Wheel paddle leg type open-ground amphibious multi-mode robot

Abstract

A wheel paddle leg type open-ground amphibious multi-mode robot comprises a left wheel paddle leg assembly, a right wheel paddle leg assembly, a left wheel paddle leg driving posture adjusting assembly, a right wheel paddle leg driving posture adjusting assembly and a trunk control assembly. The left wheel paddle leg assembly and the right wheel paddle leg assembly are distributed on the left side and the right side of the trunk control assembly in a mirror symmetry mode. The left wheel paddle leg driving posture adjusting assembly is arranged between the left wheel paddle leg assembly and the trunk control assembly; the right wheel paddle leg driving posture adjusting assembly is arranged between the right wheel paddle leg assembly and the trunk control assembly. According to the wheel-paddle-leg type open-ground amphibious multi-mode robot, only four motors are used, structural coupling of the ground mode and the flight mode is achieved, under the condition of the same load, the dead weight can be effectively reduced, the endurance performance and flexibility are further improved, and in the ground mode, the flight mode is not influenced. The robot can have the same capability of stably controlling the advancing speed and the advancing direction as a traditional wheeled robot and high obstacle crossing capability, and after the robot is switched to the flight mode, parallel double-rotor flight can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent robots, and particularly relates to a wheel-paddle-leg type air-ground amphibious multi-modal robot. Background Art

[0002] Air-ground amphibious robots combine the advantages of ground mobile robots and flying robots. They can move smoothly on the ground, reduce energy consumption, and extend the battery life. When facing obstacles that are difficult to cross or tasks that require rapid transfer, they can autonomously switch to the flight mode, take off without being restricted by the terrain, and quickly reach the task location to meet tasks such as complex environment detection, high-altitude rescue, and material transportation.

[0003] The Chinese patent application with the publication number CN117141610A discloses a rim-leg type multi-modal balanced mobile robot. Although this robot has multi-modal motion modes, it lacks the flight mode. When encountering obstacles with a height or width dimension exceeding the rim diameter, the robot will not be able to pass through the obstacles.

[0004] The Chinese patent application with the publication number CN219191842U discloses a deformable air-ground amphibious robot. Although this robot has the ability of ground movement and air flight, the ground mode and the flight mode are designed independently of each other. Under the same load, due to the chassis structure and the propeller structure occupying a large amount of the robot's own weight, the battery life performance and flexibility of the robot will be severely weakened.

[0005] The Illinois Institute of Technology in the United States exhibited a land-air hybrid quadrotor HyTAQ robot at the ICRA conference in 2013, which also has the ability of ground movement and air flight. In the ground mode, the metal cage contacts the ground, and the quadrotor provides power for its forward movement and turning. However, in the ground mode, since the power for the robot's movement is completely provided by the quadrotor, there is a problem of low ground movement efficiency, and it is impossible to stably control the traveling speed and direction like a traditional wheeled robot. Summary of the Invention

[0006] Aiming at the problems existing in the prior art, the present invention provides a wheel-paddle-leg type air-ground amphibious multi-modal robot. By using only four motors, the coupling of the ground mode and the flight mode in structure is realized. Under the same load, the self-weight can be effectively reduced, and the battery life performance and flexibility are further improved. In the ground mode, it can have the ability to stably control the traveling speed and direction like a traditional wheeled robot and a strong obstacle-crossing ability. After switching to the flight mode, it can achieve side-by-side dual-rotor flight.

[0007] To achieve the above object, the present invention adopts the following technical solution: A wheel-paddle-leg type air-ground amphibious multi-modal robot, comprising a left wheel-paddle-leg assembly, a right wheel-paddle-leg assembly, a left wheel-paddle-leg drive and posture adjustment assembly, a right wheel-paddle-leg drive and posture adjustment assembly, and a torso control assembly; the left wheel-paddle-leg assembly and the right wheel-paddle-leg assembly are symmetrically distributed on the left and right sides of the torso control assembly in a mirror image; the left wheel-paddle-leg drive and posture adjustment assembly is arranged between the left wheel-paddle-leg assembly and the torso control assembly; the right wheel-paddle-leg drive and posture adjustment assembly is arranged between the right wheel-paddle-leg assembly and the torso control assembly.

[0008] The torso control assembly includes an inner torso frame and an outer torso frame; the inner torso frame is successively provided with a battery compartment, a control compartment, and a power distribution wire compartment from top to bottom, and the radial dimension of the battery compartment < the radial dimension of the control compartment < the radial dimension of the power distribution wire compartment; a power battery is installed in the battery compartment; a controller is installed in the control compartment; a power distribution divider is installed in the power distribution wire compartment; the outer torso frame is coaxially sleeved outside the battery compartment of the inner torso frame, and the outer torso frame has only an axial movement degree of freedom relative to the inner torso frame, and a return spring is arranged between the outer torso frame and the inner torso frame.

[0009] The left wheel-paddle-leg drive and posture adjustment assembly and the right wheel-paddle-leg drive and posture adjustment assembly have the same structure, and both include an arm-type frame, a posture adjustment drive motor, a hinge, a hinge locking and limiting mechanism, and a gear transmission mechanism; the stator end of the posture adjustment drive motor is fixedly connected to the inner torso frame where the power distribution wire compartment is located, and the central axis of the posture adjustment drive motor is perpendicular to the central axis of the inner torso frame; the rotor end of the posture adjustment drive motor is fixedly connected to the tail of the arm-type frame, and the central axis of the posture adjustment drive motor is perpendicular to the central axis of the arm-type frame; the static link plate of the hinge is fixedly connected to the tail of the arm-type frame, and the hinge axis of the hinge is located at the outermost end of the tail of the arm-type frame; the hinge locking and limiting mechanism is arranged between the moving link plate of the hinge and the outer torso frame; the gear transmission mechanism is arranged in the upper middle part of the arm-type frame.

[0010] The hinge locking and limiting mechanism includes a locking and limiting lever, a fulcrum rotating shaft, a limiting pin, and a triggering push rod; the fulcrum rotating shaft is arranged on the arm-type frame; the middle part of the locking and limiting lever is hinged on the fulcrum rotating shaft, and a return winding spring is arranged between the locking and limiting lever and the fulcrum rotating shaft; the limiting pin is arranged on the moving link plate of the hinge; the limiting end of the locking and limiting lever adopts a hook-shaped structure, and the limiting end of the locking and limiting lever is in hook-locking cooperation with the limiting pin; the triggering push rod is fixedly arranged at the bottom of the outer torso frame, and the triggering push rod is in pressing cooperation with the triggering end of the locking and limiting lever.

[0011] The gear transmission mechanism includes a driving bevel gear, a first driven bevel gear, a transmission shaft and a second driven bevel gear; the transmission shaft is rotatably connected in the arm-type frame through bearings, and the central axis of the transmission shaft coincides with the central axis of the arm-type frame; the first driven bevel gear is fixedly installed at the bottom end of the transmission shaft, and the first driven bevel gear is meshed and driven with the driving bevel gear; the second driven bevel gear is fixedly installed at the top end of the transmission shaft, and the second driven bevel gear is located outside the head of the arm-type frame.

[0012] The left and right wheel-paddle leg assemblies have the same structure, and each includes an outer wheel rim, an inner wheel rim, a walking and flying drive motor, propeller blades, guide rollers, a circular guide rail and a gear ring; the gear ring is fixedly installed outside the outer wheel rim, the gear ring is coaxially distributed with the outer wheel rim, and the gear ring is meshed and driven with the second driven bevel gear; the circular guide rail is fixedly installed inside the outer wheel rim, and the circular guide rail is coaxially distributed with the outer wheel rim; the inner wheel rim is located inside the outer wheel rim, the inner wheel rim is coaxially distributed with the outer wheel rim, and the outer wheel rim has a rotational freedom with respect to the inner wheel rim; the guide rollers are evenly arranged on the inner wheel rim in the circumferential direction, and the guide rollers are in rolling contact with the circular guide rail; the walking and flying drive motor is a double-output shaft motor, the walking and flying drive motor is fixedly installed at the center of the inner wheel rim, and the central axis of the walking and flying drive motor coincides with the central axis of the inner wheel rim; the propeller blades are located inside the outer wheel rim, and the propeller blades are fixedly installed at the outer end of the power output shaft of the walking and flying drive motor; the driving bevel gear is fixedly installed at the inner end of the power output shaft of the walking and flying drive motor; the moving link plate of the hinge is fixedly connected to the edge of the inner wheel rim.

[0013] When the outer trunk frame and the arm-type frame are both in the upright state facing upwards, the top height of the outer trunk frame is greater than the heights of the second driven bevel gear and the outer wheel rim, the return spring between the outer trunk frame and the inner trunk frame is in the extended state, and the limiting end of the locking and limiting lever is in the hooked state with the limiting pin.

[0014] When the outer trunk frame and the arm-type frame are both in the inverted state facing downwards, the return spring between the outer trunk frame and the inner trunk frame is in the compressed state, the trigger rod is in the upward pressing state with the trigger end of the locking and limiting lever, and the limiting end of the locking and limiting lever is in the unlocked state with the limiting pin.

[0015] The beneficial effects of the present invention:

[0016] The wheel-paddle-leg type air-ground amphibious multi-modal robot of the present invention uses only four motors to achieve structural coupling between the ground mode and the flight mode. Under the same load, it can effectively reduce its own weight, further improve the endurance performance and flexibility. In the ground mode, it can have the same ability as traditional wheeled robots to stably control the traveling speed and direction and a strong obstacle-crossing ability. After switching to the flight mode, it can achieve tandem dual-rotor flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram (viewpoint one) of a wheel-paddle-leg type air-ground amphibious multi-modal robot (sitting position) of the present invention;

[0018] Figure 2 It is a schematic structural diagram (viewpoint two) of a wheel-paddle-leg type air-ground amphibious multi-modal robot (sitting position) of the present invention;

[0019] Figure 3 It is a schematic structural diagram (viewpoint two) of a wheel-paddle-leg type air-ground amphibious multi-modal robot (standing position) of the present invention;

[0020] Figure 4 It is a schematic structural diagram (viewpoint two) of a wheel-paddle-leg type air-ground amphibious multi-modal robot (inverted) of the present invention;

[0021] Figure 5 It is a schematic structural diagram (viewpoint two) of a wheel-paddle-leg type air-ground amphibious multi-modal robot (inverted flight) of the present invention;

[0022] Figure 6 It is a schematic structural diagram (viewpoint two) of a wheel-paddle-leg type air-ground amphibious multi-modal robot (upright flight) of the present invention;

[0023] Figure 7 It is a schematic structural diagram of the torso control component of the present invention;

[0024] Figure 8 It is a schematic structural diagram of the left / right wheel-paddle-leg drive and posture adjustment component of the present invention;

[0025] Figure 9 It is a schematic structural diagram of the left / right wheel-paddle-leg component of the present invention;

[0026] In the figure, I is the left wheel and paddle leg assembly, II is the right wheel and paddle leg assembly, III is the left wheel and paddle leg drive and attitude adjustment assembly, IV is the right wheel and paddle leg drive and attitude adjustment assembly, V is the torso control assembly, 1 is the inner torso frame, 2 is the outer torso frame, 3 is the battery compartment, 4 is the control compartment, 5 is the power distribution compartment, 6 is the controller, 7 is the power distributor, 8 is the arm frame, 9 is the attitude adjustment drive motor, 10 is the hinge, 11 is the stationary link plate, 12 is the hinge shaft, 13 is the moving link plate, 14 is the locking limit lever, 15 is the fulcrum rotating shaft, 16 is the limit pin, 17 is the trigger push rod, 18 is the driving bevel gear, 19 is the first driven bevel gear, 20 is the transmission shaft, 21 is the second driven bevel gear, 22 is the outer wheel rim, 23 is the inner wheel rim, 24 is the walking and flying drive motor, 25 is the propeller blade, 26 is the guide roller, 27 is the circular guide rail, 28 is the gear ring. Detailed implementation mode

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] As Figures 1 to 9 shown, a wheel and paddle leg type air-ground amphibious multi-modal robot includes a left wheel and paddle leg assembly I, a right wheel and paddle leg assembly II, a left wheel and paddle leg drive and attitude adjustment assembly III, a right wheel and paddle leg drive and attitude adjustment assembly IV and a torso control assembly V; the left wheel and paddle leg assembly I and the right wheel and paddle leg assembly II are symmetrically distributed on the left and right sides of the torso control assembly V in a mirror image; the left wheel and paddle leg drive and attitude adjustment assembly III is arranged between the left wheel and paddle leg assembly I and the torso control assembly V; the right wheel and paddle leg drive and attitude adjustment assembly IV is arranged between the right wheel and paddle leg assembly II and the torso control assembly V.

[0029] The torso control assembly V includes an inner torso frame 1 and an outer torso frame 2; the inner torso frame 1 is successively provided with a battery compartment 3, a control compartment 4 and a power distribution compartment 5 from top to bottom, and the radial dimension of the battery compartment 3 < the radial dimension of the control compartment 4 < the radial dimension of the power distribution compartment 5; a power battery is installed in the battery compartment 3; a controller 6 is installed in the control compartment 4; a power distributor 7 is installed in the power distribution compartment 5; the outer torso frame 2 is coaxially sleeved outside the battery compartment 3 of the inner torso frame 1, and the outer torso frame 2 has only an axial movement degree of freedom relative to the inner torso frame 1, and a return spring is arranged between the outer torso frame 2 and the inner torso frame 1.

[0030] The left wheel oar leg drive attitude adjustment assembly III and the right wheel oar leg drive attitude adjustment assembly IV have the same structure, and both include an arm - type frame 8, an attitude adjustment drive motor 9, a hinge 10, a hinge locking and limiting mechanism, and a gear transmission mechanism; the stator end of the attitude adjustment drive motor 9 is fixedly connected to the inner trunk frame 1 where the power distribution bin 5 is located, and the central axis of the attitude adjustment drive motor 9 is perpendicular to the central axis of the inner trunk frame 1; the rotor end of the attitude adjustment drive motor 9 is fixedly connected to the tail of the arm - type frame 8, and the central axis of the attitude adjustment drive motor 9 is perpendicular to the central axis of the arm - type frame 8; the stationary link plate 11 of the hinge 10 is fixedly connected to the tail of the arm - type frame 8, and the hinge shaft 12 of the hinge 10 is located at the outermost end of the tail of the arm - type frame 8; the hinge locking and limiting mechanism is arranged between the moving link plate 13 of the hinge 10 and the outer trunk frame 2; the gear transmission mechanism is arranged in the upper middle part of the arm - type frame 8.

[0031] The hinge locking and limiting mechanism includes a locking and limiting lever 14, a fulcrum rotating shaft 15, a limiting pin 16, and a triggering push rod 17; the fulcrum rotating shaft 15 is arranged on the arm - type frame 8; the middle part of the locking and limiting lever 14 is hinged on the fulcrum rotating shaft 15, and a return coil spring is arranged between the locking and limiting lever 14 and the fulcrum rotating shaft 15; the limiting pin 16 is arranged on the moving link plate 13 of the hinge 10; the limiting end of the locking and limiting lever 14 adopts a hook - like structure, and the limiting end of the locking and limiting lever 14 is in hook - locking cooperation with the limiting pin 16; the triggering push rod 17 is fixedly arranged at the bottom of the outer trunk frame 2, and the triggering push rod 17 is in pressing cooperation with the triggering end of the locking and limiting lever 14.

[0032] The gear transmission mechanism includes a driving bevel gear 18, a first driven bevel gear 19, a transmission shaft 20, and a second driven bevel gear 21; the transmission shaft 20 is rotatably connected in the arm - type frame 8 through bearings, and the central axis of the transmission shaft 20 coincides with the central axis of the arm - type frame 8; the first driven bevel gear 19 is fixedly installed at the bottom end of the transmission shaft 20, and the first driven bevel gear 19 is in meshing transmission cooperation with the driving bevel gear 18; the second driven bevel gear 21 is fixedly installed at the top end of the transmission shaft 20, and the second driven bevel gear 21 is located outside the head of the arm - type frame 8.

[0033] The left wheel paddle leg assembly I and the right wheel paddle leg assembly II have the same structure, and both include an outer wheel rim 22, an inner wheel rim 23, a walking and flying drive motor 24, propeller blades 25, guide rollers 26, a circular ring guide rail 27 and a gear ring 28; the gear ring 28 is fixedly installed on the outer side of the outer wheel rim 22, the gear ring 28 is coaxially distributed with the outer wheel rim 22, and the gear ring 28 is in meshing transmission cooperation with the second driven bevel gear 21; the circular ring guide rail 27 is fixedly installed on the inner side of the outer wheel rim 22, the circular ring guide rail 27 is coaxially distributed with the outer wheel rim 22, and the outer wheel rim 22 has a rotational freedom degree relative to the inner wheel rim 23; the inner wheel rim 23 is located inside the outer wheel rim 22, and the inner wheel rim 23 is coaxially distributed with the outer wheel rim 22; the guide rollers 26 are evenly arranged on the inner wheel rim 23 in the circumferential direction, and the guide rollers 26 are in rolling contact and cooperation with the circular ring guide rail 27; the walking and flying drive motor 24 is a double-output shaft motor, the walking and flying drive motor 24 is fixedly installed at the center of the inner wheel rim 23, and the central axis of the walking and flying drive motor 24 coincides with the central axis of the inner wheel rim 23; the propeller blades 25 are located inside the outer wheel rim 22, and the propeller blades 25 are fixedly installed at the outer end of the power output shaft of the walking and flying drive motor 24; the driving bevel gear 18 is fixedly installed at the inner end of the power output shaft of the walking and flying drive motor 24; the moving link plate 13 of the hinge 10 is fixedly connected to the edge of the inner wheel rim 23.

[0034] When the outer torso frame 2 and the arm frame 8 are both in the upright state facing upwards, the top height of the outer torso frame 2 is greater than the heights of the second driven bevel gear 21 and the outer wheel rim 22, the return spring between the outer torso frame 2 and the inner torso frame 1 is in the extended state, and the limiting end of the locking and limiting lever 14 and the limiting pin 16 are in the hooked locking state.

[0035] When the outer torso frame 2 and the arm frame 8 are both in the inverted state facing downwards, the return spring between the outer torso frame 2 and the inner torso frame 1 is in the compressed state, the trigger push rod 17 and the trigger end of the locking and limiting lever 14 are in the upward pressing state, and the limiting end of the locking and limiting lever 14 and the limiting pin 16 are in the unlocked state.

[0036] The following describes a usage process of the present invention with reference to the accompanying drawings:

[0037] When the robot is in the ground mode, the robot takes the sitting posture as the initial posture. In the sitting posture, the outer torso frame 2 and the arm frame 8 of the robot are both in the upright state facing upwards, the second driven bevel gear 21 is located at the uppermost part of the arm frame 8, and the gear ring 28 and the second driven bevel gear 21 are in the meshing state.

[0038] In the ground mode, the power for the robot's movement is provided by the walking and flying drive motor 24. After the walking and flying drive motor 24 is started, it can drive the propeller blade 25 and the driving bevel gear 18 to rotate synchronously. However, restricted by the walking speed, the rotation speed of the propeller blade 25 is not fast. Therefore, the force generated during the rotation of the propeller blade 25 can be ignored.

[0039] During the rotation of the driving bevel gear 18, it drives the first driven bevel gear 19 meshing with it to rotate, and then drives the transmission shaft 20 and the second driven bevel gear 21 to rotate synchronously. Finally, the second driven bevel gear 21 drives the gear ring 28 and the outer rim 22 to rotate synchronously, and the ground movement of the robot is achieved through the rotation of the outer rim 22.

[0040] When the robot needs to switch from the ground mode to the flight mode, the robot first changes from the sitting posture to the standing posture, then from the standing posture to the inverted posture, then from the inverted posture to the inverted flight posture, and finally from the inverted flight posture to the upright flight posture. Subsequently, the robot can perform tasks in the upright flight posture.

[0041] During the process of the robot changing from the sitting posture to the standing posture, the left and right two posture adjustment drive motors 9 are started synchronously. The rotor of the posture adjustment drive motor 9 drives the inner rim 23 to rotate 180° by itself, and the outer rim 22 remains stationary. The inner trunk frame 1 always remains upright during the rotation of the inner rim 23 until the inner trunk frame 1 moves from the lowest position to the highest position, completing the change to the standing posture. During this process, the walking and flying drive motor 24 rotates in cooperation but does not actively provide torque, and the arm frame 8 changes from the upward upright state to the downward upright state.

[0042] During the process of the robot changing from the standing posture to the inverted posture, first, the left and right two walking and flying drive motors 24 are started synchronously to keep the robot balanced by the two walking and flying drive motors 24. At the same time, the left and right two posture adjustment drive motors 9 are started to drive the inner trunk frame 1 to turn downward 180° around the rotation center of the posture adjustment drive motor 9 until the inner trunk frame 1 changes from the upward upright state to the downward inverted state. During this process, both the inner rim 23 and the outer rim 22 remain stationary. When the inner trunk frame 1 is completely in the downward inverted state, the outer trunk frame 2 retracts due to the ground blocking effect, so that the reset spring between the outer trunk frame 2 and the inner trunk frame 1 is compressed synchronously. The trigger push rod 17 on the outer trunk frame 2 will push down the trigger end of the locking limit lever 14. Under the lever action, the limit end of the locking limit lever 14 is lifted and disengaged from the limit pin 16, thus unlocking between the moving chain plate 13 and the static chain plate 11 of the hinge 10.

[0043] During the process of the robot transforming from an inverted posture to an inverted flight posture, first, the left and right walking and flying drive motors 24 are synchronously started to drive the propeller blades 25 to rotate at high speed. The thrust generated by the propeller blades 25 will first drive the entire inner wheel rim 23 and outer wheel rim 22 to flip around the hinge axis 12 of the hinge 10, causing the inner wheel rim 23 and outer wheel rim 22 to gradually change from a vertical state to a horizontal state. And after reaching the horizontal state, the rotational speed of the walking and flying drive motors 24 is increased. At this time, the lift generated by the propeller blades 25 will drive the robot to take off, thus entering the inverted flight posture.

[0044] During the process of the robot transforming from an inverted flight posture to an upright flight posture, the left and right attitude adjustment drive motors 9 are synchronously started to drive the inner torso frame 1 to swing back and forth. When the maximum swing amplitude of the inner torso frame 1 approaches the horizontal state, the rotational speed of the walking and flying drive motors 24 is reduced to lower the flight altitude of the robot, causing the inner torso frame 1 to quickly change from the horizontal state to an upright state facing upward. Subsequently, the pitch angles of the inner wheel rim 23 and outer wheel rim 22 are adjusted by the two attitude adjustment drive motors 9, thereby adjusting the rotor direction of the propeller blades 25, and thus realizing the inverted pendulum balance of the robot during flight.

[0045] The solutions in the embodiments are not intended to limit the protection scope of the present invention. Any equivalent implementation or change without departing from the present invention is included in the protection scope of the present invention.

Claims

1. An amphibious multi-modal robot with wheel-paddle legs for air and ground, characterized in that: It includes a left wheel paddle leg assembly, a right wheel paddle leg assembly, a left wheel paddle leg drive and attitude adjustment assembly, a right wheel paddle leg drive and attitude adjustment assembly, and a torso control assembly; the left wheel paddle leg assembly and the right wheel paddle leg assembly are symmetrically distributed on the left and right sides of the torso control assembly in a mirror image; the left wheel paddle leg drive and attitude adjustment assembly is arranged between the left wheel paddle leg assembly and the torso control assembly; the right wheel paddle leg drive and attitude adjustment assembly is arranged between the right wheel paddle leg assembly and the torso control assembly.

2. The wheel-paddle-leg type air-ground amphibious multi-modal robot according to claim 1, wherein: The torso control assembly includes an inner torso frame and an outer torso frame; the inner torso frame is successively provided with a battery compartment, a control compartment, and a power distribution wire compartment from top to bottom, and the radial dimension of the battery compartment < the radial dimension of the control compartment < the radial dimension of the power distribution wire compartment; a power battery is installed in the battery compartment; a controller is installed in the control compartment; a power distribution divider is installed in the power distribution wire compartment; the outer torso frame is coaxially sleeved outside the battery compartment of the inner torso frame, and the outer torso frame has only an axial movement degree of freedom relative to the inner torso frame, and a return spring is arranged between the outer torso frame and the inner torso frame.

3. The amphibious multi-modal robot with wheel-paddle legs according to claim 2, characterized in that: The left wheel paddle leg drive and attitude adjustment assembly and the right wheel paddle leg drive and attitude adjustment assembly have the same structure, and both include an arm-type frame, an attitude adjustment drive motor, a hinge, a hinge locking and limiting mechanism, and a gear transmission mechanism; the stator end of the attitude adjustment drive motor is fixedly connected to the inner torso frame where the power distribution wire compartment is located, and the central axis of the attitude adjustment drive motor is perpendicular to the central axis of the inner torso frame; the rotor end of the attitude adjustment drive motor is fixedly connected to the tail of the arm-type frame, and the central axis of the attitude adjustment drive motor is perpendicular to the central axis of the arm-type frame; the static link plate of the hinge is fixedly connected to the tail of the arm-type frame, and the hinge axis of the hinge is located at the outermost end of the tail of the arm-type frame; the hinge locking and limiting mechanism is arranged between the moving link plate of the hinge and the outer torso frame; the gear transmission mechanism is arranged in the upper middle part of the arm-type frame.

4. The amphibious multi-modal robot with wheel-paddle legs according to claim 3, characterized in that: The hinge locking and limiting mechanism includes a locking and limiting lever, a fulcrum rotating shaft, a limiting pin, and a triggering push rod; the fulcrum rotating shaft is arranged on the arm-type frame; the middle part of the locking and limiting lever is hinged to the fulcrum rotating shaft, and a return winding spring is arranged between the locking and limiting lever and the fulcrum rotating shaft; the limiting pin is arranged on the moving link plate of the hinge; the limiting end of the locking and limiting lever adopts a hook-shaped structure, and the limiting end of the locking and limiting lever is in hook-locking cooperation with the limiting pin; the triggering push rod is fixedly arranged at the bottom of the outer torso frame, and the triggering push rod is in pressing cooperation with the triggering end of the locking and limiting lever.

5. The wheel-paddle-leg type air-ground amphibious multi-modal robot according to claim 4, wherein: The gear transmission mechanism includes a driving bevel gear, a first driven bevel gear, a transmission shaft, and a second driven bevel gear; the transmission shaft is rotatably connected to the arm-type frame through a bearing, and the central axis of the transmission shaft coincides with the central axis of the arm-type frame; the first driven bevel gear is fixedly installed at the bottom end of the transmission shaft, and the first driven bevel gear is in meshing transmission cooperation with the driving bevel gear; the second driven bevel gear is fixedly installed at the top end of the transmission shaft, and the second driven bevel gear is located outside the head of the arm-type frame.

6. The amphibious multi-modal robot with wheel-paddle legs according to claim 5, characterized in that: The left and right wheel paddle leg assemblies have the same structure, each including an outer wheel rim, an inner wheel rim, a walking and flying drive motor, propeller blades, guide rollers, a circular ring guide rail, and a gear ring; the gear ring is fixedly installed on the outside of the outer wheel rim, the gear ring is coaxially distributed with the outer wheel rim, and the gear ring is in meshing transmission cooperation with the second driven bevel gear; the circular ring guide rail is fixedly installed on the inside of the outer wheel rim, and the circular ring guide rail is coaxially distributed with the outer wheel rim; the inner wheel rim is located inside the outer wheel rim, the inner wheel rim is coaxially distributed with the outer wheel rim, and the outer wheel rim has a rotational freedom relative to the inner wheel rim; the guide rollers are evenly arranged on the inner wheel rim in the circumferential direction, and the guide rollers are in rolling contact and cooperation with the circular ring guide rail; the walking and flying drive motor is a double-output shaft motor, the walking and flying drive motor is fixedly installed at the center of the inner wheel rim, and the central axis of the walking and flying drive motor coincides with the central axis of the inner wheel rim; the propeller blades are located inside the outer wheel rim, and the propeller blades are fixedly installed at the outer end of the power output shaft of the walking and flying drive motor; the driving bevel gear is fixedly installed at the inner end of the power output shaft of the walking and flying drive motor; the moving link plate of the hinge is fixedly connected to the edge of the inner wheel rim.

7. The wheel-paddle-leg type air-ground amphibious multi-modal robot according to claim 6, wherein: When the outer torso frame and the arm frame are both in the upright state facing upwards, the top height of the outer torso frame is greater than the height of the second driven bevel gear and the outer wheel rim, the return spring between the outer torso frame and the inner torso frame is in the extended state, and the limiting end of the locking and limiting lever and the limiting pin are in the hooked locking state.

8. The amphibious multi-modal robot with wheel-paddle legs according to claim 6, wherein: When the outer torso frame and the arm frame are both in the inverted state facing downwards, the return spring between the outer torso frame and the inner torso frame is in the compressed state, the trigger push rod and the trigger end of the locking and limiting lever are in the upward pressing state, and the limiting end of the locking and limiting lever and the limiting pin are in the unlocked state.

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