The three paddle edges 22 are evenly arranged at the ends of the three spokes along the circumferential direction. The outer surfaces of the three paddle edges 22 are located on the same circle.

[0016] Furthermore, the lower support plate 1 includes a rectangular watertight compartment mounting plate, two rectangular paddle mechanism mounting plates and two triangular auxiliary wheel mounting plates. The rectangular watertight compartment mounting plate is arranged horizontally, and the two rectangular paddle mechanism mounting plates are symmetrically arranged on the left and right sides of the rectangular watertight compartment mounting plate, respectively. The rectangular paddle mechanism mounting plate is processed with four paddle mechanism servo fixing holes 27 arranged in a rectangular array, and the inner servo U-shaped frame 18 is connected to the rectangular paddle mechanism mounting plate through four paddle mechanism servo connecting bolts. The two triangular auxiliary wheel mounting plates are symmetrically arranged at the front and rear ends of the rectangular watertight compartment mounting plate, respectively. Auxiliary wheel fixing holes 28 are processed at the end of the triangular auxiliary wheel mounting plate, and the rotating shaft of the universal auxiliary wheel 13 is connected to the triangular auxiliary wheel mounting plate through auxiliary wheel connecting bolts.

[0017] Furthermore, four straight-slot drag reduction holes 25 are evenly arranged on the rectangular watertight compartment mounting plate, a circular drag reduction hole 26 is provided between two adjacent straight-slot drag reduction holes 25, and two triangular drag reduction holes 24 are symmetrically arranged on the front and rear sides of the rectangular watertight compartment mounting plate.

[0018] Furthermore, the multimodal amphibious robot also includes two radial sealing rings 23, and two horizontally arranged radial sealing ring installation grooves are processed in sequence from top to bottom on the upper part of the side of the watertight compartment 2, and the two radial sealing rings 23 are respectively embedded in the two radial sealing ring installation grooves.

[0019] Compared with the prior art, the present invention has the following effects:

[0020] 1. The lightweight, highly maneuverable, deformable multimodal amphibious robot described in the present invention has a unique arm folding mechanism and a wheel-paddle mechanism, so that it can be flexibly deployed in a space-constrained environment. The multimodal amphibious robot is only 20cm*30cm*40cm in size and weighs 1.43kg. It is a highly maneuverable, lightweight robot. The multimodal amphibious robot is used in a variety of application scenarios such as reconnaissance and survey, disaster relief, etc., and has a high degree of adaptability and flexibility.

[0021] 2. The lightweight, highly maneuverable, deformable, multi-modal amphibious robot described in the present invention can realize three modes of movement: an aircraft, an underwater vehicle, and an intelligent unmanned vehicle.

[0022] 3. A Chinese invention patent with publication number CN 109278981 A and publication date January 29, 2019, discloses a miniature foldable three-dimensional real-scene modeling drone. Although the drone's arm folding mechanism also uses a worm gear mechanism, the folding angle is only 90°, and it can only be folded upward. Although this design is sufficient for use in some cases, it cannot accomplish tasks that require higher flexibility and compactness. In contrast, the arm folding mechanism of the present invention can achieve a rotation of 0 to 135° on the XOZ and YOZ planes, and both upward and downward folding can be achieved, which can not only greatly enhance portability and operating efficiency, but also demonstrate greater operational flexibility and versatility in a variety of complex environments.

[0023] Furthermore, the arm folding mechanism of the micro foldable three-dimensional real-scene modeling drone is also provided with a hinge in the fuselage shell. This structure increases the complexity of the mechanism and also increases the weight of the mechanism. The arm folding mechanism of the present invention is not provided with a hinge and is more portable and lightweight in comparison.

[0024] Furthermore, the folding function of the micro foldable three-dimensional real-scene modeling drone is mainly used to complete indoor three-dimensional modeling while conveniently folding and unfolding, and the folding function of the present invention is mainly used for the conversion of water, land and air modes to adapt to various application scenarios such as reconnaissance and survey, disaster relief, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to the present invention; Figure 2 It is a structural schematic diagram of the arm of the arm folding mechanism of the lightweight, highly maneuverable, deformable multi-modal amphibious robot described in the present invention in an unfolded state; Figure 3 It is a schematic structural diagram of the arm of the arm folding mechanism of the lightweight, highly maneuverable, deformable multi-modal amphibious robot described in the present invention, in a folded state; Figure 4 It is a structural schematic diagram of a machine arm in a lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to the present invention; Figure 5 It is a structural schematic diagram of a wheel-paddle mechanism in a lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to the present invention; Figure 6 It is a schematic structural diagram of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot after the lower support plate and the watertight compartment are assembled; Figure 7 It is a schematic diagram of the wheel-paddle structure of a wheel-paddle mechanism in a lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to the present invention; Figure 8 It is a structural schematic diagram of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot in an unmanned vehicle mode according to the present invention; Fig. 9 It is a structural schematic diagram of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot in an aircraft mode according to the present invention; Fig.10 It is a structural schematic diagram of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot in an underwater vehicle mode according to the present invention; Fig.11 This is an operation flow chart of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to the present invention; Fig.12 This is a front view of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot in operation as described in the present invention, wherein the red line segment represents the arm folding mechanism when folded upward, and the green line segment represents the arm folding mechanism when folded downward.

[0026] In the figure: 1. lower support plate; 2. watertight compartment; 3. upper support plate; 4. propeller motor; 5. propeller motor base; 6. propeller mechanism steering gear; 7. propeller; 8. brushless propeller motor; 9. propeller; 10. machine arm; 11. worm; 12. connecting frame; 13. universal auxiliary wheel; 14. central axis steering gear; 15. machine arm worm gear; 16. machine arm connecting rod; 17. propeller motor base; 18. inner side steering gear U-shaped frame; 20. outer side steering gear U-shaped frame; 22. propeller blade edge; 23. radial sealing ring; 24. triangular drag reduction hole; 25. straight slot type drag reduction hole; 26. circular drag reduction hole; 27. fixing hole of propeller mechanism steering gear; 28. fixing hole of auxiliary wheel. DETAILED DESCRIPTION

[0027] Specific implementation method 1: Combination Figures 1 to 11 The present embodiment is described. The present embodiment is a lightweight, highly maneuverable, deformable multimodal amphibious robot. The multimodal amphibious robot includes a lower support plate 1, a watertight compartment 2, an upper support plate 3, an arm folding mechanism, two wheel-paddle mechanisms and two universal auxiliary wheels 13. The upper support plate 3 and the lower support plate 1 are horizontally arranged on the upper and lower sides of the watertight compartment 2, respectively. The upper end of the watertight compartment 2 is fixedly connected to the middle of the lower surface of the upper support plate 3, and the lower end of the watertight compartment 2 is fixedly connected to the middle of the upper surface of the lower support plate 1. The left and right ends of the lower support plate 1 are respectively equipped with two symmetrically arranged wheel-paddle mechanisms, and the front and rear ends of the lower support plate 1 are respectively equipped with two symmetrically arranged universal auxiliary wheels 13. The upper end of the upper support plate 3 An arm folding mechanism is installed in the middle part, and the arm folding mechanism includes a connecting frame 12, an arm folding driving mechanism, four arms 10 and four propeller assemblies. The connecting frame 12 is installed in the middle part of the upper surface of the upper support plate 3, and four arms 10 are evenly arranged on the outer side of the connecting frame 12 along the circumferential direction. The head ends of the four arms 10 are connected to the connecting frame 12 for vertical rotation, and four propeller assemblies are respectively installed at the ends of the four arms 10. An arm folding driving mechanism is installed in the middle part of the connecting frame 12, and the arm folding driving mechanism is connected to the head ends of the four arms 10 at the same time to drive the four arms 10 and the four propeller assemblies connected to the ends of the four arms 10 to realize folding or unfolding.

[0028] In this embodiment, a universal auxiliary wheel 13 is respectively provided on the front and rear sides of the lower support plate 1, and the universal auxiliary wheel 13 supports the multimodal amphibious robot when the multimodal amphibious robot moves on land.

[0029] In this embodiment, the watertight compartment 2 is equipped with main components such as an STM32 single-chip microcomputer, an IMU (inertial measurement unit), a GPS, and a wireless communication module. The PID controller is deployed on the STM32 single-chip microcomputer in the watertight compartment 2, and the wheel-paddle mechanism steering gear 6 and the wheel-paddle mechanism are controlled by the PID controller in the watertight compartment 2. The wheel-paddle mechanism steering gear 6 can realize the rotation of the wheel-paddle mechanism around the X-axis 0 to 180° in the YOZ plane, and the wheel-paddle 7 can be rotated under the control of the STM32 single-chip microcomputer. The central axis steering gear 14 is controlled by the STM32 single-chip microcomputer in the watertight compartment 2 to drive the worm 11 to rotate, and the rotation of the worm 11 drives the machine arm 10 to realize the rotation of 0 to 135° on the XOZ plane and the YOZ plane. The brushless propeller motor 8 is controlled by the PID controller to realize the rotation of the propeller 9.

[0030] The multi-modal amphibious robot aerial controller (IMU+GPS) (remote control) described in the present invention:

[0031] When flying in the air, the IMU provides data about the aircraft's attitude (pitch, roll and yaw), and the GPS provides location information. After the target position and attitude are generated through wifi remote control, the attitude and position control are realized through PID control and fuzzy control to generate thrust on the current axis, and the thrust of each motor is calculated by the thrust matrix. The air controller adjusts the movement of the aircraft based on this information to ensure flight stability, accurate navigation and waypoint tracking.

[0032] The multi-modal amphibious robot ground controller (IMU+GPS) (remote control) described in the present invention:

[0033] When the drone is moving on the ground, it is the same as the aerial motion controller, both of which are PID controlled, except that the propellers are switched from four rotors to two propellers, ensuring ground operation stability, accurate navigation and waypoint tracking.

[0034] The multi-modal amphibious robot underwater controller (IMU+depth sensor) (autonomous control) described in the present invention:

[0035] In underwater environments, IMU is used to measure the attitude changes (roll, pitch, yaw) of unmanned systems, while depth sensors provide information about underwater depth. According to the originally set route and attitude, the thrust in a single direction is calculated through the PID controller and the target position, and then the thrust of each motor is calculated by the thrust matrix. The underwater controller adjusts the movement based on these data, relying on the depth sensor and inertial measurement unit to control the position and attitude, maintain a stable underwater attitude, and control the depth and direction of travel.

[0036] Specific implementation method 2: Combination Figures 1 to 11To explain this embodiment, the connecting frame 12 of this embodiment includes a connecting base, a connecting sleeve, four U-shaped ear plates and four machine arm connecting pins. A connecting flange is provided at the bottom of the connecting base, and the connecting flange is connected to the upper support plate 3 through a plurality of connecting elements. A coaxially arranged connecting sleeve is provided at the top of the connecting base, and four U-shaped ear plates are evenly arranged along the circumferential direction on the side of the connecting sleeve. Two coaxially arranged machine arm connecting pin holes are provided on the upper part of the two longitudinal rods of each U-shaped ear plate, and the four U-shaped ear plates are rotatably connected to the four machine arms 10 through four machine arm connecting pins, respectively. With such an arrangement, the four machine arms 10 are rotatably connected to the four U-shaped ear plates on the connecting frame 12 through the four machine arm connecting pins, and the machine arms 10 and the wheel-paddle mechanism can be folded or unfolded under the drive of the worm gear mechanism. Other components and connection relationships are the same as those in the first specific embodiment.

[0037] Specific implementation method three: Combination Figures 1 to 11 To illustrate this embodiment, the arm 10 of this embodiment includes an arm worm gear 15, an arm connecting rod 16 and a propeller motor base 17. The propeller motor base 17 is a circular cylindrical structure with an opening at the top. A plurality of propeller motor connecting threaded holes are processed on the lower surface of the propeller motor base 17. The side of the propeller motor base 17 is connected to the end of the arm connecting rod 16. One end of the arm worm gear 15 is a toothed worm gear body, and the other end of the arm worm gear 15 is a rectangular rod-shaped structure. Two symmetrically arranged reinforcing rib plates are respectively provided on the upper and lower sides of the connection between the toothed worm gear body and the rectangular rod-shaped structure. A worm gear connecting pin hole is processed at the center of the toothed worm gear body, and an arm connecting pin shaft is inserted in the worm gear connecting pin hole. The two ends of the arm connecting pin shaft are rotatably connected to the two arm connecting pin holes on the upper part of the U-shaped ear plate. In this configuration, the central axis steering gear 14 drives the worm 11 to rotate, so that the worm 11 is meshed with the four arm worm gears 15 at the same time, thereby driving the folding or unfolding of the four arms 10 and the wheel-paddle mechanism connected to the four arm worm gears 15. Other components and connection relationships are the same as those of the first or second specific embodiments.

[0038] Specific implementation method four: Combination Figures 1 to 11This embodiment is described. The arm folding drive mechanism of this embodiment includes a central axis steering gear 14 and a worm 11. The central axis steering gear 14 is installed inside the watertight compartment 2. The upper surface of the upper support plate 3 is processed with a central axis steering gear shaft mounting hole. The lower optical axis part of the worm 11 is rotatably connected to the connecting sleeve of the connecting frame 12 through a bearing. The central axis steering gear 14 shaft is connected to the lower end of the worm 11 through a coupling. The upper part of the worm 11 is simultaneously engaged with the four arm worm gears 15. In this way, the central axis steering gear 14 drives the worm 11 to rotate, and the worm 11 is simultaneously engaged with the four arm worm gears 15, thereby driving the four arms 10 to rotate. The four arms 10 rotate at an angle range of 0 to 135°, so that the multimodal amphibious robot can complete the propulsion in different modes. The direction of the arm 10 is changed by the central axis steering gear 14, and the multimodal amphibious robot is controlled to switch and move between the three motion modes of air, land and underwater. Other components and connection relationships are the same as those of the first, second or third specific embodiments.

[0039] Specific implementation method five: Combination Figures 1 to 11 To explain this embodiment, the propeller assembly of this embodiment includes a brushless propeller motor 8 and a propeller 9. The brushless propeller motor 8 is installed inside the propeller motor base 17. The bottom of the brushless propeller motor 8 is connected to the propeller motor base 17 through a plurality of propeller motor connecting screws, and the rotating shaft of the brushless propeller motor 8 is connected to the propeller 9. In this way, the propeller 9 is driven to rotate by the brushless propeller motor 8. Other components and connection relationships are the same as those of the specific embodiments one, two, three or four.

[0040] Specific implementation method six: Combination Figures 1 to 11 This embodiment is described. Each wheel-paddle mechanism of this embodiment includes an inner steering gear U-shaped frame 18, a wheel-paddle mechanism steering gear 6, an outer steering gear U-shaped frame 20, a wheel-paddle motor base 5, a wheel-paddle motor 4 and a wheel-paddle 7. The housing of the wheel-paddle mechanism steering gear 6 is mounted on the upper surface of the lower support plate 1 through the inner steering gear U-shaped frame 18. The swing arm of the wheel-paddle mechanism steering gear 6 is connected to the two side wing plates of the outer steering gear U-shaped frame 20. The wheel-paddle motor base 5 is an L-shaped block structure. One end of the wheel-paddle motor base 5 is connected to the middle web of the outer steering gear U-shaped frame 20. The other end of the wheel-paddle motor base 5 is processed with a wheel-paddle shaft mounting hole. The wheel-paddle 7 shaft is rotatably connected to the wheel-paddle motor base 5 through a bearing. The wheel-paddle motor 4 is installed on the side of the wheel-paddle motor base 5. The wheel-paddle motor 4 shaft is connected to the wheel-paddle 7 shaft through a coupling. In this way, the direction of the wheel-paddle 7 is changed by the wheel-paddle mechanism steering gear 6 to control the multi-modal amphibious robot to switch and move between the three motion modes of air, land and underwater. The rotation of the central axis steering engine 14 drives the wheel-paddle mechanism to rotate in the vertical plane, and the rotation of the wheel-paddle motor 4 drives the wheel-paddle 7 to rotate, thereby achieving propulsion in different directions in a vertical plane. Other components and connection relationships are the same as those of the specific embodiments one, two, three, four or five.

[0041] Specific implementation method seven: Combination Figures 1 to 11 This embodiment is described. The paddle wheel 7 of this embodiment includes a wheel axle, three wheel spokes and three wheel paddle blade edges 22. The wheel spokes are spiral fan-shaped structures. The three wheel spokes are evenly arranged on the side of the wheel axle along the circumferential direction. The wheel paddle blade edges 22 are arc-shaped plate-shaped structures. The three wheel paddle blade edges 22 are evenly arranged at the ends of the three wheel spokes along the circumferential direction. The outer surfaces of the three wheel paddle blade edges 22 are located on the same circle. Other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five or six.

[0042] Specific implementation method eight: Combination Figures 1 to 11 To explain this embodiment, the lower support plate 1 of this embodiment includes a rectangular watertight compartment mounting plate, two rectangular paddle mechanism mounting plates and two triangular auxiliary wheel mounting plates. The rectangular watertight compartment mounting plate is arranged horizontally, and the two rectangular paddle mechanism mounting plates are symmetrically arranged on the left and right sides of the rectangular watertight compartment mounting plate, respectively. The rectangular paddle mechanism mounting plate is processed with four paddle mechanism steering gear fixing holes 27 arranged in a rectangular array, and the inner steering gear U-shaped frame 18 is connected to the rectangular paddle mechanism mounting plate through four paddle mechanism steering gear connecting bolts. The two triangular auxiliary wheel mounting plates are symmetrically arranged at the front and rear ends of the rectangular watertight compartment mounting plate, respectively. The end of the triangular auxiliary wheel mounting plate is processed with an auxiliary wheel fixing hole 28, and the rotating shaft of the universal auxiliary wheel 13 is connected to the triangular auxiliary wheel mounting plate through the auxiliary wheel connecting bolts. Other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five, six or seven.

[0043] Specific implementation method nine: Combination Figures 1 to 11 This embodiment is described. Four straight notch-shaped drag reduction holes 25 are evenly arranged on the rectangular watertight compartment mounting plate of this embodiment. A circular drag reduction hole 26 is provided between two adjacent straight notch-shaped drag reduction holes 25. Two symmetrically arranged triangular drag reduction holes 24 are respectively processed on the front and rear sides of the rectangular watertight compartment mounting plate. In this way, by processing the triangular drag reduction holes 24, the straight notch-shaped drag reduction holes 25 and the circular drag reduction holes 26 on the lower support plate 1, the weight of the multimodal amphibious robot can be reduced and the endurance of the multimodal amphibious robot can be improved. The other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five, six, seven or eight.

[0044] Specific implementation method ten: Combination Figures 1 to 11 To explain this embodiment, the multimodal amphibious robot of this embodiment further includes two radial sealing rings 23. Two radial sealing ring installation grooves arranged horizontally are processed in sequence from top to bottom on the upper part of the side of the watertight compartment 2. The two radial sealing rings 23 are respectively embedded in the two radial sealing ring installation grooves. In this way, the sealing between the watertight compartment 2 and the upper support plate 3 is achieved by arranging the radial sealing rings 23 on the watertight compartment 2. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiment.

[0045] How it works

[0046] Combination Figures 1 to 11 The working principle of the lightweight, highly maneuverable, deformable, multi-modal amphibious robot described in the present invention is described as follows:

[0047] Unmanned vehicle mode:

[0048] When the multimodal amphibious robot of the present invention is in Figure 8 In the unmanned vehicle mode shown, the paddle wheel 7 is on the ground, the universal auxiliary wheel 13 is on the ground, the lower support plate 1 is not in contact with the ground, and the paddle wheel 7 is controlled to rotate to flexibly move on the ground. At this time, the four arms 10 are rotated to 0°, that is, they are located in the vertical plane.

[0049] Land-Air Switch:

[0050] Depend on Figure 8 The unmanned vehicle mode shown is Fig. 9 The process of switching the aircraft mode shown is as follows: the four arms 10 are adjusted to the horizontal plane, and the propeller 9 is driven by the brushless propeller motor 8 to rotate off the ground. During the lift-off process, the propeller mechanism servo 6 is started to rotate the propeller 7 upward from the horizontal plane by 90° to the vertical plane, completing the switching of the aircraft mode.

[0051] Air-water cross-domain:

[0052] Depend on Fig. 9 The aircraft mode shown is Fig.10 The process of underwater vehicle mode switching shown is as follows: during entry into water, the wheel-paddle mechanism servo 6 is started to rotate the wheel-paddle 7 180°, and the wheel-paddle motor 4 drives the wheel-paddle 7 to rotate to provide vertical downward thrust for the multimodal amphibious robot, completing the air-to-water crossing. After entering water, the central axis servo 14 is started to drive the worm 11 to rotate, and the worm 11 drives the four arms 10 to rotate downward 45°, so that the four arms 10 are 45° to the horizontal plane, and the brushless propeller motor 8 drives the propeller 9 to rotate, thereby realizing underwater navigation of the multimodal amphibious robot and completing the underwater vehicle mode switching.

[0053] Water-air cross-domain:

[0054] Depend on Fig.10 The underwater vehicle mode shown is Fig. 9 The process of aircraft mode switching shown is as follows: start the central axis servo 14, adjust the four arms 10 to the horizontal plane, start the brushless propeller motor 8 and the wheel-paddle motor 4, and push the multimodal amphibious robot out of the water through the joint thrust of the propeller 9 and the wheel-paddle 7, and then fly from underwater to the air, completing the water-to-air cross-domain mode switching.

[0055] Water-land cross-domain:

[0056] Depend on Fig.10 The underwater vehicle mode shown is Figure 8 The process of aircraft mode switching shown is as follows: when the multimodal amphibious robot approaches land from water, the propeller mechanism servo 6 is started to rotate the propeller 7 to the horizontal plane, and the central axis servo 14 is started to rotate the arm 10 to the vertical plane, completing the water-to-land cross-domain mode switching.

[0057] Other modes and the reverse cross-domain switching process are obvious and will not be described in detail.

[0058] The operation process of the lightweight, highly maneuverable, deformable, multi-modal amphibious robot described in the present invention is as follows: Fig.11 As shown, the initial mode on land is the unmanned vehicle mode. After switching to the aircraft mode, the land-air cross-domain is realized; at the air-water interface, the aircraft mode is switched to the underwater vehicle mode, the air-water cross-domain is realized, and the underwater vehicle mode is entered; at the water-air interface, the underwater vehicle mode is switched to the drone mode, and the water-air cross-domain is realized.

[0059] The "arm folding mechanism" in the lightweight, highly maneuverable, deformable multimodal amphibious robot described in the present invention uses four arms with worm gear ends to engage with the worm. The worm gear end of each arm is a 2 / 3 worm gear structure that engages with the worm, which can achieve a rotation of 0 to 180° in the vertical plane.

[0060] For the underwater vehicle mode, the reason why the "arm folding mechanism" is folded down 45° in underwater navigation is as follows:

[0061] When the "arm folding mechanism" is folded upward, for the buoyancy / diving navigation state, the thrusts provided by the four propellers 9 are the same, and the horizontal components of the four thrusts on the horizontal plane normally offset each other to maintain the buoyancy / diving in the vertical direction. However, in actual work, due to the actual processing, assembly and installation accuracy, the components of the four forces on the horizontal plane will not completely offset each other, that is, an error force F will be generated. e ,like Fig.12 As shown, the error force F e Acting on the robot's center of mass will directly generate an error torque M e , that is, a yaw couple is generated for the entire robot. The yaw couple is an important factor affecting the robot's underwater navigation stability and heading accuracy.

[0062] When the "arm folding mechanism" is folded upward, under the same thrust, the distance between the simplified center of the force system and the center of mass is large, and the generated yaw force couple is large.

[0063] When the "arm folding mechanism" is folded downward, under the action of the same thrust, the distance between the simplified center of the force system and the center of mass is small, and the generated yaw moment is small.

[0064] like Fig.12 As shown, Fig.12 This is a front view of a lightweight, highly maneuverable, deformable, multi-modal amphibious robot in operation as described in the present invention, wherein the red line segment represents the arm folding mechanism when folded upward, and the green line segment represents the arm folding mechanism when folded downward.

[0065] Point A is the fulcrum of the robot arm, point B is the center of mass of the robot, and F e is the error force, d1 is the force arm when folded upwards 45 degrees, and d2 is the force arm when folded downwards 45 degrees. Obviously d1>d2, so the torque M generated e Larger, the yaw couple is also larger, thus verifying the above conclusion.

[0066] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lightweight, highly maneuverable, deformable, multi-modal amphibious robot, characterized by: The multimodal amphibious robot comprises a lower support plate (1), a watertight compartment (2), an upper support plate (3), an arm folding mechanism, two wheel-paddle mechanisms and two universal auxiliary wheels (13); the upper support plate (3) and the lower support plate (1) are horizontally arranged on the upper and lower sides of the watertight compartment (2), respectively; the upper end of the watertight compartment (2) is fixedly connected to the middle of the lower surface of the upper support plate (3); the lower end of the watertight compartment (2) is fixedly connected to the middle of the upper surface of the lower support plate (1); the left and right ends of the lower support plate (1) are respectively provided with two symmetrically arranged wheel-paddle mechanisms; the front and rear ends of the lower support plate (1) are respectively provided with two symmetrically arranged universal auxiliary wheels (13); the middle of the upper end of the upper support plate (3) is provided with an arm folding mechanism; the arm folding mechanism is arranged on the upper end of the upper support plate (3); and the arm folding mechanism is arranged on the upper end of the upper support plate (3). The mechanism comprises a connecting frame (12), an arm folding driving mechanism, four arms (10) and four propeller assemblies. The connecting frame (12) is mounted on the middle part of the upper surface of the upper support plate (3). Four arms (10) are evenly arranged on the outer side of the connecting frame (12) along the circumferential direction. The head ends of the four arms (10) are connected to the connecting frame (12) for vertical rotation. The ends of the four arms (10) are respectively installed with four propeller assemblies. The middle part of the connecting frame (12) is equipped with an arm folding driving mechanism. The arm folding driving mechanism is simultaneously connected to the head ends of the four arms (10) to drive the four arms (10) and the four propeller assemblies connected to the ends of the four arms (10) to achieve folding or unfolding actions.

2. A lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 1, characterized in that: The connecting frame (12) comprises a connecting base, a connecting sleeve, four U-shaped ear plates and four machine arm connecting pins. A connecting flange is provided at the bottom of the connecting base, and the connecting flange is connected to the upper support plate (3) through a plurality of connecting elements. A coaxially arranged connecting sleeve is provided at the top of the connecting base. Four U-shaped ear plates are evenly arranged along the circumferential direction on the side surface of the connecting sleeve. Two coaxially arranged machine arm connecting pin holes are provided on the upper part of two longitudinal rods of each U-shaped ear plate. The four U-shaped ear plates are rotatably connected to the four machine arms (10) through four machine arm connecting pins respectively.

3. A lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 2, characterized in that: The machine arm (10) comprises a machine arm worm gear (15), a machine arm connecting rod (16) and a propeller motor base (17). The propeller motor base (17) is a circular cylindrical structure with an opening at the top. A plurality of propeller motor connection threaded holes are processed on the lower surface of the propeller motor base (17). The side of the propeller motor base (17) is connected to the end of the machine arm connecting rod (16). One end of the machine arm worm gear (15) is a toothed worm gear body. The other end of the machine arm worm gear (15) is a rectangular rod-shaped structure. Two symmetrically arranged reinforcing rib plates are respectively arranged on the upper and lower sides of the connection between the toothed worm gear body and the rectangular rod-shaped structure. A worm gear connection pin hole is processed at the center of the toothed worm gear body. An machine arm connection pin shaft is inserted in the worm gear connection pin hole. The two ends of the machine arm connection pin shaft are respectively rotatably connected to the two machine arm connection pin holes on the upper part of the U-shaped ear plate.

4. The lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 3, characterized in that: The machine arm folding driving mechanism comprises a central axis steering gear (14) and a worm gear (11), wherein the central axis steering gear (14) is installed inside a watertight compartment (2), an upper surface of an upper support plate (3) is processed with a central axis steering gear rotating shaft mounting hole, a lower optical axis portion of the worm gear (11) is rotatably connected to a connecting sleeve of a connecting frame (12) through a bearing, a rotating shaft of the central axis steering gear (14) is connected to a lower end of the worm gear (11) through a coupling, and an upper portion of the worm gear (11) is simultaneously meshed with four machine arm worm wheels (15).

5. The lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 4, characterized in that: The propeller assembly comprises a brushless propeller motor (8) and a propeller (9); the brushless propeller motor (8) is mounted inside a propeller motor base (17); the bottom of the brushless propeller motor (8) is connected to the propeller motor base (17) via a plurality of propeller motor connecting screws; and the rotating shaft of the brushless propeller motor (8) is connected to the propeller (9).

6. A lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 1 or 5, characterized in that: Each wheel-paddle mechanism comprises an inner steering gear U-shaped frame (18), a wheel-paddle mechanism steering gear (6), an outer steering gear U-shaped frame (20), a wheel-paddle motor base (5), a wheel-paddle motor (4) and a wheel-paddle (7). The housing of the wheel-paddle mechanism steering gear (6) is mounted on the upper surface of the lower support plate (1) through the inner steering gear U-shaped frame (18). The swing arm of the wheel-paddle mechanism steering gear (6) is connected to the two side wing plates of the outer steering gear U-shaped frame (20). The wheel-paddle motor base (5) is an L-shaped block structure. One end of the wheel-paddle motor base (5) is connected to the middle web of the outer steering gear U-shaped frame (20). The other end of the wheel-paddle motor base (5) is processed with a wheel-paddle rotating shaft mounting hole. The rotating shaft of the wheel-paddle (7) is rotatably connected to the wheel-paddle motor base (5) through a bearing. The wheel-paddle motor (4) is mounted on the side of the wheel-paddle motor base (5). The rotating shaft of the wheel-paddle motor (4) is connected to the rotating shaft of the wheel-paddle (7) through a coupling.

7. The lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 6, characterized in that: The paddle (7) comprises a wheel axle, three wheel spokes and three wheel paddle edges (22), the wheel spokes are of a spiral fan-shaped structure, the three wheel spokes are evenly arranged on the side of the wheel axle along the circumferential direction, the wheel paddle edges (22) are of an arc-shaped plate-shaped structure, the three wheel paddle edges (22) are evenly arranged at the ends of the three wheel spokes along the circumferential direction, and the outer surfaces of the three wheel paddle edges (22) are located on the same circle.

8. A lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 1, 2, 3, 4, 5 or 7, characterized in that: The lower support plate (1) comprises a rectangular watertight compartment mounting plate, two rectangular wheel-paddle mechanism mounting plates and two triangular auxiliary wheel mounting plates. The rectangular watertight compartment mounting plate is arranged horizontally. The two rectangular wheel-paddle mechanism mounting plates are symmetrically arranged on the left and right sides of the rectangular watertight compartment mounting plate. The rectangular wheel-paddle mechanism mounting plate is processed with four wheel-paddle mechanism steering gear fixing holes (27) arranged in a rectangular array. The inner steering gear U-shaped frame (18) is connected to the rectangular wheel-paddle mechanism mounting plate through four wheel-paddle mechanism steering gear connecting bolts. The two triangular auxiliary wheel mounting plates are symmetrically arranged at the front and rear ends of the rectangular watertight compartment mounting plate. The ends of the triangular auxiliary wheel mounting plates are processed with auxiliary wheel fixing holes (28). The rotating shaft of the universal auxiliary wheel (13) is connected to the triangular auxiliary wheel mounting plate through auxiliary wheel connecting bolts.

9. The lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 8, characterized in that: Four straight slot-shaped drag reduction holes (25) are evenly arranged on the rectangular watertight compartment installation plate, a circular drag reduction hole (26) is provided between two adjacent straight slot-shaped drag reduction holes (25), and two triangular drag reduction holes (24) are symmetrically arranged on the front and rear sides of the rectangular watertight compartment installation plate.

10. The lightweight, highly maneuverable, deformable, multi-modal amphibious robot according to claim 9, characterized in that: The multimodal amphibious robot also includes two radial sealing rings (23), and two radial sealing ring installation grooves arranged horizontally are processed in sequence from top to bottom on the upper part of the side of the watertight compartment (2), and the two radial sealing rings (23) are respectively embedded in the two radial sealing ring installation grooves.

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