Amphibious inspection robot with adjustable posture

Abstract

The invention relates to the technical field of amphibious robots, and discloses a posture-adjustable amphibious inspection robot which comprises a hollow machine body, a front sealing bin, a middle bin and a rear sealing bin are sequentially arranged in the machine body from front to back, and a front air hole and a front water permeable hole are formed in the top face and the bottom face of the front sealing bin respectively. The top face and the bottom face of the rear sealing bin are provided with a rear air hole and a rear water hole respectively, control mechanisms are arranged at the positions of all the holes, steering engines are symmetrically and fixedly arranged on the two sides of the front sealing bin and the two sides of the rear sealing bin respectively, wheel web assemblies are arranged at the positions of the four steering engines respectively, and each wheel web assembly comprises a connecting rod and a walking wheel web. The connecting rod comprises a machine body section, an inclined section and a wheel web section which are sequentially connected, the machine body section is fixedly connected with an output shaft of the steering engine, the walking wheel web is rotatably connected with the wheel web section, and a plurality of web pieces are evenly distributed on the outer circumference of the walking wheel web; the unmanned aerial vehicle has the function of adjusting the posture of the vehicle body on land and on water, can adapt to different types of bank slopes when landing in water, and is high in terrain adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious robots, and specifically to an amphibious inspection robot with adjustable posture. Background Art

[0002] An amphibious robot is a robot that can move freely in land and water environments. It combines the characteristics of land and water movement and can perform tasks in different terrains and environments. It has now been gradually applied in many fields such as border defense, inspection, rescue, and environmental survey. Most existing amphibious robots are designed to achieve amphibious operation by adding structures for floating and advancing in water to a land vehicle structure. Their running postures are single and cannot be adjusted according to the operation tasks. In addition, when existing amphibious robots land from water, there are also many limitations on the slope of the landing terrain. For example, in artificial waters such as reservoirs and ponds, there are steep slopes with large height differences on the shore, and it is difficult for existing amphibious robots to land in such situations. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an amphibious inspection robot with adjustable posture, which has the function of adjusting the body posture, can be used to carry out more forms of operation tasks, and can also adapt to different forms of shore slopes when landing in water, with strong terrain adaptability.

[0004] The purpose of the present invention is achieved by the following technical solutions: An amphibious inspection robot with adjustable posture, comprising a body; the body is a hollow shell structure, and a front sealed chamber, a middle chamber and a rear sealed chamber are sequentially arranged in the body from front to back. The top surface of the body is provided with a front ventilation hole and a rear ventilation hole, and the bottom surface of the body is provided with a front water-permeable hole and a rear water-permeable hole. The front ventilation hole and the front water-permeable hole are both used to communicate the front sealed chamber with the outside of the body, and the rear ventilation hole and the rear water-permeable hole are both used to communicate the rear sealed chamber with the outside of the body. Control mechanisms are arranged at the front ventilation hole, the rear ventilation hole, the front water-permeable hole and the rear water-permeable hole. The control mechanism is used to open or close the front ventilation hole or the rear ventilation hole or the front water-permeable hole or the rear water-permeable hole. When the amphibious inspection robot is on the water, by controlling the mechanism to open the corresponding hole, water can be injected into the front sealed chamber and / or the rear sealed chamber, and thus the height and inclination posture of the amphibious inspection robot on the water surface can be adjusted; Steering engines are symmetrically and fixedly arranged on both sides of the front sealed chamber, and steering engines are symmetrically and fixedly arranged on both sides of the rear sealed chamber. Wheel fin assemblies are arranged at the four steering engines. The wheel fin assembly includes a connecting rod and a walking wheel fin. The connecting rod includes a body section, an inclined section and a wheel fin section connected in sequence. The body section is parallel to the wheel fin section, and obtuse angles are formed between the inclined section and both the body section and the wheel fin section. One end of the body section away from the inclined section is fixedly connected to the output shaft of the steering engine, and the walking wheel fin is rotatably connected to one end of the wheel fin section away from the inclined section. A plurality of fin pieces are evenly distributed on the outer circumference of the walking wheel fin. By driving the connecting rod connected thereto by the steering engine, the relative position between the walking wheel fin connected to the connecting rod and the body can be adjusted. By controlling the four steering engines, the height and inclination posture of the body can be adjusted when walking on land, and the inclination posture of the body can also be adjusted when walking on water. It can also be combined with the above-mentioned method of adjusting the posture by injecting water into the rear sealed chamber to achieve landing in the case of a large height difference slope at the shore.

[0005] Specifically, the control mechanism includes a magnet sealing sheet and an electromagnet. The electromagnet is installed in the front sealed chamber or the rear sealed chamber. One side of the magnet sealing sheet is adapted to the electromagnet, and the other side of the magnet sealing sheet is adapted to the front ventilation hole or the rear ventilation hole or the front water-permeable hole or the rear water-permeable hole. By the principle of like poles repelling and opposite poles attracting, when different-direction currents are passed through the electromagnet, the magnet sealing sheet can be used to control the opening and closing of each hole.

[0006] Specifically, the walking wheel fin includes a hollow cylindrical hub. A first stator coil is fixedly arranged in the hub, and a first rotor is rotatably arranged. One end of the first rotor is adapted to be arranged in the first stator coil, and the other end of the first rotor is fixedly connected to the wheel fin section. Passing an electric current through the first stator coil can drive the rotation of the walking wheel fin.

[0007] Furthermore, a number of brackets are arranged to extend radially outward along the outer periphery of the hub. The brackets are circumferentially distributed. One end of each of the webbing pieces is rotatably connected to one of the brackets respectively. The other end of the webbing piece can be lapped on another bracket adjacent to the bracket connected to the webbing piece when it swings towards the axis direction of the hub to the nearest position. The webbing piece is arc-shaped. When a number of the webbing pieces all swing towards the axis direction of the hub to the nearest position, the webbing pieces are sequentially connected to form a cylindrical surface. Thus, the walking wheel webbing has two states: webbing expansion and webbing retraction. When the webbing is expanded, the walking wheel webbing is similar to an impeller structure. In this state, the rotation of the walking wheel webbing can drive the amphibious inspection robot to move on water. When the webbing is retracted, the walking wheel webbing is similar to a wheel structure. In this state, the rotation of the walking wheel webbing can drive the amphibious inspection robot to move on land.

[0008] Furthermore, a second stator coil is fixedly arranged in the hub and a second rotor is rotatably arranged. One end of the second rotor is adaptively arranged in the second stator coil. A wire reel is fixedly sleeved on the second rotor. The amphibious inspection robot further includes a number of stay ropes. One end of each of the stay ropes is fixedly connected to one of the webbing pieces respectively. The other ends of the stay ropes all pass through the outer wall of the hub and are fixedly wound on the wire reel. In the state where the webbing is expanded, energizing the second stator coil can drive the second rotor and the wire reel to rotate. Furthermore, the webbing pieces can be pulled through the stay ropes to complete the switching from the expanded state to the retracted state.

[0009] Furthermore, a torsion spring is arranged between the connected webbing piece and the bracket. The torsion spring is used to provide an elastic force for swinging the end of the webbing piece away from the bracket towards the direction away from the axis of the hub. When the second stator coil is powered in the reverse direction or the power supply is stopped, the torsion spring can drive the webbing piece to complete the switching from the retracted state to the expanded state.

[0010] The beneficial effects of the present invention are as follows: The amphibious inspection robot with adjustable posture includes a hollow body. Inside the body, a front sealed chamber, a middle chamber, and a rear sealed chamber are sequentially arranged from front to back. The top and bottom surfaces of the front sealed chamber are respectively provided with front ventilation holes and front water-permeable holes, and the top and bottom surfaces of the rear sealed chamber are respectively provided with rear ventilation holes and rear water-permeable holes. Control mechanisms are arranged at the front ventilation holes, rear ventilation holes, front water-permeable holes, and rear water-permeable holes. Steering engines are symmetrically and fixedly arranged on both sides of the front sealed chamber and both sides of the rear sealed chamber. Wheel fin assemblies are arranged at the four steering engines. The wheel fin assembly includes a connecting rod and a walking wheel fin. The connecting rod includes a body section, an inclined section, and a wheel fin section connected in sequence. The body section is fixedly connected to the output shaft of the steering engine, and the walking wheel fin is rotatably connected to the wheel fin section. A plurality of fin pieces are evenly distributed on the outer circumference of the walking wheel fin. When the amphibious inspection robot walks on land, the body is supported on the ground by the walking wheel fins and the connecting rod. The steering engine can drive the connecting rod connected thereto to rotate, thereby adjusting the relative position between the walking wheel fin connected to the connecting rod and the body. By controlling the four steering engines, the height and inclination posture of the body can be adjusted when walking on land; when walking in water, on the one hand, by controlling the mechanism to open the corresponding holes, water can be injected into the front sealed chamber and / or the rear sealed chamber, thereby adjusting the height and inclination posture of the amphibious inspection robot on the water surface. On the other hand, the steering engine can also drive the connecting rod to rotate to adjust the position of the walking wheel fin relative to the body, change the center of gravity position of the entire amphibious inspection robot, and thereby adjust the inclination posture of the body. Thus, the amphibious inspection robot has the function of adjusting the body posture and can be used to carry out more forms of operation tasks. During the process of landing from water to land, when there are large-height differences in the slope at the shore, the body can be adjusted in water by injecting water into the rear sealed chamber first to make the front end of the body tilt upward, and at the same time, the front two steering engines can be adjusted to lift the front two walking wheel fins above the front of the body. Then, while the forward power is provided by the rotation of each wheel fin, the body can be driven by the front steering engine to climb onto the shore. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 FIG. 6 is a schematic structural diagram of an amphibious inspection robot with adjustable posture according to the present invention when the fin pieces are retracted; Figure 2 FIG. 9 is a schematic structural diagram of an amphibious inspection robot with adjustable posture according to the present invention when the fin pieces are deployed; Figure 3 FIG. 12 is a schematic structural diagram of the interior of the body of an amphibious inspection robot with adjustable posture according to the present invention; Figure 4 FIG. 15 is a structural display of the control mechanism of an amphibious inspection robot with adjustable posture according to the present invention Figure 1 ; Figure 5 FIG. 20 is a structural display of the control mechanism of an amphibious inspection robot with adjustable posture according to the present invention Figure 2 ; Figure 6 Schematic cross-sectional structure diagram of the walking wheel fin of an amphibious inspection robot with adjustable attitude according to the present invention; Figure 7 Schematic structure diagram of the walking wheel fin in the deployed state of an amphibious inspection robot with adjustable attitude according to the present invention; Figure 8 Explosion schematic of the walking wheel fin of an amphibious inspection robot with adjustable attitude according to the present invention Figure 1 ; Figure 9 Explosion schematic of the walking wheel fin of an amphibious inspection robot with adjustable attitude according to the present invention Figure 2 ; In the figure, 10 - body, 11 - front sealed compartment, 12 - middle compartment, 13 - rear sealed compartment, 14 - front ventilation hole, 15 - rear ventilation hole, 16 - front water permeable hole, 17 - rear water permeable hole, 18 - magnet sealing sheet, 19 - electromagnet, 20 - wheel fin assembly, 21 - servo, 22 - connecting rod, 23 - hub, 24 - first stator coil, 25 - first rotor, 26 - bracket, 27 - second stator coil, 28 - second rotor, 29 - wire reel, 30 - fin piece. Detailed implementation manners

[0012] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0013] As Figures 1 to 9 shown, an amphibious inspection robot with adjustable attitude includes a body 10, and wheel fin assemblies 20 are provided on both sides of the front end and both sides of the rear end of the body 10 to enable it to have the function of amphibious movement.

[0014] As Figures 3 to 5 shown, the body 10 is a hollow shell structure. Inside the body 10, a front sealed compartment 11, a middle compartment 12, and a rear sealed compartment 13 are arranged in sequence from front to back. The middle compartment 12 is used to install a battery, a control circuit board, a communication module, etc. In the natural state, the front sealed compartment 11, the middle compartment 12, and the rear sealed compartment 13 are filled with air. Front ventilation holes 14 and rear ventilation holes 15 are opened on the top surface of the body 10, and front water permeable holes 16 and rear water permeable holes 17 are opened on the bottom surface of the body 10. Both the front ventilation hole 14 and the front water permeable hole 16 are used to communicate the front sealed compartment 11 with the outside of the body 10, and both the rear ventilation hole 15 and the rear water permeable hole 17 are used to communicate the rear sealed compartment 13 with the outside of the body 10. Control mechanisms are provided at the front ventilation hole 14, the rear ventilation hole 15, the front water permeable hole 16, and the rear water permeable hole 17. The control mechanisms are used to open or close the front ventilation hole 14 or the rear ventilation hole 15 or the front water permeable hole 16 or the rear water permeable hole 17.

[0015] The above-mentioned front ventilation holes 14, rear ventilation holes 15, front water-permeable holes 16, rear water-permeable holes 17 and the control mechanism enable the amphibious inspection robot to have the function of adjusting its attitude on water. For example, in the initial state, the front ventilation holes 14, rear ventilation holes 15, front water-permeable holes 16 and rear water-permeable holes 17 are all closed by the corresponding control mechanism. In this state, the amphibious inspection robot is put into the water, and it floats on the water surface relying on the buoyancy of the body 10. At this time, keep the front ventilation holes 14 and front water-permeable holes 16 closed and open the rear ventilation holes 15 and rear water-permeable holes 17. The water flow below will enter the rear sealed chamber 13 through the rear water-permeable holes 17, and the original air in the rear sealed chamber 13 will be discharged through the rear ventilation holes 15. Since the entry of water into the rear sealed chamber 13 will change the center of gravity position of the amphibious inspection robot, the attitude adjustment of making the front end of the amphibious inspection robot tilt upward and the rear end tilt downward can be achieved through this operation. The tilt angle of this tilted attitude is determined by the water inflow volume of the rear sealed chamber 13. In actual operation, it can be controlled by the closing timing of the rear ventilation holes 15 and rear water-permeable holes 17. When the tilt angle of the amphibious inspection robot reaches the set angle, the rear ventilation holes 15 and rear water-permeable holes 17 can be closed in time through the corresponding control mechanism. Similarly, when adjusting, keep the rear ventilation holes 15 and rear water-permeable holes 17 closed and open the front ventilation holes 14 and front water-permeable holes 16 to achieve the attitude adjustment of making the front end of the amphibious inspection robot tilt downward and the rear end tilt upward, which will not be elaborated here. In addition, since the weight of the entire amphibious inspection robot will also change after water enters the body 10, when on water, the draft depth of the amphibious inspection robot can also be adjusted by making both the front sealed chamber 11 and the rear sealed chamber 13 enter water, that is, adjusting the position of the amphibious inspection robot on the water surface.

[0016] As Figures 1 to 3 shown, steering gears 21 are symmetrically and fixedly arranged on both sides of the front sealed chamber 11, and steering gears 21 are also symmetrically and fixedly arranged on both sides of the rear sealed chamber 13. Wheel fin assemblies 20 are arranged at the four steering gears 21. The wheel fin assembly 20 includes a connecting rod 22 and a walking wheel fin. The connecting rod 22 includes a body section, an inclined section and a wheel fin section connected in sequence. The body section is parallel to the wheel fin section, and obtuse angles are formed between the inclined section and both the body section and the wheel fin section. One end of the body section away from the inclined section is fixedly connected to the output shaft of the steering gear 21, and the walking wheel fin is rotatably connected to one end of the wheel fin section away from the inclined section. A plurality of fin pieces 30 are evenly distributed on the outer circumference of the walking wheel fin.

[0017] When the four walking wheel fins rotate, they can drive the amphibious inspection robot to walk on land or water. Here, the steering gear 21 and the connecting rod 22 are designed. The connecting rod 22 can be driven to rotate by the steering gear 21. Since the inclined section is provided in the connecting rod 22, when the connecting rod 22 rotates, the relative height and front-rear position between the body section and the wheel fin section can be adjusted, and the center of gravity position of the amphibious inspection robot can be changed. Thus, the walking attitude of the amphibious inspection robot can be adjusted. For example: When walking on land, the walking wheel fins contact the ground similar to the four-wheel drive principle. When the walking wheel fins rotate, they can drive the amphibious inspection robot to walk and turn on land (it should be noted that as an embodiment, after a number of fins 30 are rigidly distributed on the outer circumference of the walking wheel fins, its overall outer contour is still circular, and it can still drive the amphibious inspection robot to walk when rotating. The specific structure of the walking wheel fins in this embodiment will be described later; when the four walking wheel fins rotate at the same speed, they can drive the amphibious inspection robot to move forward or backward, and when the rotation speeds of the walking wheel fins on both sides of the amphibious inspection robot are different, it can achieve turning). The body 10 is supported by the connecting rod 22 at a certain height from the ground. By synchronously rotating the two front steering gears 21, the postures of the two front connecting rods 22 can be adjusted, changing the height between the two front walking wheel fins and the body 10, that is, changing the distance between the front end of the body 10 and the ground, and further adjusting the body 10 to an inclined posture; similarly, by synchronously rotating the two rear steering gears 21, the postures of the two rear connecting rods 22 can also be adjusted to incline the body 10, which will not be elaborated here; in practical applications, the height of the body 10 can also be adjusted in parallel by the coordinated adjustment of the four steering gears 21 to meet different obstacle-crossing and obstacle-avoiding requirements.

[0018] When walking on water, the body 10 floats on the water surface under the action of buoyancy. Since a number of fins 30 are evenly distributed on the outer circumference of the walking wheel fins, it is similar to an impeller structure. When the walking wheel fins rotate, they drive the amphibious inspection robot to walk on water (the four walking wheel fins rotate synchronously) and turn (the rotation speeds of the walking wheel fins on both sides of the body 10 are different) by sliding the water body through the fins 30. In addition to adjusting the posture by the way of water intake through the front sealed chamber 11 and the rear sealed chamber 13 as described above, the steering gear 21 can also drive the connecting rod 22 connected to it to rotate. Since the connecting rod 22 is composed of a body section, an inclined section, and a fin section, when the connecting rod 22 rotates, the position of the walking wheel fin connected to it relative to the body 10 changes, and coupled with the fact that the walking wheel fin has a certain weight, the center of gravity position of the amphibious walking robot can be adjusted, and the inclined posture of the body 10 can be further adjusted.

[0019] In addition, the amphibious inspection robot can also achieve landing in the case of a large height difference between the shore slope and the bank. Before landing, first adjust the two front wheel fins at the front end of the amphibious inspection robot through two steering gears 21 at the front end to extend in front of the body 10; then adjust the front end of the body 10 of the amphibious inspection robot to tilt upward in the way of filling water into the rear sealed compartment 13 as described above; then rotate the two rear wheel fins at the rear end of the amphibious inspection robot to move the amphibious inspection robot forward to the shore. Since the two front wheel fins extend in front of the body 10 and the body 10 is in an upward-tilted posture, the two front wheel fins are lifted to a certain height above the water surface and can extend above the shore slope with a certain height difference from the water surface during the process of approaching the shore; then reverse the rotation of the two steering gears 21 at the front end of the amphibious inspection robot. After the two front wheel fins contact the ground on the shore, they form a support. When the two front steering gears 21 continue to rotate, drag the body 10 onto the shore through the two front connecting rods 22 (similar to the climbing process). During this process, the four wheel fins also rotate simultaneously to provide the forward power for the amphibious inspection robot to go ashore; after the two front wheel fins of the amphibious inspection robot land, timely adjust the positions of the two rear wheel fins at the rear end of the amphibious inspection robot through the two steering gears 21 at the rear end until the entire amphibious inspection robot climbs onto the shore; after the body 10 of the amphibious inspection robot leaves the water, the front ventilation holes 14, rear ventilation holes 15, front water-permeable holes 16, and rear water-permeable holes 17 can be opened as needed to drain the water injected during the attitude adjustment in the water; after the amphibious inspection robot completely goes ashore, the attitude of the amphibious inspection robot can be adjusted to the required land walking attitude by operating each steering gear 21 in the manner described above.

[0020] During specific implementation, the foregoing control mechanism can be selected in various structural forms. For example, electric control valves are provided at the front ventilation holes 14, rear ventilation holes 15, front water-permeable holes 16, and rear water-permeable holes 17 to realize the opening and closing control of the corresponding holes. To achieve the buffered flow injection of water into the front sealed compartment 11 or the rear sealed compartment 13, the front ventilation hole 14 and the front water-permeable hole 16, and the rear ventilation hole 15 and the rear water-permeable hole 17 are not directly opposite to each other and are blocked by partitions; at the same time, to ensure the reliability of water injection and air discharge (for example, if there is only one rear water-permeable hole 17, when injecting water into the rear sealed compartment 13 through it, if blocked by dirt in the water, the foregoing attitude adjustment cannot be successfully completed), multiple front ventilation holes 14, rear ventilation holes 15, front water-permeable holes 16, and rear water-permeable holes 17 are provided. During the specific implementation of this embodiment, such as Figure 4 、 Figure 5As shown in the figure, the aforementioned control mechanism includes a magnet sealing sheet 18 and an electromagnet 19. The electromagnet 19 is installed in the front sealing chamber 11 or the rear sealing chamber 13. One side of the magnet sealing sheet 18 is adapted to the electromagnet 19, and the other side of the magnet sealing sheet 18 is adapted to the front ventilation hole 14 or the rear ventilation hole 15 or the front water permeable hole 16 or the rear water permeable hole 17. The magnet sealing sheet 18 works on the principle of magnets, with different magnetic poles on both sides. One side of it faces the electromagnet 19 directly, and the electromagnet 19 can change its magnetic pole by changing the direction of the energized current. According to the principle of like poles repelling and opposite poles attracting, by controlling the direction of the energized current of the electromagnet 19, the electromagnet 19 can attract or repel the magnet sealing sheet 18. When the electromagnet 19 repels the magnet sealing sheet 18, the magnet sealing sheet 18 can be pushed against the inner wall of the body 10 by the repulsive force to block and close the hole opposite to it; when the electromagnet 19 attracts the magnet sealing sheet 18, the magnet sealing sheet 18 can be adsorbed on the electromagnet 19 by the suction force. At this time, there is a gap between the magnet sealing sheet 18 and the inner wall of the body 10, and the hole opposite to the magnet sealing sheet 18 is opened. The magnet sealing sheet 18 is in the shape of a sheet, which can play the role of blocking of the above-mentioned partition. At the same time, the magnet sealing sheet 18 has a certain area, and can control the opening and closing of multiple holes opposite to it at the same time.

[0021] During specific implementation, to ensure the waterproof performance and lighten the structure, the walking wheel webbing is driven by the principle of a shellless motor. As Figures 6 to 9 shown, the walking wheel webbing includes a hollow cylindrical hub 23. A first stator coil 24 is fixedly arranged inside the hub 23, and a first rotor 25 is rotatably arranged. One end of the first rotor 25 is adaptively arranged inside the first stator coil 24, and the other end of the first rotor 25 is fixedly connected to the webbing section. When the first stator coil 24 is energized, the first stator coil 24 and the hub 23 can be driven to rotate, so as to drive the rotation process of the walking wheel webbing. During the process of energizing the first electronic coil 24, adjusting the magnitude of the current can control the rotation speed of the walking wheel webbing, and changing the direction of the energized current can control the rotation direction of the walking wheel webbing.

[0022] Furthermore, a plurality of brackets 26 are radially extended outward along the outer periphery of the hub 23. The plurality of brackets 26 are circumferentially evenly distributed, and one ends of a plurality of webbing pieces 30 are respectively rotatably connected to the plurality of brackets 26. The other end of the webbing piece 30 can swing towards the axis direction of the hub 23 and can be lapped on another bracket 26 adjacent to the bracket 26 connected to the webbing piece 30 when it is closest. The webbing piece 30 is arc-shaped. When a plurality of webbing pieces 30 all swing towards the axis direction of the hub 23 to the closest position, the plurality of webbing pieces 30 are connected in sequence to form a cylindrical surface. Thus, the webbing piece 30 in this amphibious inspection robot has two states of retraction and expansion. As Figure 1 shown, when the webbing piece 30 is retracted, the outer periphery of the walking wheel webbing is in a cylindrical surface structure similar to a wheel, which is used for the amphibious inspection robot to walk on land; as Figure 2As shown in the figure, when the webbed fins 30 are deployed, the outer periphery of the walking wheel webbing is similar to an impeller structure. The rotation of the walking wheel webbing can stir the water body, which is used to enable the amphibious inspection robot to walk on water.

[0023] Furthermore, a second stator coil 27 is fixedly arranged inside the hub 23, and a second rotor 28 is rotatably arranged. One end of the second rotor 28 is adaptively arranged inside the second stator coil 27. A wire reel 29 is fixedly sleeved on the second rotor 28. There are also several pull ropes (not shown in the figure). One ends of the several pull ropes are respectively fixedly connected to the several webbed fins 30, and the other ends of the several pull ropes all pass through the outer wall of the hub 23 and are fixedly wound on the wire reel 29. This setting can realize the switching between the retracted and deployed states of the webbed fins 30. Specifically: when landing from water, as described above, during the landing process, the walking wheel webbing has a suspended stage. At this time, when the second stator coil 27 is energized, it can drive the second rotor 28 and the wire reel 29 to rotate, so that each pull rope is gradually wound on the wire reel 29 and respectively tightens the webbed fins 30, thereby realizing the switching from the deployed state to the retracted state; when walking on land, since the second stator coil 27 rotates together with the hub 23, at this time, it is necessary to keep the second stator coil 27 energized, and always maintain the tendency to tighten the webbed fins 30 in the retracting direction to ensure the stability of its walking state on land; when entering the water from land, the webbed fins 30 are in the retracted state and rush into the water by means of the land travel inertia; after entering the water, the second stator coil 27 is reversely energized to make the wire reel 29 rotate reversely (or the second stator coil 27 stops being energized to enable the second rotor 28 and the wire reel 29 to rotate freely). By energizing the first stator coil 24 to drive the hub 23 to rotate, since the bracket 26 is provided to enable the water body to enter the inner side of the webbed fins 30, when the hub 23 rotates, under the reaction of the water body, each webbed fin 30 can be driven to expand outwards.

[0024] It should be noted that, as Figure 7 shown in the figure, a limiting structure is formed at the rotatable connection position between the webbed fin 30 and the bracket 26 to limit the farthest position of the outward expansion of the webbed fin 30. In implementation, the farthest position of the outward expansion of the webbed fin 30 can also be limited by setting the length of the pull rope. In the above implementation process, during the stage of expanding the webbed fin 30 in water, it is expanded by the reaction force of the water body. Therefore, in this embodiment, this amphibious inspection robot only has the function of moving in one direction in water. In specific implementation, a torsion spring (not shown in the figure) is also arranged between the connected webbed fin 30 and the bracket 26. This torsion spring is used to provide an elastic force that makes the end of the webbed fin 30 away from the bracket 26 swing in a direction away from the axis of the hub 23. During the stage of expanding the webbed fin 30 in water as described above, after the second stator coil 27 is reversely energized or stops being energized, the webbed fin 30 can be expanded outwards by the torsion spring, and the stability can be maintained by using the elastic force of the torsion spring and the above-mentioned limit in the fully expanded state. Thus, this amphibious inspection robot can move in both forward and backward directions in water and maintain stable movement.

[0025] The above are only the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the concept described herein through the above teachings or the techniques or knowledge in related fields. Any changes and variations made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. An amphibious inspection robot with adjustable posture, characterized in that: Including the body; The machine body is a hollow shell structure, and a front sealed chamber, an intermediate chamber, and a rear sealed chamber are sequentially arranged in the machine body from front to rear. A front air vent and a rear air vent are provided on the top surface of the machine body, and a front water vent and a rear water vent are provided on the bottom surface of the machine body. The front air vent and the front water vent are used to connect the front sealed chamber with the outside of the machine body, and the rear air vent and the rear water vent are used to connect the rear sealed chamber with the outside of the machine body. A control mechanism is arranged at the front air vent, the rear air vent, the front water vent, and the rear water vent, and the control mechanism is used to open or close the front air vent or the rear air vent or the front water vent or the rear water vent; The front sealed compartment is symmetrically and fixedly provided with servos on both sides, the rear sealed compartment is symmetrically and fixedly provided with servos on both sides, and the four servos are each provided with a wheel paddle assembly, the wheel paddle assembly comprises a connecting rod and a walking wheel paddle, the connecting rod comprises a body section, an inclined section and a wheel paddle section which are connected in sequence, the body section is parallel to the wheel paddle section, an obtuse angle is formed between the inclined section and the body section and the wheel paddle section, one end of the body section away from the inclined section is fixedly connected to the output shaft of the servo, the walking wheel paddle is rotatably connected to one end of the wheel paddle section away from the inclined section, and a plurality of paddles are evenly distributed on the outer circumference of the walking wheel paddle.

2. The posture-adjustable amphibious inspection robot according to claim 1, characterized in that: The control mechanism includes a magnet sealing plate and an electromagnet, wherein the electromagnet is installed in the front sealing chamber or the rear sealing chamber, one side of the magnet sealing plate is matched with the electromagnet, and the other side of the magnet sealing plate is matched with the front air vent or the rear air vent or the front water vent or the rear water vent.

3. The posture-adjustable amphibious inspection robot according to claim 1, characterized in that: The walking paddle comprises a hollow cylindrical hub, in which a first stator coil is fixedly arranged and a first rotor is rotatably arranged, one end of the first rotor is adapted to be arranged in the first stator coil, and the other end of the first rotor is fixedly connected to the paddle segment.

4. The posture-adjustable amphibious inspection robot according to claim 3, characterized in that: The outer circumference of the hub is provided with a plurality of brackets extending outwardly in the radial direction, the plurality of brackets are evenly distributed around the circumference, one end of the plurality of fins is rotatably connected to the plurality of brackets respectively, When the other end of the paddle swings closest to the axis of the hub, it can overlap on another bracket adjacent to the bracket connected to the paddle. The paddle is arc-shaped. When several paddles swing closest to the axis of the hub, several paddles are connected in sequence to form a cylindrical surface.

5. The posture-adjustable amphibious inspection robot according to claim 4, characterized in that: A second stator coil is fixedly arranged in the wheel hub and a second rotor is rotatably arranged therein. One end of the second rotor is adapted to be arranged in the second stator coil. A wire drum is fixedly sleeved on the second rotor. The second rotor also includes a plurality of pull ropes. One ends of the pull ropes are respectively fixedly connected to the plurality of paddles, and the other ends of the pull ropes pass through the outer wall of the wheel hub and are fixedly wound around the wire drum.

6. The posture-adjustable amphibious inspection robot according to claim 5, characterized in that: A torsion spring is also arranged before the connected paddle and bracket, and the torsion spring is used to provide an elastic force to make the end of the paddle away from the bracket swing in a direction away from the hub axis.

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