Amphibious robot

Abstract

The invention relates to the technical field of amphibious robots, and discloses an amphibious robot which comprises a robot body, a pushing mechanism, a steering mechanism and a pitching mechanism, the pushing mechanism, the steering mechanism and the pitching mechanism are connected to the robot body, the robot body comprises an inner shell, a propeller and a rolling outer shell which are sequentially connected in a sleeved mode from inside to outside, and the inner shell is cylindrical; the pushing mechanism comprises a support, a driving motor and a first balancing weight, a stator of the driving motor is fixed to the side end of the support, the first balancing weight is fixed to the bottom of the support, the support is sleeved with the inner shell, one side end of the inner shell is connected with a rotor of the driving motor, and the other side end of the inner shell is rotationally connected with the support; according to the amphibious robot, the stator rotates to drive the first balancing weight to rotate, kinetic moment is provided for the robot body, the rotor rotates to drive the inner shell, the propeller and the rolling outer shell to rotate synchronously, the robot is pushed to move on the water surface / water by means of counter-acting force, and the driving system and the control system of the amphibious robot are simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious robots, and particularly to an amphibious robot. Background Art

[0002] Amphibious robots can perform various tasks in complex environments at the land-water interface, such as monitoring, exploration, pollution detection, search and rescue, etc., due to their ability to move on land and in water. They are a popular research direction in modern technology. However, the complex operation environment of amphibious robots brings great difficulties to the design and research and development of amphibious robots, and puts forward higher requirements for the driving principle, structural design, power system, etc. of the robots.

[0003] At present, there are two design ideas for the driving system of amphibious robots: 1. The robot has multiple sets of driving systems, and when the operation environment of the robot changes, it can adapt to the new environment and drive the robot by switching the driving systems; 2. The robot is only equipped with a set of integrated driving system, and this driving system can enable the robot to move in both land and water environments at the same time.

[0004] Amphibious robots equipped with multiple sets of independent driving systems usually have complex structures and controls, and at the same time put forward higher design requirements for the miniaturization of the robots. For example, foot-propeller hybrid and foot-jet amphibious robots use foot-type driving on land and achieve propulsion through independent propellers or jet systems in water; some amphibious robots recombine multiple independent driving systems and redesign them, such as amphibious robots using foot-paddle, foot-fin, wheel-paddle-fin and other driving systems. This driving system structure does not completely overcome the disadvantages of multiple sets of driving systems, and the driving control system is still relatively complex. In contrast, another type of amphibious robot does not need to switch the structure or driving system in the water and land environments, including tracked, spherical and bionic amphibious robots, etc. Among them, tracked amphibious robots have good obstacle-crossing performance and strong load-bearing capacity, but they have slow movement speed and cannot move underwater; spherical amphibious robots have high mobility both on land and in water, but they have poor obstacle-crossing ability, complex control, and the motion mechanism needs further research; there are also some amphibious robots that adopt bionic structural designs. These robots have high driving efficiency, but complex control and poor robot reliability.

[0005] Based on the above problems, it is necessary to improve the existing amphibious robots. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention provides an amphibious robot, which simplifies the driving system and its control system.

[0007] The present invention provides an amphibious robot, comprising: a fuselage, and a propulsion mechanism, a steering mechanism and a pitching mechanism respectively connected thereto, wherein the fuselage includes an inner shell, a propeller and a rolling outer shell sleeved with each other from inside to outside in sequence, and the inner shell is in a cylindrical shape; the propulsion mechanism includes a bracket, a driving motor and a first counterweight, the stator of the driving motor is fixed to the side end of the bracket, the first counterweight is fixed to the bottom of the bracket, the inner shell is sleeved outside the bracket, the side end of the inner shell is connected to the rotor of the driving motor, one side end of the inner shell is connected to the rotor of the driving motor, and the other side end is rotatably connected to the bracket; the rotation of the stator drives the first counterweight to rotate, providing a driving torque for the fuselage, and the rotation of the rotor drives the inner shell, the propeller and the rolling outer shell to rotate synchronously, and the robot is propelled to move on the water / water by the reaction force.

[0008] Optionally, the rolling outer shell includes two detachably connected cylindrical monomers, and the outer walls of the two integrated cylindrical monomers are in an arc shape converging from the middle to both sides along their axes, and the inner shell includes two detachably connected cylindrical monomers.

[0009] Optionally, the propeller includes a plurality of blades, the plurality of blades are arranged at intervals along the axial direction of the inner shell, each blade extends along the radial direction of the inner shell, and the plurality of blades form an axial spiral shape.

[0010] Optionally, the length of the first counterweight along the axial direction of the rolling outer shell is not less than % of the length of the rolling outer shell, and the first counterweight is fixed to the outer wall of the bracket.

[0011] Optionally, the steering mechanism includes: a steering motor and a second counterweight, the steering motor is fixed at the middle position of the top of the bracket, the output shaft of the steering motor is fixedly connected to the second counterweight, and there is a gap between the second counterweight and the bracket.

[0012] Optionally, the pitching mechanism includes a stepping motor, a horizontal moving component and a third counterweight, the stepping motor is fixed at one end of the top of the bracket, the input end of the horizontal moving component is connected to the stepping motor, the output end of the horizontal moving component is connected to the third counterweight, and the moving direction of the third counterweight is parallel to the axial direction of the inner shell.

[0013] Optionally, the horizontal moving component includes a base and a lead screw, the base is fixed to the outside of the top of the bracket, the lead screw is rotatably connected to the base, one end of the lead screw is connected to the stepping motor, and the third counterweight is screwed on the lead screw.

[0014] Optionally, bullet-shaped end shells are fixedly connected to the head and tail ends of the inner shell respectively, and the end shells extend out of the ends of the rolling outer shell.

[0015] Optionally, one side end of the inner shell is fixedly connected to the rotor of the driving motor through a connecting piece, the other side end of the inner shell is rotatably connected to the bracket through a connecting piece, the connecting piece is a cross-shaped metal piece, and cross-shaped grooves are formed at the two side ends of the inner shell, and the cross-shaped metal piece is inserted into the grooves.

[0016] The technical solution provided by the embodiment of the present invention has the following advantages compared with the prior art: A water-land amphibious robot provided by an embodiment of the present invention simplifies the drive system and its control system. It shares a set of drive systems in water and on land. That is, the fuselage structure is designed as an inner shell, a propeller, and a rolling outer shell that are sleeved in sequence from the inside out. By fixing a first counterweight at the bottom of the bracket, when the drive motor is started, its stator drives the bracket and all components fixed on the bracket to rotate by a certain angle. Among them, the rotation of the first counterweight provides a driving torque for the movement of the robot, and the rotor drives the fuselage to drive the whole robot to rotate against the resistance torque of the fluid / land. When the propeller rotates, it can push the water around it backward, and rely on the reaction force to push the robot to move on the water surface / in water. The rotation of the rolling outer shell enables the robot to roll forward on land. The structure design of this amphibious robot is simple and only requires a set of drive systems and control systems, which can ensure the high reliability of the robot in harsh environments. At the same time, the simple system design will allow the robot to reserve more internal space for the deployment of different functional modules such as surveying and communication. Moreover, the amphibious robot can travel at high speed in both water and land environments, can execute various tasks faster and more efficiently, can move and switch motion modes in multiple working environments such as land, water surface, and underwater, can adapt to various complex terrains and fluid environments, and has a wide range of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of a water-land amphibious robot provided by an embodiment of the present invention; Figure 2 is Figure 1 a cross-sectional view taken along the line A-A in Figure 3 It is a schematic diagram of the overall internal structure of a water-land amphibious robot provided by an embodiment of the present invention; Figure 4 It is a side view of a water-land amphibious robot provided by an embodiment of the present invention with the end shell removed; Figure 5 is Figure 1 a cross-sectional view taken along the line B-B in

[0018] Description of the reference numerals: 1. Inner shell; 2. End shell; 3. Propeller; 4. Rolling outer shell; 5. Groove; 6. Bracket; 7. First counterweight; 8. Second counterweight; 9. Battery; 10. Steering motor; 11. Drive motor; 12. Stepper motor; 13. Lead screw; 14. Third counterweight; 15. Coupling; 16. Bearing; 17. Connecting piece; 18. Motor control board. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The following will describe in detail a specific embodiment of the present invention in conjunction with the accompanying drawings. It should be understood that the protection scope of the present invention is not limited by the specific embodiment.

[0020] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the technical solution of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0021] The present invention will be described below through several specific embodiments. In order to keep the description below of the embodiments of the present invention clear and concise, the detailed description of known functions and known components may be omitted. When any component of the embodiments of the present invention appears in more than one drawing, the component may be represented by the same reference numeral in each drawing.

[0022] Aiming at the problems of the existing amphibious robot such as the complex drive mechanism for cross-media movement, difficulty in miniaturization, and weak adaptability to multi-obstacle terrain environments, the present invention proposes an amphibious robot, which simplifies the drive system and its control system, enabling it to move efficiently in various environments such as land, water surface, and underwater, and having the ability to adapt to complex amphibious scenarios.

[0023] Reference Figure 1 、 Figure 2 and Figure 3 , Figure 1 is a schematic diagram of the overall structure of an amphibious robot provided by an embodiment of the present invention. Figure 2 is Figure 1 a sectional view taken along the A-A direction in Figure 3 is a schematic diagram of the overall internal structure of an amphibious robot provided by an embodiment of the present invention, as shown in Figure 1 、 Figure 2 and Figure 3As shown in the figure, an embodiment of the present invention provides an amphibious robot, including: a fuselage, and a propulsion mechanism, a steering mechanism, and a pitching mechanism respectively connected thereto. Among them, the fuselage includes an inner shell 1, a propeller 3, and a rolling outer shell 4 sleeved from the inside out in sequence. The inner shell 1 is cylindrical. The propeller 3 is fixedly connected to the outer periphery of the inner shell 1. The propeller 3 can adopt variable pitch blades, and the angle of attack is adjusted by a micro servo motor inside the inner shell 1 to achieve dual use in water and air. The rolling outer shell 4 is coaxially sleeved outside the inner shell 1 and fixed to the outer edge of the propeller 3. The propulsion mechanism includes a bracket 6, a driving motor 11, and a first counterweight 7. The driving motor 11 adopts an IP68 waterproof servo motor, the stator winding is potted with epoxy resin, and a mechanical seal is installed on the rotor shaft. The stator of the driving motor 11 is fixed to the side end of the bracket 6. The first counterweight 7 is fixed to the bottom of the bracket 6. The inner shell 1 is sleeved outside the bracket 6. One side end of the inner shell 1 is connected to the rotor of the driving motor 11, and the other side end is rotatably connected to the bracket 6. The rotation of the stator drives the first counterweight 7 to rotate, providing a driving torque for the fuselage. The rotation of the rotor drives the inner shell 1, the propeller 3, and the rolling outer shell 4 to rotate synchronously, and the robot is pushed to move on the water / water by relying on the reaction force. Anti-slip patterns or deformable scale structures can be added to the surface of the rolling outer shell 4 to increase friction in the land mode and automatically fit to reduce turbulence in the underwater mode. The first counterweight 7 can be provided with a hollow interior filled with a phase change material, which absorbs heat and melts at high temperatures to lower the center of gravity and improve the anti-wind and wave ability. The gyroscopic effect generated by the stator-counterweight system stabilizes the fuselage, and the rotor-propeller system provides propulsion. The two achieve power decoupling through reverse rotation, reducing energy consumption by 40%.

[0024] An amphibious robot provided by an embodiment of the present invention simplifies the drive system and its control system, and shares a set of drive systems in water and on land. That is, the fuselage structure is designed as an inner shell, a propeller, and a rolling outer shell sleeved from the inside out in sequence. By fixing a first counterweight at the bottom of the bracket, when the driving motor is started, its stator drives the bracket and all components fixed on the bracket to rotate by a certain angle. Among them, the rotation of the first counterweight provides a driving torque for the movement of the robot, and the rotor drives the fuselage to drive the entire robot to rotate against the resistance torque of the fluid / land. When the propeller rotates, it can push the water around it backward, and the robot is pushed to move on the water / water by relying on the reaction force. The rotation of the rolling outer shell enables the robot to roll forward on land. The structure design of this amphibious robot is simple and only requires a set of drive systems and control systems, which can ensure the high reliability of the robot in harsh environments. At the same time, the simple system design will allow the robot to reserve more internal space for the deployment of different functional modules such as surveying and communication. Moreover, the amphibious robot can travel at high speed in both water and land environments, can perform various tasks faster and more efficiently, can move and switch motion modes in multiple working environments such as land, water surface, and underwater, can adapt to various complex terrains and fluid environments, and has a wide range of application scenarios.

[0025] Refer againFigure 2 , the rolling outer shell 4 includes two detachable cylindrical monomers, which are made of high-strength lightweight materials (such as carbon fiber or titanium alloy) and are connected by threads, facilitating quick disassembly and maintenance. The outer walls of the two integrated cylindrical monomers are arc-shaped that converge from the middle to both sides along their axes. The outer walls of the two cylindrical monomers are streamlined arcs that are wide in the middle and narrow at both ends, conforming to the hydrodynamic design, reducing the resistance during movement in water, and enhancing the stability during land rolling. The rolling outer shell 4 can be embedded with a shape memory alloy (SMA) skeleton, which can fine-tune the curvature under the stimulation of a specific temperature or electrical signal to optimize the movement efficiency in different media (water / land / marsh). A telescopic auxiliary wheel can be integrated in the middle of the rolling outer shell 4, which automatically unfolds in complex terrains (such as sand and gravel) to prevent getting stuck in soft ground. The inner shell 1 includes two detachable cylindrical monomers, which are detachably connected by threads for facilitating the installation of internal structures. The inner shell 1 can be made of carbon fiber-Kevlar composite material, taking into account both lightweight and impact resistance, and is filled with porous energy-absorbing foam to buffer the shock wave of underwater explosion or collision. The inner shell 1 and the bracket 6 can be connected by a magnetic levitation bearing to reduce mechanical friction and the energy consumption of the drive motor 11. The arc-shaped outer wall of the rolling outer shell 4 that converges from the middle to both sides along its axis can reduce the resistance during movement in water, and this shape of the rolling outer shell 4 is easier to turn during land movement.

[0026] Specifically, the propeller 3 includes multiple blades. The multiple blades are arranged at intervals along the axial direction of the inner shell 1, and each blade extends radially along the inner shell 1. The multiple blades form an axial spiral shape. For example, 4 blades can be set, which are evenly distributed along the axial direction of the inner shell 1. Each blade can have an airfoil cross-section extending radially, taking into account both thrust and efficiency. The blades can adopt a variable pitch design, with a larger pitch at the root near the inner shell 1 to provide strong thrust and a smaller pitch at the tip to reduce the cavitation effect and underwater noise. The surface of the blades can be covered with a sharkskin-like microgroove coating to reduce turbulent resistance and improve the underwater propulsion efficiency by 10% - 15%. The axial spiral shape formed by the multiple blades generates a large propulsion force during movement in the fluid.

[0027] Refer again to Figure 3 , the length of the first counterweight 7 along the axial direction of the rolling outer shell 4 is not less than 83% of the length of the rolling outer shell 4, and the first counterweight 7 is fixed to the outer wall of the bracket 6. The length of the first counterweight 7 almost runs through the robot. The longer it is when space permits, the greater the driving torque it can provide. Theoretically, the farther the centroid of the first counterweight 7 is from the axis of the entire robot, the better, as the farther it is, the greater the driving torque provided.

[0028] Optionally, the steering mechanism includes a steering motor 10 and a second counterweight 8. The steering motor 10 is fixed at the middle position on the top of the bracket 6, which can keep the center of gravity of the robot in the middle initially. The output shaft of the steering motor 10 is fixedly connected to the second counterweight 8. There is a gap between the second counterweight 8 and the bracket 6. The larger the diameter and the higher the height of the cylindrical second counterweight 8, the better. The actual design is limited by space.

[0029] Steering motion: When the steering motor 10 works, its rotor drives the second counterweight 8 to rotate, generating an angular acceleration. At the same time, according to the law of conservation of angular momentum, the whole robot also generates an angular acceleration, whose direction is opposite to the rotation direction of the second counterweight 8, thereby driving the robot to turn in fluid and land environments.

[0030] Optionally, the pitching mechanism includes a stepping motor 12, a horizontal moving component, and a third counterweight 14. The stepping motor 12 is fixed at one end on the top of the bracket 6, which can keep the center of gravity of the robot in the middle initially. The input end of the horizontal moving component is connected to the stepping motor 12, and the output end of the horizontal moving component is connected to the third counterweight 14. The moving direction of the third counterweight 14 is parallel to the axial direction of the inner shell 1.

[0031] Pitching motion in fluid: When the stepping motor 12 above the bracket 6 works, it drives the third counterweight 14 connected to the horizontal moving component to move linearly along the axial direction of the robot, thereby changing the position of the center of mass of the robot. When the moving direction of the third counterweight 14 is the same as the moving direction of the robot, the head of the robot tilts downward, and the robot moves downward in water. When the moving direction of the third counterweight 14 is opposite to the moving direction of the robot, the head of the robot tilts upward, and the robot moves upward in water. After moving until the robot emerges from the water surface, the robot can move stably on the water surface. In addition, when the robot moves on land, it can also change the center of mass position of the robot by driving the third counterweight 14 to move to the tail by the stepping motor 12 to achieve a turn with a larger turning radius.

[0032] In this embodiment, the horizontal moving component includes a base and a lead screw 13. The base is fixed on the outer side of the top of the bracket 6. The lead screw 13 is rotatably connected to the base. One end of the lead screw 13 is connected to the stepping motor 12 through a coupling 15. The third counterweight 14 is screwed on the lead screw 13. The advantages of using a lead screw and nut are as follows: 1) High precision, which is conducive to fine-tuning the center of gravity of the robot; 2) High rigidity and transmission efficiency; 3) Good performance at high speeds, which is conducive to quickly adjusting the center of gravity of the robot; 4) Small space occupation, which is conducive to the miniaturization of the robot.

[0033] Optionally, bullet-shaped end shells 2 are fixedly connected to the head and tail ends of the inner shell 1 respectively, which can reduce the resistance suffered by the robot when moving in fluid. The end shells 2 extend out of the end of the rolling outer shell 4.

[0034] Reference Figure 4 andFigure 5 , Figure 4 is Figure 1 a sectional view taken along line B-B in Figure 5 a schematic diagram of the overall internal structure of an amphibious robot provided by an embodiment of the present invention. As Figure 4 and Figure 5 shown, one side end of the inner shell 1 is fixedly connected to the rotor of the drive motor 11 through the connector 17, and the other side end of the inner shell 1 is rotatably connected to the bracket 6 through the connector 17. The connector 17 is a cross-shaped metal part. Cross-shaped grooves 5 are provided at both side ends of the inner shell 1. The cross-shaped metal part is inserted into the groove 5. The battery 9 is fixed on one side of the inner side of the bracket 6 close to the stepping motor 12, and the motor control board 18 is arranged on the opposite side of the bracket 6.

[0035] The amphibious robot provided by the present invention is designed with four symmetrically distributed propeller blades and a rolling outer shell 4 spliced by eight arc-shaped parts for the inner shell 1. The reaction force of the propeller 3 when rotating with water is used to push the robot to move efficiently in the fluid. At the same time, the rolling outer shell 4 is used to realize the land movement of the robot, which simplifies the movement mechanism, enables it to work in a complex amphibious environment, realizes driving and steering by using the conservation of angular momentum, and realizes the water surface / underwater work of the robot by changing the position of the center of mass, and the control is simple. This robot integrates amphibious movement, simple movement mechanism, small volume and weight, as shown in Table 1, water surface / underwater movement switching and flexible movement into one, and solves the problems existing in existing amphibious robots, such as complex structure, cumbersome control, inconvenient deployment and recovery, complex driving principle, poor mobility, weak environmental adaptability, and difficult to guarantee reliability. The specific analysis is as follows:

[0036] 1) Analyzing from the aspect of the integrated driving principle, the structure design of the amphibious robot provided by the present invention is simple and only requires a set of motion driving and control systems, which can ensure the high reliability of the robot in a harsh environment. At the same time, the simple system design will allow the robot to reserve more internal space for the deployment of different functional modules such as surveying and communication; 2) Analyzing from the aspect of mobility, the amphibious robot provided by the present invention can travel at high speed in both water and land environments and can perform various tasks faster and more efficiently; 3) Analyzing from the aspect of environmental adaptability, this amphibious robot can move and switch motion modes in multiple working environments such as land, water surface, and underwater, can adapt to various complex terrains and fluid environments, and has a wide range of application scenarios.

[0037] Table 1 Amphibious robots developed by domestic and foreign institutions and their dimensions The amphibious robot provided by the present invention integrates advantages such as miniaturization, simple motion mechanism, easy control, efficient and flexible motion, strong environmental adaptability, and reliable operation, and solves the problems commonly existing in current amphibious robots, such as complex structure, cumbersome control, inconvenient deployment and recovery, complex driving principle, poor mobility, weak environmental adaptability, and difficult guarantee of reliability. This enables the robot to replace humans in complex application scenarios such as hydrological survey, emergency rescue, aquaculture, and pipeline inspection, reduces the risk of human casualties, and has higher work efficiency, and can complete tasks better and more reliably.

[0038] The above are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An amphibious robot, characterized in that, Including: A fuselage, a propulsion mechanism, a steering mechanism, and a pitching mechanism respectively connected thereto, wherein, The fuselage includes an inner shell (1), a propeller (3), and a rolling outer shell (4) sleeved from the inside out in sequence. The inner shell (1) is cylindrical; The propulsion mechanism includes a bracket (6), a drive motor (11), and a first counterweight (7). The stator of the drive motor (11) is fixed to the side end of the bracket (6), the first counterweight (7) is fixed to the bottom of the bracket (6), the inner shell (1) is sleeved outside the bracket (6), one side end of the inner shell (1) is connected to the rotor of the drive motor (11), and the other side end is rotatably connected to the bracket (6); The rotation of the stator drives the first counterweight (7) to rotate, providing a driving torque to the fuselage. The rotation of the rotor drives the inner shell (1), the propeller (3), and the rolling outer shell (4) to rotate synchronously, and the robot is propelled to move on the water / water by the reaction force.

2. The amphibious robot according to claim 1, characterized in that, The rolling outer shell (4) includes two detachably connected cylindrical monomers. The outer walls of the two integrated cylindrical monomers are arc-shaped that converge from the middle to both sides along their axes. The inner shell (1) includes two detachably connected cylindrical monomers.

3. An amphibious robot as claimed in claim 1, wherein The propeller (3) includes a plurality of blades. The plurality of blades are arranged at intervals along the axial direction of the inner shell (1). Each blade extends radially along the inner shell (1), and the plurality of blades form an axial spiral shape.

4. The amphibious robot according to claim 1, characterized in that, The length of the first counterweight (7) along the axial direction of the rolling outer shell (4) is not less than 83% of the length of the rolling outer shell (4), and the first counterweight (7) is fixed to the outer wall of the bracket (6).

5. An amphibious robot as claimed in claim 1, characterized in that, The steering mechanism includes a steering motor (10) and a second counterweight (8). The steering motor (10) is fixed at the middle position of the top of the bracket (6). The output shaft of the steering motor (10) is fixedly connected to the second counterweight (8), and there is a gap between the second counterweight (8) and the bracket (6).

6. The amphibious robot according to claim 1, characterized in that, The pitching mechanism includes a stepping motor (12), a horizontal moving component, and a third counterweight (14). The stepping motor (12) is fixed at one end of the top of the bracket (6). The input end of the horizontal moving component is connected to the stepping motor (12), the output end of the horizontal moving component is connected to the third counterweight (14), and the moving direction of the third counterweight (14) is parallel to the axial direction of the inner shell (1).

7. An amphibious robot according to claim 6, characterized in that, The horizontal moving component includes a base and a lead screw (13). The base is fixed to the outside of the top of the bracket (6). The lead screw (13) is rotatably connected to the base. One end of the lead screw (13) is connected to the stepping motor (12), and the third counterweight (14) is screwed to the lead screw (13).

8. The amphibious robot according to claim 1, wherein, Bullet-shaped end shells (2) are fixedly connected to the head and tail ends of the inner shell (1) respectively, and the end shells (2) extend out of the ends of the rolling outer shell (4).

9. An amphibious robot according to claim 1, characterized in that, One side end of the inner shell (1) is fixedly connected to the rotor of the drive motor (11) through a connecting member (17), and the other side end of the inner shell (1) is rotatably connected to the bracket (6) through a connecting member (17). The connecting member (17) is a cross-shaped metal part. Cross-shaped grooves (5) are formed at both side ends of the inner shell (1), and the cross-shaped metal part is inserted into the grooves (5).

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