Wheel-paddle coaxial amphibious robot

Abstract

The present invention belongs to the technical field of land and air amphibious robots, and discloses a wheel-paddle coaxial amphibious robot. The wheel-paddle coaxial amphibious robot includes a fuselage, a wheel-paddle assembly, and a deformation assembly. The wheel-paddle assembly is movably connected to the fuselage; the deformation assembly includes a driving member and a deformation member, the driving member is fixed to the fuselage, and the output end is connected to the deformation member, the deformation member is connected to the wheel-paddle assembly, and the driving member can drive the deformation member to control the wheel-paddle assembly to move linearly and flip. When the wheel-paddle coaxial amphibious robot changes from an airplane mode to a car mode, the deformation member can first control the wheel-paddle assembly to flip so that the center axis of the wheel-paddle assembly is parallel to the ground, and then control the wheel-paddle assembly to move downward to the ground; when changing from a car mode to an airplane mode, the deformation member can first control the wheel-paddle assembly to move upward to leave the ground, and then control the wheel-paddle assembly to flip so that the center axis of the wheel-paddle assembly is perpendicular to the ground. The wheel-paddle coaxial amphibious robot has low deformation resistance and low energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of land and air amphibious robots, and in particular to a wheel-paddle coaxial amphibious robot. Background Art

[0002] Amphibious robots are intelligent robots that combine ground mobility and aerial flight capabilities. They can switch between motion modes in complex environments and adapt to diverse mission requirements. Among them, wheel-propeller coaxial amphibious robots are the most widely used because their wheeled propulsion mechanisms (e.g., wheels) and paddle-propulsion mechanisms (e.g., propellers) utilize a coaxial design, enabling compactness and functional reuse. Specifically, wheel-propeller coaxial amphibious robots have two modes: aircraft mode and vehicle mode. In aircraft mode, the axes of the wheels and propellers are perpendicular to the ground; in vehicle mode, the axes of the wheels and propellers are parallel to the ground. To achieve switching between the two modes, a deformation mechanism is required to complete a 90-degree flip of the propulsion mechanisms (e.g., wheels and propellers).

[0003] The deformation mechanisms of existing wheel-paddle coaxial amphibious robots mostly use servos for deformation and flipping. However, when the robot is flying or driving, the servos need to operate continuously to maintain the body's state, and the servo motor is in a stalled state, resulting in significant energy loss. Furthermore, when the robot transitions from aircraft mode to vehicle mode, the wheels must slide against the ground to lift the robot's chassis off the ground. This results in extremely high deformation resistance on surfaces with poor flatness and smoothness, requiring even greater deformation power and consuming significant energy.

[0004] Therefore, it is urgent to propose a wheel-propeller coaxial amphibious robot to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide a wheel-propeller coaxial amphibious robot, which can avoid friction with the ground when the wheel-propeller assembly is flipped and deformed, and has low deformation resistance and low energy consumption.

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

[0007] The wheel-paddle coaxial amphibious robot comprises:

[0008] body;

[0009] a wheel-propeller assembly, movably connected to the fuselage;

[0010] A deformation assembly, comprising a driving member and a deformation member, wherein the driving member is fixed to the fuselage and has an output end connected to the deformation member, and the deformation member is connected to the wheel-paddle assembly, and the driving member can drive the deformation member to control the wheel-paddle assembly to move linearly and flip;

[0011] When the wheel-paddle coaxial amphibious robot changes from an airplane mode to a car mode, the deformable part can first control the wheel-paddle assembly to flip so that the central axis of the wheel-paddle assembly is parallel to the ground, and then control the wheel-paddle assembly to move downward to the ground to complete the deformation; when changing from the car mode to the airplane mode, the deformable part can first control the wheel-paddle assembly to move upward to leave the ground, and then control the wheel-paddle assembly to flip so that the central axis of the wheel-paddle assembly is perpendicular to the ground to complete the deformation.

[0012] As an optional technical solution for the wheel-propeller coaxial amphibious robot, the wheel-propeller coaxial amphibious robot also includes a tripod, which is located at the bottom of the fuselage and is used to support the fuselage. The tripod is connected to the deformable member, and the deformable member can control the tripod and the wheel-propeller assembly to move synchronously relative to each other in the vertical direction.

[0013] As an optional technical solution for a wheel-paddle coaxial amphibious robot, the deformable part includes a tooth plate and a tooth member, the tooth plate is movably arranged on the fuselage, the output end of the driving member is connected to the tooth plate, and can drive the tooth plate to move in the vertical direction, one side surface of the tooth plate is provided with a fitting section, a rack section and a smooth section from top to bottom, the edge of the tooth member is provided with a meshing section, a first plane section and a second plane section, the first plane section and the second plane section are respectively located at the two ends of the length of the meshing section and are perpendicular to each other, the first plane section is adapted to the fitting section, the meshing section is adapted to the rack section, and the second plane section is adapted to the smooth section, when the tooth plate moves in the vertical direction, the rack section is engaged with the meshing section to make the tooth member roll relative to the tooth plate, and the smooth section is engaged with the second plane section to make the tooth member slide relative to the tooth plate, the tripod is fixed on the tooth plate, and the wheel-paddle assembly is fixed on the tooth member.

[0014] As an optional technical solution for the wheel-paddle coaxial amphibious robot, the tooth plate also includes a first limit block and a second limit block, the first limit block is located at the end of the fitting section away from the rack section, and the second limit block is located at the end of the smooth section away from the rack section; the first planar section is provided with a first groove at one end away from the tooth section, and the second planar section is provided with a second groove at one end away from the tooth section, the first groove is adapted to the first limit block, and the second groove is adapted to the second limit block, the first limit block can be clamped in the first groove, and the second limit block can be clamped in the second groove.

[0015] As an optional technical solution for the wheel-paddle coaxial amphibious robot, the deformable part also includes two guide rails, both of which are vertically arranged on the fuselage, and sliding grooves are respectively provided on the opposite sides of the tooth plate. The guide rails and the sliding grooves correspond to each other and are adapted to each other, and the tooth plate can slide on the guide rails through the sliding grooves.

[0016] As an optional technical solution for the wheel-paddle coaxial amphibious robot, the wheel-paddle coaxial amphibious robot also includes a fixed base plate, the fixed base plate is fixed to the fuselage, the guide rail is arranged on the fixed base plate, and the driving member is fixed to the fixed base plate.

[0017] As an optional technical solution of the wheel-paddle coaxial amphibious robot, the wheel-paddle coaxial amphibious robot also includes a fixed block, and the driving member is connected to the fixed base plate through the fixed block.

[0018] As an optional technical solution for the wheel-paddle coaxial amphibious robot, the deformable member further includes a connecting member, which connects the leg, the output end of the driving member and the gear plate.

[0019] As an optional technical solution for the wheel-propeller coaxial amphibious robot, the deformable member further includes a rotating shaft rotatably connected to the fuselage, and the gear member and the wheel-propeller assembly are respectively connected to the rotating shaft.

[0020] As an optional technical solution for the wheel-paddle coaxial amphibious robot, the wheel-paddle coaxial amphibious robot includes two deformation components and four wheel-paddle components, wherein each deformation component corresponds to two wheel-paddle components, and each deformation component can simultaneously control the linear movement and flipping of the two wheel-paddle components.

[0021] Beneficial effects of the present invention:

[0022] The wheel-paddle coaxial amphibious robot provided by the present invention comprises a body, a wheel-paddle assembly, and a deformation assembly. The deformation assembly includes a driver and a deformation member. The driver drives the deformation member to control the linear movement and rotation of the wheel-paddle assembly. Compared to the prior art that uses a servo for rotational deformation, the wheel-paddle coaxial amphibious robot is equipped with a separate driver for deformation. This eliminates the need for the servo motor to provide deformation power, thereby preventing the servo motor from being in a stalled state and reducing the energy consumption of the entire wheel-paddle coaxial amphibious robot. When the wheel-paddle coaxial amphibious robot is actually deformed, if it changes from an airplane mode to a car mode, the deformable part can first control the wheel-paddle assembly to flip so that the central axis of the wheel-paddle assembly is parallel to the ground, that is, flip 90 degrees, and then control the wheel-paddle assembly to move downward until it lands and deforms into the car mode. Compared with the prior art in which the wheels slide and rub against the ground to cause the body to leave the ground, in this process the wheel-paddle assembly flips in the air and then lands and the fuselage leaves the ground, avoiding the friction between the wheel-paddle assembly and the ground, thereby reducing the deformation resistance of the wheel-paddle coaxial amphibious robot; if it changes from a car mode to an airplane mode, the deformable part can first control the wheel-paddle assembly to move upward until it leaves the ground, and then control the wheel-paddle assembly to flip so that the central axis of the wheel-paddle assembly is perpendicular to the ground, deforming into the airplane mode. In this process, the wheel-paddle assembly first leaves the ground and then flips, which can avoid the friction between the wheel-paddle assembly and the ground when flipping, thereby reducing the deformation resistance of the wheel-paddle coaxial amphibious robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 1 is a schematic structural diagram of a wheel-propeller coaxial amphibious robot (one of the wheel-propeller assemblies is not shown) in an airplane mode, provided by an embodiment of the present invention;

[0024] Figure 2 1 is a schematic structural diagram of a wheel-paddle coaxial amphibious robot in vehicle mode provided by an embodiment of the present invention;

[0025] Figure 3 is an assembly diagram of a deformation assembly and a wheel-paddle assembly provided in an embodiment of the present invention;

[0026] Figure 4 is a first structural schematic diagram of a tooth plate provided in an embodiment of the present invention;

[0027] Figure 5 is a second structural schematic diagram of a tooth plate provided in an embodiment of the present invention;

[0028] Figure 6 is a third structural schematic diagram of the tooth plate provided in an embodiment of the present invention;

[0029] Figure 7 is a first structural schematic diagram of a tooth member provided in an embodiment of the present invention;

[0030] Figure 8 is a second structural schematic diagram of a tooth member provided in an embodiment of the present invention;

[0031] Figure 9 is a third structural schematic diagram of a tooth member provided in an embodiment of the present invention;

[0032] Figure 10 yes Figure 9 Cross-sectional view at AA;

[0033] Figure 11 1 is a schematic diagram of the first structure of the deformation assembly of the wheel-paddle coaxial amphibious robot in vehicle mode provided by an embodiment of the present invention;

[0034] Figure 12 2 is a schematic diagram of the second structure of the deformation assembly of the wheel-paddle coaxial amphibious robot in vehicle mode provided by an embodiment of the present invention;

[0035] Figure 13 This is a first structural schematic diagram of the deformation assembly of the wheel-propeller coaxial amphibious robot provided by an embodiment of the present invention during the stage of lifting the wheel-propeller assembly off the ground when the robot changes from a vehicle mode to an aircraft mode;

[0036] Figure 14 This is a second structural schematic diagram of the deformation assembly of the wheel-propeller coaxial amphibious robot provided by an embodiment of the present invention during the stage of lifting the wheel-propeller assembly off the ground when the robot changes from a vehicle mode to an aircraft mode;

[0037] Figure 15 This is a first structural schematic diagram of the deformation assembly of the wheel-propeller coaxial amphibious robot provided by an embodiment of the invention during the flipping stage of the wheel-propeller assembly when the robot changes from a vehicle mode to an aircraft mode;

[0038] Figure 16 This is a second structural schematic diagram of the deformation assembly of the wheel-propeller coaxial amphibious robot provided by an embodiment of the invention during the flipping stage of the wheel-propeller assembly when the robot changes from a vehicle mode to an aircraft mode;

[0039] Figure 17 1 is a schematic diagram of the first structure of the deformation assembly of the wheel-propeller coaxial amphibious robot in the airplane mode provided by an embodiment of the present invention;

[0040] Figure 18 This is a second structural schematic diagram of the deformation component of the wheel-propeller coaxial amphibious robot in the aircraft mode provided by an embodiment of the present invention.

[0041] In the picture:

[0042] 100, fuselage; 200, wheel-propeller assembly; 210, wheel; 220, propeller; 300, deformation assembly; 310, driving member; 320, tooth plate; 321, fitting section; 322, rack section; 323, smooth section; 324, first limit block; 325, second limit block; 326, slide; 330, tooth member; 331, meshing section; 332, first plane section; 333, second plane section; 334, first groove; 335, second groove; 340, guide rail; 350, connecting member; 360, rotating shaft; 400, tripod; 500, fixed base plate; 600, fixed block. DETAILED DESCRIPTION

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] This embodiment provides a wheel-propeller coaxial amphibious robot, which can avoid friction with the ground when the wheel-propeller assembly is flipped and deformed, and has low deformation resistance and low energy consumption.

[0048] Specifically, if Figures 1 to 3 As shown, the wheel-propeller coaxial amphibious robot has two modes: aircraft mode and vehicle mode. It can change from aircraft mode to vehicle mode, and from vehicle mode to aircraft mode, realizing autonomous conversion between the two modes. The wheel-propeller coaxial amphibious robot includes a fuselage 100, a wheel-propeller assembly 200, and a deformation assembly 300. The wheel-propeller assembly 200 includes a wheel 210 and a propeller 220. The wheel 210 and the propeller 220 are coaxially arranged, that is, the central axis of the wheel 210 coincides with the central axis of the propeller 220. They are hereinafter referred to as the central axis of the wheel-propeller assembly 200, or the central axis of the wheel 210 and the propeller 220. The wheel 210 and the propeller 220 can be fixedly connected or detachably connected. The wheel-propeller assembly 200 is movably connected to the fuselage 100. When the wheel-propeller coaxial amphibious robot is in airplane mode, the central axes of the wheels 210 and propellers 220 are perpendicular to the ground, and the propellers 220 are located above the wheels 210. The rotation of the propellers 220 causes the wheel-propeller coaxial amphibious robot to fly in the air. When the wheel-propeller coaxial amphibious robot is in vehicle mode, the central axes of the wheels 210 and propellers 220 are parallel to the ground, and the propellers 220 are located on the side of the wheels 210 facing the fuselage 100. The rolling of the wheels 210 causes the wheel-propeller coaxial amphibious robot to travel on land. The deformation assembly 300 includes a driving member 310 and a deformation member. The driving member 310 is fixed to the fuselage 100, and the output end of the driving member 310 is connected to the deformation member, which is connected to the wheel-propeller assembly 200. The driving member 310 can drive the deformation member to control the wheel-propeller assembly 200 to move linearly and flip. When the wheel-propeller coaxial amphibious robot changes from airplane mode to car mode, the deformable part can first control the wheel-propeller assembly 200 to flip so that the central axis of the wheel-propeller assembly 200 (that is, the central axis of the wheel 210 and the propeller 220) is parallel to the ground, and then control the wheel-propeller assembly 200 to move downward until it lands, specifically, the outer periphery of the wheel 210 contacts the ground, and the deformation is completed, that is, the deformation process is sequentially a flipping stage and a landing stage; when changing from car mode to airplane mode, the deformable part can first control the wheel-propeller assembly 200 to move upward until it leaves the ground, specifically, the wheel 210 is suspended off the ground, that is, the wheel 210 is lifted off the ground, and then control the wheel-propeller assembly 200 to flip so that the central axis of the wheel-propeller assembly 200 (that is, the central axis of the wheel 210 and the propeller 220) is perpendicular to the ground, and the deformation is completed, that is, the deformation process is sequentially a lifting-off stage and a flipping stage.

[0049] Based on the above design, the deformation assembly 300 includes a driving member 310 and a deformation member. The driving member 310 can drive the deformation member to control the linear movement and flipping of the wheel-paddle assembly 200. Compared with the use of a servo for flipping deformation in the prior art, the wheel-paddle coaxial amphibious robot is separately configured with a driving member 310 for deformation, and does not require the servo motor to provide deformation power, thereby avoiding the servo motor being in a stalled state, thereby reducing the energy consumption of the entire wheel-paddle coaxial amphibious robot. When the wheel-paddle coaxial amphibious robot is actually deformed, if it changes from an airplane mode to a car mode, the deformable part can first control the wheel-paddle assembly 200 to flip so that the central axis of the wheel-paddle assembly 200 is parallel to the ground, that is, flip 90 degrees, and then control the wheel-paddle assembly 200 to move downward until it lands and deforms into the car mode. Compared with the prior art in which the wheels 210 slide and rub against the ground to lift the body off the ground, in this process the wheel-paddle assembly 200 flips in mid-air and then lands and the fuselage 100 lifts off the ground, avoiding the friction between the wheel-paddle assembly 200 and the ground, thereby reducing the deformation resistance of the wheel-paddle coaxial amphibious robot; if it changes from a car mode to an airplane mode, the deformable part can first control the wheel-paddle assembly 200 to move upward until it leaves the ground, and then control the wheel-paddle assembly 200 to flip so that the central axis of the wheel-paddle assembly 200 is perpendicular to the ground, deforming into the airplane mode. In this process, the wheel-paddle assembly 200 first leaves the ground and then flips, which can avoid the friction between the wheel-paddle assembly 200 and the ground when flipping, thereby reducing the deformation resistance of the wheel-paddle coaxial amphibious robot.

[0050] In this embodiment, the driving member 310 is a push rod motor, which has a simple structure and low cost.

[0051] It should be noted that the coaxial mounting method of the wheel 210 and propeller 220 in the wheel-propeller assembly 200 is a relatively mature prior art in the art and will not be described in detail here. The flight control of the wheel-propeller coaxial amphibious robot in aircraft mode and the driving control in vehicle mode are also relatively mature prior art in the art and will not be described in detail here. The fuselage 100 refers to the main body of the wheel-propeller coaxial amphibious robot in aircraft mode and also refers to the vehicle body of the wheel-propeller coaxial amphibious robot in vehicle mode.

[0052] In this embodiment, the wheel-paddle coaxial amphibious robot includes two deformation assemblies 300 and four wheel-paddle assemblies 200. Each deformation assembly 300 corresponds to two wheel-paddle assemblies 200, and each deformation assembly 300 can simultaneously control the linear movement and flipping of two wheel-paddle assemblies 200. Two deformation assemblies 300 can drive the deformation of four wheel-paddle assemblies 200, resulting in a compact structure and cost-saving.

[0053] Specifically, when the wheel-propeller coaxial amphibious robot is in vehicle mode, the two wheel-propeller assemblies 200 on the same side are located in the same plane and are coaxially arranged with the two wheel-propeller assemblies 200 on the other side. When the wheel-propeller coaxial amphibious robot is in airplane mode, the four wheel-propeller assemblies 200 are in the same horizontal plane.

[0054] Furthermore, the wheel-propeller coaxial amphibious robot also includes a tripod 400. The tripod 400 is located at the bottom of the fuselage 100 and is used to support the fuselage 100 of the wheel-propeller coaxial amphibious robot in the aircraft mode, so that the wheel-propeller coaxial amphibious robot in the aircraft mode can land on the ground. The tripod 400 is connected to a deformable member, which can control the tripod 400 and the wheel-propeller assembly 200 to move synchronously relative to each other in the vertical direction. When the wheel-propeller coaxial amphibious robot changes from the aircraft mode to the vehicle mode, the deformable member can control the tripod 400 to move upward and retract, so that the wheel-propeller assembly 200 moves downward and lands, completing the transformation. When changing from the vehicle mode to the aircraft mode, the deformable member can control the tripod 400 to move downward and land to support the fuselage 100, so that the wheel-propeller assembly 200 moves upward and lifts off the ground, and then controls the wheel-propeller assembly 200 to flip over to complete the transformation. The cooperation of the tripod 400 reduces the difficulty of transformation.

[0055] In this embodiment, there are two tripods 400 , and the tripods 400 correspond one to one to the deformation components 300 .

[0056] Furthermore, if Figures 4 to 10 The deformable member includes a tooth plate 320 and a tooth member 330. The tooth plate 320 is movably arranged on the fuselage 100. The output end of the driving member 310 is connected to the tooth plate 320 and can drive the tooth plate 320 to move in the vertical direction. The tripod 400 is fixed on the tooth plate 320, and the wheel-propeller assembly 200 is fixed on the tooth member 330. The surface of the tooth plate 320 on the side facing away from the fuselage 100 is provided with a fitting section 321, a rack section 322 and a smooth section 323 from top to bottom; the edge of the tooth member 330 facing the fuselage 100 is provided with a tooth section 331, a first plane section 332 and a second plane section 333. The first plane section 332 and the second plane section 333 are respectively located at the two ends of the length of the tooth section 331, and the first plane section 332 and the second plane section 333 are perpendicular to each other (such as Figure 8(as shown by the dotted line in the figure), the first planar section 332 is adapted to the fitting section 321, the tooth section 331 is adapted to the rack section 322, and the second planar section 333 is adapted to the smooth section 323. When the tooth plate 320 moves in the vertical direction, the rack section 322 and the tooth section 331 engage with each other, driving the tooth member 330 to roll relative to the tooth plate 320. The tooth member 330 rolls onto the fitting section 321 of the tooth plate 320, causing the first planar section 332 of the tooth member 330 to fit with the fitting section 321 of the tooth plate 320, or the tooth member 330 rolls onto the smooth section 323 of the tooth plate 320, causing the second planar section 333 of the tooth member 330 to fit with the smooth section 323 of the tooth plate 320. Furthermore, the smooth section 323 fits with the second planar section 333, causing the tooth member 330 to slide relative to the tooth plate 320. By meshing and moving relative to each other, the teeth on the rack segment 322 of the tooth plate 320 and the teeth on the meshing segment 331 of the tooth member 330 convert the linear motion into rotation, thereby realizing the rotation of the tooth member 330 and driving the wheel-paddle assembly 200 to flip.

[0057] Specifically, when the wheel-paddle coaxial amphibious robot is in vehicle mode, Figure 11 and Figure 12 As shown, the second flat section 333 of the tooth 330 is in contact with the smooth section 323 of the tooth plate 320, and the tooth 330 is located at the end of the smooth section 323 of the rack away from the rack section 322 (i.e., the lower end of the tooth plate 320). Figures 13 to 16 As shown, the driving member 310 drives the gear plate 320 to move vertically from top to bottom, and the tripod 400 moves vertically downward until it lands on the ground. At the same time, the gear 330 slides relatively on the smooth section 323 of the gear plate 320. As the gear plate 320 and the tripod 400 continue to move downward, the tripod 400 lands on the ground, and the fuselage 100 drives the wheel-propeller assembly 200 to start lifting off the ground. When the wheel-propeller assembly 200 is lifted to a certain height, the gear 330 slides The tooth piece 330 moves to the rack segment 322 of the tooth plate 320. As the tooth plate 320 continues to move downward, the tooth segment 331 of the tooth piece 330 engages with the rack segment 322 of the tooth plate 320. The tooth piece 330 rolls on the tooth plate 320. When the tooth piece 330 rolls 90 degrees and flips from the rack segment 322 to the fitting segment 321, during this process, the tooth piece 330 drives the wheel-paddle assembly 200 to flip (rotate clockwise), and the deformation of the wheel-paddle coaxial amphibious robot is completed.

[0058] When the wheel-propeller coaxial amphibious robot is in the airplane mode, Figure 17 and Figure 18As shown, the first flat section 332 of the tooth member 330 is in contact with the contact section 321 of the tooth plate 320 (i.e., the upper end of the tooth plate 320). If the aircraft mode is changed to the car mode, the driving member 310 drives the tooth plate 320 in the opposite direction to move vertically from bottom to top. The tooth plate 320 and the tooth member 330 move relative to each other in the vertical direction, so that the tooth member 330 reaches the rack section 322 of the tooth plate 320. The rack section 322 of the tooth plate 320 meshes with the meshing section 331 of the tooth member 330, and the tooth member 330 rolls. After the tooth member 330 rolls 90 degrees and flips away from the rack section 322 to the smooth section 323, the second flat section 333 of the tooth member 330 is in contact with the smooth section 331 of the tooth plate 320. 23 fit, in this process, the gear 330 drives the wheel-propeller assembly 200 to flip (rotate counterclockwise), the tooth plate 320 drives the tripod 400 to rise, and the fuselage 100 to descend; as the tooth plate 320 continues to move upward, the gear 330 slides relatively on the smooth section 323 of the tooth plate 320 until it reaches the end of the tooth plate 320. In this process, the tooth plate 320 moves upward while continuing to drive the tripod 400 to lift and retract, while the fuselage 100 drives the wheel-propeller assembly 200 to continue to move downward and land, and the transformation of the wheel-propeller coaxial amphibious robot is completed.

[0059] Furthermore, the deformable member also includes a connecting member 350, which connects the tripod 400, the output end of the driving member 310 and the tooth plate 320. The connecting member 350 connects the tripod 400, the tooth plate 320 and the driving member 310 to form a whole, so that the tripod 400 and the tooth plate 320 move synchronously.

[0060] In this embodiment, the tripod 400 includes a bottom beam and a column. The bottom beam is arranged in the horizontal direction, and both ends of the column in the vertical direction are connected to the bottom beam and the connecting member 350 respectively.

[0061] Optionally, the tooth plate 320 also includes a first limit block 324 and a second limit block 325, the first limit block 324 is located at the end of the fitting section 321 away from the rack section 322, and the second limit block 325 is located at the end of the smooth section 323 away from the rack section 322; the first planar section 332 is provided with a first groove 334 at one end away from the tooth section 331, and the second planar section 333 is provided with a second groove 335 at one end away from the tooth section 331, the first groove 334 is adapted to the first limit block 324, and the second groove 335 is adapted to the second limit block 325, the first limit block 324 can be clamped in the first groove 334, and the second limit block 325 can be clamped in the second groove 335. The first limiting block 324 and the first groove 334 , as well as the second limiting block 325 and the second groove 335 , are all used to limit the tooth member 330 to prevent the tooth member 330 from rotating, so that the driving member 310 remains stable after power is cut off.

[0062] Optionally, the deformable part also includes two guide rails 340, and slide grooves 326 are respectively provided on opposite sides of the tooth plate 320. The two guide rails 340 are vertically arranged on the fuselage 100. The guide rails 340 and the slide grooves 326 correspond to each other and are adapted to each other. The tooth plate 320 can slide on the guide rails 340 through the slide grooves 326. The guide rail 340 and the slide grooves 326 have a simple structure, which makes the tooth plate 320 move smoothly, thereby reducing the energy consumption of the driving part 310.

[0063] Furthermore, the wheel-propeller coaxial amphibious robot also includes a fixed base plate 500, which is fixed to the fuselage 100, and a guide rail 340 is arranged on the fixed base plate 500. In this embodiment, the guide rail 340 is vertically arranged on the side of the fixed base plate away from the fuselage 100, and the driving member 310 is fixed on the fixed base plate 500. The fixed base plate 500 serves as the base of the entire deformation assembly 300, thereby improving the structural strength of the wheel-propeller coaxial amphibious robot.

[0064] In some other embodiments, a slider may be fixed to the side of the tooth plate 320 facing the fixed base plate 500, and a slide rail may be provided on the side of the fixed base plate 500 facing away from the fuselage 100, and the tooth plate 320 may slide on the fixed base plate 500 via the slide rail slider.

[0065] In this embodiment, there are two fixed base plates 500, which are relatively arranged on opposite sides of the fuselage 100, and the fixed base plates 500 correspond one-to-one to the deformation components 300. Each fixed base plate 500 is located between the two wheel-propeller components 200 on the corresponding side.

[0066] Furthermore, the wheel-paddle coaxial amphibious robot also includes a fixing block 600 , and the driving member 310 and the fixed base plate 500 are connected via the fixing block 600 , thereby improving the connection strength between the driving member 310 and the fixed base plate 500 .

[0067] In this embodiment, the driving member 310 and the fixed base plate 500 are both vertically arranged, and the fixing block 600 is sandwiched between the fixed base plate 500 and the side wall of the driving member 310 .

[0068] Optionally, the deformable member further includes a rotating shaft 360 rotatably connected to the fuselage 100 , the gear 330 and the wheel-paddle assembly 200 are respectively connected to the rotating shaft 360 , and the rotating shaft 360 can both support the wheel-paddle assembly 200 and rotate and flip the wheel-paddle assembly 200 .

[0069] In this embodiment, there are two rotating shafts 360, which are respectively located on opposite sides of the fuselage 100. Each rotating shaft 360 passes through the gear 330 and is rotatably connected to the fuselage 100 through a bearing, and the two ends are respectively connected to the two propeller assemblies 200 on the corresponding side.

[0070] Furthermore, two extension plates are provided on opposite sides of the fuselage 100. The two extension plates on the same side are arranged opposite each other. The gear member 330 is located between the two extension plates on the same side. The two ends of the rotating shaft 360 pass through the two extension plates and are respectively connected to the two wheel-propeller assemblies 200. The bearings are sleeved on the rotating shaft 360 and located in the corresponding extension plates. The extension plates separate the wheel-propeller assemblies 200 from the fuselage 100 by a certain distance, providing sufficient space for the wheel-propeller assemblies 200 to rotate.

[0071] It should be noted that when the wheel-propeller coaxial amphibious robot is in vehicle mode, the rotating shaft 360 is located on the side of the wheel-propeller assembly 200 facing away from the fuselage 100 .

[0072] 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. A wheel-paddle coaxial amphibious robot, characterized in that: include: fuselage (100); a wheel-propeller assembly (200) movably connected to the fuselage (100); A deformation assembly (300) comprises a driving member (310) and a deformation member, wherein the driving member (310) is fixed to the fuselage (100) and an output end is connected to the deformation member, and the deformation member is connected to the wheel-paddle assembly (200), and the driving member (310) can drive the deformation member to control the wheel-paddle assembly (200) to move linearly and flip; When the wheel-paddle coaxial amphibious robot changes from an airplane mode to a vehicle mode, the deformation member can first control the wheel-paddle assembly (200) to flip so that the central axis of the wheel-paddle assembly (200) is parallel to the ground, and then control the wheel-paddle assembly (200) to move downward until it lands on the ground, thereby completing the deformation; when the vehicle mode changes from the airplane mode, the deformation member can first control the wheel-paddle assembly (200) to move upward until it leaves the ground, and then control the wheel-paddle assembly (200) to flip so that the central axis of the wheel-paddle assembly (200) is perpendicular to the ground, thereby completing the deformation.

2. The wheel-paddle coaxial amphibious robot according to claim 1, characterized in that: The wheel-paddle coaxial amphibious robot further comprises a tripod (400), wherein the tripod (400) is located at the bottom of the fuselage (100) and is used to support the fuselage (100), and the tripod (400) is connected to the deformable member, and the deformable member is capable of controlling the tripod (400) and the wheel-paddle assembly (200) to move synchronously relative to each other in a vertical direction.

3. The wheel-propeller coaxial amphibious robot according to claim 2, characterized in that: The deformable member comprises a tooth plate (320) and a tooth member (330), wherein the tooth plate (320) is movably arranged on the fuselage (100), and the output end of the driving member (310) is connected to the tooth plate (320) and can drive the tooth plate (320) to move in the vertical direction, and a side surface of the tooth plate (320) is provided with a fitting section (321), a rack section (322) and a smooth section (323) in sequence from top to bottom, and an edge of the tooth member (330) is provided with a tooth section (331), a first plane section (332) and a second plane section (333), wherein the first plane section (332) and the second plane section (333) are respectively located at the two ends of the length of the tooth section (331) and are perpendicular to each other, and ... The plane section (332) is adapted to the fitting section (321), the tooth section (331) is adapted to the rack section (322), and the second plane section (333) is adapted to the smooth section (323). When the tooth plate (320) moves in the vertical direction, the rack section (322) is engaged with the tooth section (331) so that the tooth member (330) rolls relative to the tooth plate (320), and the smooth section (323) is fitted with the second plane section (333) so that the tooth member (330) slides relative to the tooth plate (320). The tripod (400) is fixed on the tooth plate (320), and the wheel-paddle assembly (200) is fixed on the tooth member (330).

4. The wheel-propeller coaxial amphibious robot according to claim 3, characterized in that: The tooth plate (320) further includes a first limiting block (324) and a second limiting block (325), wherein the first limiting block (324) is located at one end of the fitting section (321) away from the rack section (322), and the second limiting block (325) is located at one end of the smooth section (323) away from the rack section (322); a first groove (334) is provided at one end of the first plane section (332) away from the tooth section (331), and a second groove (335) is provided at one end of the second plane section (333) away from the tooth section (331), the first groove (334) is adapted to the first limiting block (324), and the second groove (335) is adapted to the second limiting block (325), the first limiting block (324) can be clamped in the first groove (334), and the second limiting block (325) can be clamped in the second groove (335).

5. The wheel-propeller coaxial amphibious robot according to claim 3, characterized in that: The deformable member further includes two guide rails (340), both of which are vertically arranged on the fuselage (100), and slide grooves (326) are respectively provided on opposite sides of the tooth plate (320), and the guide rails (340) and the slide grooves (326) correspond to each other and are adapted to each other, and the tooth plate (320) can slide on the guide rails (340) through the slide grooves (326).

6. The wheel-propeller coaxial amphibious robot according to claim 5, characterized in that: The wheel-paddle coaxial amphibious robot further comprises a fixed base plate (500), wherein the fixed base plate (500) is fixed to the fuselage (100), the guide rail (340) is arranged on the fixed base plate (500), and the driving member (310) is fixed on the fixed base plate (500).

7. The wheel-propeller coaxial amphibious robot according to claim 6, characterized in that: The wheel-paddle coaxial amphibious robot further comprises a fixing block (600), and the driving member (310) and the fixing base plate (500) are connected via the fixing block (600).

8. The wheel-propeller coaxial amphibious robot according to claim 3, characterized in that: The deformable member further comprises a connecting member (350), wherein the connecting member (350) connects the tripod (400), the output end of the driving member (310) and the tooth plate (320).

9. The wheel-propeller coaxial amphibious robot according to claim 3, characterized in that: The deformable member further comprises a rotating shaft (360) rotatably connected to the fuselage (100), and the gear member (330) and the wheel-paddle assembly (200) are respectively connected to the rotating shaft (360).

10. The wheel-propeller coaxial amphibious robot according to claim 1, characterized in that: The wheel-paddle coaxial amphibious robot comprises two deformation assemblies (300) and four wheel-paddle assemblies (200), wherein each deformation assembly (300) corresponds to two wheel-paddle assemblies (200), and each deformation assembly (300) can simultaneously control the linear movement and flipping of the two wheel-paddle assemblies (200).

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