Land and air amphibious robots

Abstract

The present invention belongs to the technical field of unmanned aerial vehicles and discloses a land-air amphibious unmanned aerial vehicle. The land-air amphibious robot includes a main body, an actuator, and a power unit; the actuator is connected to the main body via a connector, the actuator includes running wheels and blades, and the power unit can drive the blades and running wheels to move; the power unit includes a driving member and a switching mechanism, the switching mechanism includes a first transmission assembly, a second transmission assembly, and a switching assembly, and the switching assembly can selectively transmit the power of the first transmission assembly to the second transmission assembly. The land-air amphibious robot of the present invention can achieve both flying and land walking functions by relying on only one power source through the setting of the power unit, thereby reducing its own weight. At the same time, it can switch power transmission in the corresponding mode to reduce power loss and improve the endurance of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a land and air amphibious robot. Background Art

[0002] Drone technology has made remarkable progress in recent years and has become an indispensable branch of modern science and technology. In complex scenarios like disaster relief, drones need to be capable of both aerial reconnaissance and ground mobility to adapt to changing operational requirements. In today's rapidly evolving technological landscape, amphibious robots have emerged. This innovative equipment closely aligns with diverse social needs.

[0003] From an emergency rescue perspective, various natural disasters frequently strike, creating extremely complex and dangerous environments such as post-earthquake ruins, flood-ravaged areas, and fire-ravaged sites. Traditional rescue methods often face numerous difficulties in these scenarios. For example, ground-based rescue equipment may have difficulty reaching key areas due to damaged roads and numerous obstacles. While aerial rescue aircraft can arrive quickly, they are limited by the terrain and operating environment, making it difficult to operate precisely in complex and confined spaces. Amphibious robots, with their unique capabilities, can quickly reach disaster areas through the air, then switch to land mode, nimbly moving through the rubble or steadily navigating floodwaters. They can conduct detailed reconnaissance of the disaster area, providing critical information for rescue operations, and efficiently deliver emergency supplies, greatly improving rescue efficiency and reducing loss of life and property.

[0004] However, most of the current amphibious robots are equipped with two power systems, which provide power for flight mode and walking mode respectively. The power system of the entire device is relatively complicated and increases the weight of the device, affecting the battery life. Summary of the Invention

[0005] The purpose of the present invention is to provide an amphibious robot that has a flight mode and a land walking mode, and relies on only one set of power sources to achieve both flight and driving functions, thereby reducing its own weight. At the same time, it can switch power transmission in the corresponding mode to reduce power loss and improve the endurance of the equipment.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] An amphibious robot capable of both flight and land walking modes comprises a main body, an actuator, and a power unit; the actuator is connected to the main body via a connector, the actuator comprises running wheels and paddles, and the power unit is capable of driving the paddles and the running wheels;

[0008] The power unit comprises:

[0009] A driving member, the driving member is fixedly connected to the connecting member, the driving member has a first output end and a second output end, and the first output end of the driving member is drivingly connected to the blade;

[0010] The switching mechanism includes a first transmission component, a second transmission component and a switching component. The first transmission component is connected to the second output end of the driving member, and the second transmission component is connected to the walking wheel. The switching component is arranged between the first transmission component and the second transmission component, and the switching component can selectively transmit the power of the first transmission component to the second transmission component.

[0011] Preferably, the first transmission assembly includes a connecting flange, and the connecting flange is fixedly connected to the second output end of the driving member.

[0012] Preferably, the switching assembly includes an electromagnet and a friction disc, the friction disc is circumferentially limited to the connecting flange and can move axially along the connecting flange; the friction disc can be adsorbed by the electromagnet to transmit the power of the connecting flange to the electromagnet.

[0013] Preferably, the electromagnet includes a shell connected to the connecting part and an electromagnetic coil and an iron core arranged in the shell, the connecting flange and the iron core are arranged at intervals, the friction disk is arranged between the connecting flange and the iron core, and the friction disk can be adsorbed by the iron core to transmit the power of the connecting flange to the iron core.

[0014] Preferably, the second transmission assembly is coaxially and fixedly connected to the iron core.

[0015] Preferably, the second transmission assembly includes a transmission shaft, which is respectively connected to the switching assembly and the travel wheel.

[0016] Preferably, a plurality of limiting posts are provided at intervals along the circumferential direction on a side of the connecting flange away from the driving member; a plurality of through holes are provided on the friction disk, and the limiting posts are provided in a one-to-one correspondence with the through holes.

[0017] Preferably, a plurality of key bodies are provided on the connecting flange, and the key bodies are extended along the axial direction of the connecting flange; a plurality of key slots are provided at intervals on the outer peripheral wall of the friction disc, and the key bodies are provided in a one-to-one correspondence with the key slots.

[0018] Preferably, a blade protection structure is further included, wherein the blade protection structure is circumferentially arranged on one side of the running wheel, and the blade is located in a space enclosed by the blade protection structure.

[0019] Preferably, the travel wheel is transmission-connected to the power unit via a reduction gear set.

[0020] Beneficial effects of the present invention:

[0021] The present invention provides an amphibious robot capable of both flight and land walking modes. The robot comprises a main body, an actuator, and a power unit. The actuator is connected to the main body via a connector, the actuator comprising a running wheel and a paddle, and the power unit is capable of driving the paddle and running wheels. The power unit comprises a driver and a switching mechanism. The driver is fixedly connected to the connector, the driver having a first output end and a second output end, the first output end of the driver being transmission-connected to the paddle. The switching mechanism comprises a first transmission assembly, a second transmission assembly, and a switching assembly. The first transmission assembly is transmission-connected to the second output end of the driver, the second transmission assembly is transmission-connected to the running wheel, and the switching assembly is disposed between the first transmission assembly and the second transmission assembly, and the switching assembly is capable of selectively transmitting power from the first transmission assembly to the second transmission assembly. The amphibious robot can achieve both flight and land walking functions with only one power source, thereby reducing its own weight. Furthermore, the robot can switch power transmission in corresponding modes to reduce power loss and improve the endurance of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of the assembled power unit and actuator in an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of a power device according to an embodiment of the present invention;

[0024] Figure 3 is a schematic cross-sectional view of a power unit according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the explosion structure of the power device in an embodiment of the present invention;

[0026] Figure 5 is a half-section schematic diagram of a power device in an embodiment of the present invention;

[0027] Figure 6 This invention Figure 1 A half-section schematic diagram of the structure from one perspective;

[0028] Figure 7 2 is a schematic structural diagram of a reduction gear set according to an embodiment of the present invention;

[0029] Figure 8 2 is a schematic structural diagram of the traveling wheel in an embodiment of the present invention.

[0030] In the picture:

[0031] 1. Driving member; 2. Switching mechanism; 21. First transmission assembly; 211. Connecting flange; 2111. Limiting column; 22. Second transmission assembly; 221. Transmission shaft; 23. Switching assembly; 231. Electromagnet; 2311. Iron core; 3. Bushing; 4. Limit bearing; 5. Limit screw;

[0032] 61. Travel wheel; 62. Paddle; 7. Connector; 81. Driving gear; 82. Intermediate gear; 83. First driven gear; 91. Second driven gear; 92. Third driven gear; 10. Paddle protection structure; 101. Annular baffle; 102. Annular retaining ring; 103. Reinforcement rib. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0034] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0035] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0037] The present invention discloses an amphibious robot having a flight mode and a land walking mode. Figure 1 As shown, the land-air amphibious robot includes a body, an actuator and a power device; the actuator is connected to the body through a connector 7, and the actuator includes a running wheel 61 and a paddle 62. The power device can drive the paddle 62 and the running wheel 61 to move. Figure 1 and Figure 2 As shown, the power device includes a driving member 1 and a switching mechanism 2. The driving member 1 is fixedly connected to the connecting member 7 and has a first output end and a second output end. The first output end of the driving member 1 is transmission-connected to the blade 62. The switching mechanism 2 includes a first transmission assembly 21, a second transmission assembly 22, and a switching assembly 23. The first transmission assembly 21 is transmission-connected to the second output end of the driving member 1, and the second transmission assembly 22 is transmission-connected to the walking wheel 61. The switching assembly 23 is arranged between the first transmission assembly 21 and the second transmission assembly 22, and the switching assembly 23 can selectively transmit the power of the first transmission assembly 21 to the second transmission assembly 22. The land-air amphibious robot of the present invention can achieve both flight and land walking functions by relying on only one power source, reducing its own weight. At the same time, it can switch power transmission in the corresponding mode to reduce power loss and improve the endurance of the device.

[0038] It is understood that by providing a switching assembly 23 connected to the driver 1, the power of the driver 1 can be transmitted or cut off without cutting off the power supply of the driver 1, thereby avoiding power transmission blockage caused by frequent starting and stopping of the driver 1, which affects the normal operation of the device. The first transmission assembly 21 is transmission-connected to the second output end of the driver 1, and the second transmission assembly 22 is transmission-connected to the running wheel 61. The provision of the switching assembly 23 to achieve power transmission or cut-off between the first transmission assembly 21 and the second transmission assembly 22 can simplify the structure of the first transmission assembly 21 and the second transmission assembly 22, facilitate the installation and fixation of the first transmission assembly 21 and the second transmission assembly 22, and make the first transmission assembly 21 and the second transmission assembly 22 unnecessary to adjust once installed, facilitating the positioning of the entire structure. The switching assembly 23 can selectively transmit the power of the first transmission assembly 21 to the second transmission assembly 22 to control the power transmission of the driver 1, thereby controlling the action of the actuator. In other embodiments, the power device can also achieve the function of driving multiple actuators individually or simultaneously by providing at least two switching mechanisms 2, so as to enable the amphibious robot to perform different actions.

[0039] In some embodiments, as Figure 3 and Figure 4As shown, the first transmission assembly 21 includes a connecting flange 211, which is fixedly connected to the second output end of the driver 1. It will be understood that the connecting flange 211 is fixedly connected to the second output end of the driver 1 and is directly connected to the driver 1 in a transmission manner. In some specific embodiments, the connecting flange 211 is coaxially arranged with the output shaft of the second output end of the driver 1, and the connecting flange 211 rotates with the output shaft to improve transmission efficiency.

[0040] In some embodiments, as Figure 4 and Figure 5 As shown, the switching assembly 23 includes an electromagnet 231 and a friction disc. The friction disc is circumferentially limited to the connecting flange 211 and can move axially along the connecting flange 211. The friction disc can be adsorbed by the electromagnet 231 to transmit the power of the connecting flange 211 to the electromagnet 231. The setting of the electromagnet 231 makes the structure of the second transmission assembly 22 simple and responsive.

[0041] In some specific embodiments, the electromagnet 231 includes a housing connected to the connector 7, an electromagnetic coil and an iron core 2311 disposed within the housing, a connecting flange 211 and the iron core 2311 being spaced apart, and a friction disc disposed between the connecting flange 211 and the iron core 2311. The friction disc can be attracted by the iron core 2311 to transmit power from the connecting flange 211 to the iron core 2311. It will be appreciated that the electromagnetic attraction connection allows the switching assembly 23 to selectively transmit power from the first transmission assembly 21 to the second transmission assembly 22 in a simple, fast, and responsive manner, thereby improving the sensitivity of power transmission and disconnection.

[0042] In some embodiments, as Figure 4 and Figure 5As shown, a plurality of limiting posts 2111 are circumferentially spaced apart on a side of the connecting flange 211 facing away from the drive member 1. The friction disc is provided with a plurality of corresponding through-holes, with the limiting posts 2111 corresponding to each through-hole. The limiting posts 2111 of the connecting flange 211 extend into the through-holes of the friction disc, enabling the friction disc to rotate synchronously with the connecting flange 211. The first transmission assembly 21 and the second transmission assembly 22 are spaced apart, with the spacing being greater than the length of the limiting posts 2111 of the connecting flange 211 and less than twice the length of the limiting posts 2111 of the connecting flange 211. The thickness of the friction disc is greater than or equal to the length of the limiting posts 2111 and less than the spacing, preventing the friction disc from disengaging from the connecting flange 211. Of course, in other embodiments, the thickness of the friction disc, the length of the limiting posts 2111, and the spacing between the first transmission assembly 21 and the second transmission assembly 22 can be adjusted to suit, as long as the friction disc can move within the spacing and does not fall out. In some alternative embodiments, the connecting flange 211 is provided with a plurality of key bodies, which extend along the axial direction of the connecting flange 211. A plurality of key slots are provided at intervals on the outer peripheral wall of the friction disc, and the key bodies are provided in a one-to-one correspondence with the key slots, so that the friction disc can rotate synchronously with the connecting flange 211 and can move along the axial direction of the connecting flange 211.

[0043] When electromagnet 231 is energized, iron core 2311 is magnetized, tightly adhering to the friction disc. The friction between the friction disc and iron core 2311 gradually synchronizes the rotational speeds of iron core 2311 and the friction disc, thereby transmitting power from first transmission assembly 21 to second transmission assembly 22. Optionally, iron core 2311 and the friction disc are made of the same material, namely, electrical pure iron. Electrical pure iron is a type of industrial magnet with excellent electromagnetic properties, high magnetic induction and low diamagnetic properties, ensuring effective electromagnetic attraction between iron core 2311 and the friction disc.

[0044] In some embodiments, as Figures 2 to 5 As shown, the second transmission assembly 22 is coaxially fixedly connected to the iron core 2311. Specifically, the second transmission assembly 22 includes a transmission shaft 221, which is respectively connected to the switching assembly 23 and the walking wheel 61. Among them, the transmission shaft 221 is coaxially arranged with the iron core 2311 and the transmission shaft 221 is connected to the iron core 2311; the end of the transmission shaft 221 away from the iron core 2311 is connected to the actuator, that is, the walking wheel 61. Optionally, a key connection is used between the transmission shaft 221 and the iron core 2311 to facilitate assembly and disassembly between the two, and to achieve synchronous rotation of the transmission shaft 221 and the iron core 2311. It can be understood that the electromagnetic coil and the iron core 2311 are both hollow, so that the transmission shaft 221 can be assembled with the iron core 2311.

[0045] In some embodiments, as Figures 2 to 5As shown, a limit bearing 4 is sleeved around the circumference of the transmission shaft 221 to fix the transmission shaft 221 to the connecting member 7 and ensure the rotational stability of the transmission shaft 221. Multiple limit bearings 4 can be provided. It is understood that to accommodate the possible diameter variations of the connecting member 7 and the diameter variations of the selected limit bearings 4, a sleeve 3 can also be sleeved on the transmission shaft 221. The sleeve 3 and the transmission shaft 221 are fixed by a limit screw 5, and the limit bearing 4 is sleeved on the sleeve 3.

[0046] In other embodiments, the power device further includes a mounting shell (not shown in the figure), and all structures of the power device in the above embodiments are arranged in the mounting shell, wherein the driving member 1 and the outer shell of the electromagnet 231 of the switching assembly 23 are fixedly connected to the mounting shell, and the mounting shell is fixedly connected to the connecting member 7, thereby realizing modular installation and improving assembly efficiency.

[0047] In some embodiments, as Figure 6 As shown, Figure 6 In order to ensure the visual effect, some section lines are hidden to show that the blades 62 and the running wheels 61 are respectively arranged at the upper and lower ends of the power unit, and the running wheels 61 are connected to the driving member 1 through the switching assembly 23. It can be understood that the blades 62 and the running wheels 61 are arranged as separate structures to facilitate the corresponding switching of the robot power in different modes, while meeting the two basic performances of the land and air amphibious robot: high rigidity of the running wheels 61 and high maneuverability in flight. In addition, the blades 62 and the running wheels 61 are arranged at both ends of the power unit, which can reduce the axial space occupation and make the structural layout more reasonable.

[0048] In some embodiments, as Figure 6 As shown, the running wheel 61 is connected to the power unit through a reduction gear set. By arranging a reduction gear set between the running wheel 61 and the power unit, it can adapt to different positions of the running wheel 61, and can also reduce speed and increase torque at the same time, adapting to complex working conditions under the land walking mode.

[0049] In some embodiments, as Figure 6 and Figure 7 As shown, the reduction gear set includes a primary reduction gear set and a secondary reduction gear set; the primary reduction gear set includes a driving gear 81, an intermediate gear 82, and a first driven gear 83. The driving gear 81 is coaxially and fixedly connected to the transmission shaft 221. The intermediate gear 82 and the first driven gear are respectively rotatably connected to the connecting member 7, and the intermediate gear 82 meshes with the first driven gear 83 and the driving gear 81. The arrangement of the three gears in the primary reduction gear set amplifies the output torque while ensuring the speed of the transmission shaft 221 is reduced. The arrangement of the intermediate gear 82 ensures that the first driven gear 83 rotates in the same direction as the driving gear 81, facilitating the design of the subsequent power transmission structure.

[0050] In some embodiments, as Figure 7 As shown, the secondary reduction gear set includes a second driven gear 91 and a third driven gear 92 that mesh with each other. The second driven gear 91 is coaxially fixedly connected to the first driven gear 83. The second driven gear 91 and the first driven gear 83 are coaxially spaced apart. The third driven gear 92 is coaxially fixedly connected to the walking wheel 61, and the third driven gear 92 is coaxial with the driving gear 81. It can be understood that the coaxial fixed connection between the second driven gear 91 and the first driven gear 83 can improve transmission efficiency, and the rotation direction of the second driven gear 91 and the first driven gear 83 is the same, which facilitates the design of the subsequent transmission structure. The second driven gear 91 and the first driven gear 83 are coaxially spaced apart, so that the third driven gear 92 is coaxially fixedly connected to the walking wheel 61, directly driving the walking wheel 61 to rotate, realizing the robot's travel in the land walking mode. The driving gear 81 and the third driven gear 92 are coaxially arranged, so that the walking wheel 61 can be coaxially arranged with the power device, so that the structural design of the walking wheel 61 and the power device is reasonable, ensuring that the center of gravity of the structure is close to the center of the structure, making the power system of the land and air amphibious robot stable and controllable.

[0051] In some embodiments, the diameters of the driving gear 81, the intermediate gear 82, and the first driven gear 83 of the first-stage reduction gear set increase in sequence. It is understood that the sequential increase in the diameters of the three gears reduces the reduction ratio gap between adjacent gears, reduces mechanical loads, avoids shortened mechanical component life and reduced reliability, and also enables a compact structure and reduced physical footprint.

[0052] In some embodiments, the diameters of the second driven gear 91 and the third driven gear 92 of the two-stage reduction gear set increase sequentially. It is understood that by further reducing the speed and increasing the torque of the second driven gear 91 and the third driven gear 92, the output torque of the driving wheel 61 is increased, allowing it to adapt to more severe land environments.

[0053] In some embodiments, the gear diameter of the first driven gear 83 is larger than the gear diameter of the second driven gear 91. It is understood that to achieve flight, the design speed of the driving member 1 is relatively high. To ensure that the driving member 1 always operates within the optimal speed range, if the speed of the running wheel 61 needs to be further reduced, the gear diameter of the first driven gear 83 can be made larger than the gear diameter of the second driven gear 91. The reduction ratios of the driving gear 81, intermediate gear 82, first driven gear 83, second driven gear 91, and third driven gear 92 can be determined based on actual design requirements and are not specifically limited here.

[0054] In some embodiments, the driving member 1 is a brushless motor, which has the advantages of high reliability and low mechanical noise.

[0055] In some embodiments, as Figure 6 and Figure 8 As shown, the walking wheel 61 is also provided with a blade protection structure 10, which can prevent the blade 62 from colliding with the outside, improve the safety of the blade 62, and extend the service life of the equipment. In other embodiments, the blade protection structure 10 can also be fixedly connected to the connecting member 7.

[0056] When the amphibious robot of the present invention is in flight mode, the axis of the brushless motor is perpendicular to the ground, the electromagnetic coil of electromagnet 231 is de-energized, the brushless motor rotates at high speed, the gear set and the running wheels 61 do not rotate, ensuring flight safety, reducing power loss and extending flight time. In land walking mode, the axis of the brushless motor is parallel to the ground, the electromagnetic coil of electromagnet 231 is energized, the brushless motor rotates at low speed, the gear set rotates, and the running wheels 61 rotate. Due to the high reduction ratio of the gear set, speed is reduced and torque is increased. In this case, the running wheels 61 have increased torque, ensuring stability during land walking and adapting to different road conditions.

[0057] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Amphibious robot with flight mode and land walking mode, characterized by: The invention comprises a main body, an actuator and a power device; the actuator is connected to the main body via a connecting member (7); the actuator comprises a running wheel (61) and a paddle (62); the power device is capable of driving the paddle (62) and the running wheel (61) to move; the paddle (62) and the running wheel (61) are respectively arranged at two ends of the axial direction of the power device; The power unit comprises: A driving member (1), the driving member (1) being fixedly connected to the connecting member (7), the driving member (1) having a first output end and a second output end coaxially arranged, the first output end of the driving member (1) being drivingly connected to the blade (62); A switching mechanism (2) comprises a first transmission assembly (21), a second transmission assembly (22) and a switching assembly (23), wherein the first transmission assembly (21) is in transmission connection with the second output end of the driving member (1), the second transmission assembly (22) is in transmission connection with the walking wheel (61), the switching assembly (23) is arranged between the first transmission assembly (21) and the second transmission assembly (22), and the switching assembly (23) is capable of selectively transmitting the power of the first transmission assembly (21) to the second transmission assembly (22); and the walking wheel (61) is in transmission connection with the second output end via a reduction gear set.

2. The amphibious robot according to claim 1, characterized in that: The first transmission assembly (21) comprises a connecting flange (211), and the connecting flange (211) is fixedly connected to the second output end of the driving member (1).

3. The amphibious robot according to claim 2, characterized in that: The switching assembly (23) includes an electromagnet (231) and a friction disc, wherein the friction disc is circumferentially limited with the connecting flange (211) and is capable of moving axially along the connecting flange (211); the friction disc can be adsorbed by the electromagnet (231) to transmit power from the connecting flange (211) to the electromagnet (231).

4. The amphibious robot according to claim 3, characterized in that: The electromagnet (231) includes a housing connected to the connecting member (7), an electromagnetic coil and an iron core (2311) arranged in the housing, the connecting flange (211) and the iron core (2311) are spaced apart, and the friction disc is arranged between the connecting flange (211) and the iron core (2311). The friction disc can be adsorbed by the iron core (2311) to transmit power from the connecting flange (211) to the iron core (2311).

5. The amphibious robot according to claim 4, characterized in that: The second transmission assembly (22) is coaxially and fixedly connected to the iron core (2311).

6. The amphibious robot according to claim 1, characterized in that: The second transmission assembly (22) comprises a transmission shaft (221), and the transmission shaft (221) is respectively connected to the switching assembly (23) and the running wheel (61) in a transmission manner.

7. The amphibious robot according to claim 3, characterized in that: A plurality of limiting posts (2111) are provided at intervals along the circumferential direction on a side of the connecting flange (211) away from the driving member (1); a plurality of through holes are provided on the friction disk, and the limiting posts (2111) are provided in a one-to-one correspondence with the through holes.

8. The amphibious robot according to claim 3, characterized in that: A plurality of key bodies are provided on the connecting flange (211), and the key bodies are extended along the axial direction of the connecting flange (211); a plurality of key slots are provided at intervals on the outer peripheral wall of the friction disc, and the key bodies are provided in a one-to-one correspondence with the key slots.

9. The amphibious robot according to any one of claims 1 to 8, characterized in that: It also includes a blade protection structure (10) for protecting the blade (62).

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