Multi-modal robot capable of adapting to multi-medium environment

Abstract

The invention provides a multi-mode robot capable of adapting to a multi-medium environment. The multi-mode robot comprises a robot body assembly, a three-degree-of-freedom fin-shaped leg assembly and a single-degree-of-freedom spine assembly. The single-degree-of-freedom spine assembly is used for providing a rotational degree of freedom of vertical swinging; the multiple three-degree-of-freedom fin-shaped leg assemblies are installed at the front end of the machine body assembly and the rear side of the spine supporting plate correspondingly, and each three-degree-of-freedom fin-shaped leg assembly comprises a thigh assembly and a shank assembly; a fin plate is installed on the shank assembly, and a ball foot is installed at the far end of the shank assembly. By referring to a tail fin swimming mode of fish, a motion mode of swinging the tail fin by the fish can be completed after the added single degree of freedom and the degree of freedom of the rear legs are combined, and the degree of freedom of the front legs can be used as a pectoral fin control direction, so that the multi-medium efficient moving function of the robot is realized, and meanwhile, the actuator reuse of the robot is met; waste of the special actuator and reduction of movement efficiency caused by movement in a specific environment are avoided, and the situation that the movement efficiency is reduced due to waste of the actuator is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of multimodal robots, and in particular to a multimodal robot capable of adapting to a multi-media environment, and in particular to a multimodal robot capable of adapting to a polar multi-media environment. Background Art

[0002] Currently, robots used for polar scientific research missions are generally capable of operating in a single environment, such as the waters above and below the polar ice cap. The robot's structure is often closely related to its locomotion, such as wheeled or tracked robots, underwater teleoperated robots, and underwater autonomous robots.

[0003] However, polar scientific research missions are complex, often involving both on- and under-ice exploration. Due to the unique nature of these missions, expedition teams often need to carry multiple specialized equipment simultaneously, which not only increases the economic cost of the mission but also makes the execution process more complex and challenging. Robots offer unique advantages in this multi-mission polar exploration context, compared to more conventional, single-function specialized observation equipment.

[0004] However, the current polar exploration robots have the following problems in their application:

[0005] First, currently, under-ice roaming robots (such as under-ice crawlers) and anchored robots can usually only attach to the bottom of the ice and move short distances on the under-ice surface in a limited way. Such devices need to rely on manual drilling or existing ice breaks for deployment, and their range of activity is limited by the thickness of the ice and the location of the drilling. In addition, because they usually lack the ability to move freely in the water, they can only perform tasks in a fixed area and have difficulty adapting to the complex changes in the under-ice environment. The equipment needs to be returned to the manual drilling for maintenance or battery replacement on a regular basis, further reducing its operational efficiency.

[0006] Second, while autonomous underwater vehicles (AUVs) possess strong freedom of movement and can perform long-term independent missions, their deployment and recovery still require human intervention. Particularly in polar ice regions, the deployment and recovery of AUVs often relies on openings in the ice or direct human intervention, a method that not only requires significant manpower and resources but also carries the risk of technical failure in the extremely cold environment.

[0007] Third, robots used for ice exploration are generally only suitable for ice sheets distributed over a large area, and their movement is limited in the polar marginal ice areas filled with scattered floating ice.

[0008] The above limitations restrict the application scope of polar exploration robots, making them difficult to adapt to the diversified needs of polar scientific exploration missions.

[0009] As disclosed in the patent document with publication number CN116923010A, an amphibious robot, a control method and an application belong to the field of special robot technology; the amphibious robot includes a body, a motion mechanism and a control unit; the motion mechanism includes a plurality of wheel-paddle mechanisms and wheel-paddle drives; the wheel-paddle mechanism has a rotating wheel and a paddle; the present invention realizes the movement of the robot in two environments; the wheel-paddle mechanism designed in some embodiments can realize the obstacle crossing function of the robot; the wheel-paddle mechanism in the present invention adopts a wheel-paddle coupling design, which realizes the omnidirectional movement of the robot in three directions underwater and on land under the condition of being driven by four motors; the upper and lower airbags of the robot can realize fixed depth control under any gait of the robot; this scheme adopts conventional wheel-paddle propulsion, does not combine bionic functions, and cannot take into account both movement speed and maneuverability under different movement states. Summary of the Invention

[0010] In view of the defects in the prior art, an object of the present invention is to provide a multimodal robot that can adapt to multi-media environments.

[0011] The multimodal robot capable of adapting to a multi-media environment provided by the present invention comprises a body component, a three-degree-of-freedom fin-shaped leg component, and a single-degree-of-freedom spine component;

[0012] The single-degree-of-freedom spine assembly includes a spine support plate and a spine drive unit. The spine support plate is rotatably mounted on the rear end of the body assembly via the spine drive unit and is configured to swing up and down under the drive of the spine drive unit.

[0013] There are multiple three-degree-of-freedom fin-shaped leg assemblies, which are respectively installed at the front end of the fuselage assembly and the rear side of the spine support plate. The three-degree-of-freedom fin-shaped leg assembly includes a thigh assembly and a calf assembly;

[0014] The proximal end of the thigh component is rotatably connected to the front end of the body component or the rear side of the spine support plate and has two independent rotational degrees of freedom. The proximal end of the calf component is rotatably connected to the distal end of the thigh and has one rotational degree of freedom.

[0015] A fin plate is installed on the calf assembly.

[0016] Preferably, the three-degree-of-freedom fin-shaped leg assembly further includes a first driving unit, a second driving unit and a third driving unit;

[0017] The first drive unit is fixed to the front end of the body assembly or the rear side of the spine support plate through a first unit housing, and the second drive unit is fixed to the rotating end of the first drive unit through a second unit housing;

[0018] The first driving unit and the second driving unit are used to drive the thigh component to rotate around a first rotation axis and a second rotation axis respectively, wherein the first rotation axis intersects the second rotation axis;

[0019] The third drive unit is fixed to the rotating end of the second drive unit through a third unit housing, and the thigh assembly is fixed to the fixed end of the third drive unit through a thigh housing;

[0020] The calf component is hinged to the thigh component and is in transmission connection with a third driving unit via a transmission mechanism. The third driving unit is used to drive the calf component to rotate around a third rotation axis.

[0021] Preferably, the second rotation axis is parallel to the third rotation axis, and both are perpendicular to the first rotation axis.

[0022] Preferably, the transmission mechanism is installed inside the thigh shell, and includes a primary pulley, a secondary pulley and a synchronous belt, and the primary pulley and the secondary pulley are driven by the synchronous belt;

[0023] The primary pulley is fixed on the rotating end of the third driving unit, the secondary pulley is hinged to the distal end of the thigh shell, and the small question assembly is fixed on the secondary pulley through a calf connector.

[0024] Preferably, the second driving unit and the third driving unit are both provided with a cable interface;

[0025] The cable interface is fixed on the second unit shell and the third unit shell, and is used to extend the control cables of the second drive unit and the third drive unit outward.

[0026] Preferably, the single-degree-of-freedom spinal assembly further comprises a spinal fixation member and a spinal connector;

[0027] The fixing part of the spinal driving unit is installed at the rear end of the fuselage assembly through a spinal fixing piece, and the rotating part of the spinal driving unit is connected to the front side of the spinal support plate through a spinal connecting piece.

[0028] Preferably, a spinal limit block is installed on the spinal fixation member;

[0029] The spine limiting block is used to limit the rotation angle of the spine driving unit by abutting against the upper side surface and the lower side surface of the spine connector.

[0030] Preferably, at least two groups of three-degree-of-freedom fin-shaped leg assemblies are installed at the front end of the fuselage assembly, and the rotation axes of the first driving units of the two three-degree-of-freedom fin-shaped leg assemblies are configured to be parallel.

[0031] Preferably, at least one set of three-degree-of-freedom fin-shaped leg assemblies is installed on the rear side of the spine support plate, and the rotation axes of the first driving units of the two three-degree-of-freedom fin-shaped leg assemblies are configured to be parallel.

[0032] Preferably, the spine driving unit is used to drive the spine support plate to rotate around a fourth rotation axis, and the fourth rotation axis is perpendicular to the first rotation axis.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. This invention not only achieves efficient multi-media mobility for the robot, but also allows for actuator reuse, avoiding the waste of specialized actuators and reduced efficiency associated with movement in specific environments. By analogy with the tail fin movement of fish, the added single degree of freedom combined with the hind leg's degree of freedom enables the fish's tail fin movement, while the front leg's degree of freedom serves as pectoral fin control. This new configuration fully utilizes its actuators in both aquatic and terrestrial environments, eliminating the waste of actuators that would otherwise reduce efficiency.

[0035] 2. The present invention integrates multiple bionic propulsion functions. By flexibly combining tail fin propulsion, pectoral fin propulsion and side fin direction control, the robot mentioned in the present invention can take into account both movement speed and maneuverability in different movement states. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 Schematic diagram of the overall structure of the three-degree-of-freedom fin-shaped leg assembly of the present invention;

[0039] Figure 3 Schematic diagram of the internal structure of the three-degree-of-freedom fin-shaped leg assembly of the present invention;

[0040] Figure 4 It is a partial enlarged schematic diagram of the single-degree-of-freedom spine assembly of the present invention;

[0041] Figure 5 It is a structural schematic diagram of the present invention when it is in a swimming posture.

[0042] The figure shows:

[0043] Body assembly 1 thigh shell 211

[0044] Three-degree-of-freedom fin-shaped leg assembly 2 calf connector 212

[0045] First drive unit 201 Transmission mechanism 213

[0046] Second drive unit 202 primary pulley 214

[0047] Third drive unit 203 secondary pulley 215

[0048] Thigh assembly 204 cable interface 216

[0049] Calf component 205 Single degree of freedom spine component 3

[0050] Fin 206 Spinal Fixation 301

[0051] Ball foot 207 Spine limit block 302

[0052] First unit housing 208 Spine drive unit 303

[0053] Second unit shell 209 spine connector 304

[0054] Third unit shell 210 spine support plate 305 DETAILED DESCRIPTION

[0055] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0056] The present invention discloses a multimodal robot that can adapt to multi-media environments. While achieving the robot's multi-media efficient mobility function, it also satisfies the robot's actuator reuse, avoiding the waste of dedicated actuators and reduced motion efficiency caused by movement in specific environments. Referring to the swimming pattern of the fish's tail fin, the added single degree of freedom combined with the degree of freedom of the hind legs can complete the movement pattern of the fish's swinging tail fin, while the degree of freedom of the front legs can be used to control the direction of the pectoral fin. This new configuration fully utilizes its actuators in both aquatic and terrestrial environments, eliminating the waste of actuators that would lead to reduced motion efficiency.

[0057] According to the multimodal robot that can adapt to multi-media environment provided by the present invention, Figure 1 As shown, the robot comprises a body assembly 1, a three-DOF fin-shaped leg assembly 2, and a single-DOF spine assembly 3. The body assembly 1 is a sealed compartment with a structure for connecting the three-DOF fin-shaped leg assembly 2 to the single-DOF spine assembly 3. The three-DOF fin-shaped leg assembly 2 is used to drive the robot to move in a multimedia environment, including walking on land, roaming under ice, moving in water in tail fin mode, and moving in water in side fin mode.

[0058] like Figure 4 As shown, the single-degree-of-freedom spine assembly 3 includes a spine support plate 305 and a spine drive unit 303. The spine support plate 305 is rotatably mounted on the rear end of the fuselage assembly 1 through the spine drive unit 303. The spine drive unit 303 drives the spine support plate 305 and the three-degree-of-freedom fin-shaped leg assembly 2 on the rear side to swing up and down, completing the tail fin swinging motion;

[0059] like Figure 2 As shown, there are multiple three-degree-of-freedom fin-shaped leg assemblies 2, which are respectively installed at the front end of the fuselage assembly 1 and the rear side of the spine support plate 305. The three-degree-of-freedom fin-shaped leg assembly 2 includes a thigh assembly 204 and a calf assembly 205; the proximal end of the thigh assembly 204 is rotatably connected to the front end of the fuselage assembly 1 or the rear side of the spine support plate 305, and has two independent rotational degrees of freedom, the proximal end of the calf assembly 205 is rotatably connected to the distal end of the thigh 204, and has one rotational degree of freedom; a fin 206 is installed on the calf assembly 205. The fins 206 are fixed to the calf assembly 205 and are used to move in the water in a bionic propulsion mode. The fins 206 are different depending on the three-degree-of-freedom fin-shaped leg assembly 2 in which they are located. The front three-degree-of-freedom fin-shaped leg assembly 2 is a side fin, and the rear three-degree-of-freedom fin-shaped leg assembly 2 is a tail fin. The cross-sections of the side fins and the tail fin are plate-shaped, wing-shaped, or membrane-shaped.

[0060] After continuous exploration and experimentation, the present invention drives the body to complete various movements through the three-degree-of-freedom fin-shaped leg components 2 arranged around the robot; through the single-degree-of-freedom spine component 3 arranged at the waist of the robot, the three-degree-of-freedom fin-shaped leg components 2 at the rear of the robot are driven to swing, thereby realizing the three-degree-of-freedom tail fin swinging function of the robot; therefore, the present invention can meet the robot's movement functions in various different media, including walking on land, roaming on the surface under ice, moving in water in tail fin mode, and moving in water in side fin mode, and the robot's overall power structure is reasonably designed and compact in structure, which can meet the diverse needs of polar exploration missions.

[0061] like Figure 2 、 Figure 3As shown, the three-degree-of-freedom fin-shaped leg assembly 2 also includes a first drive unit 201, a second drive unit 202 and a third drive unit 203; the first drive unit 201 is fixed to the front end of the fuselage assembly 1 or the rear side of the spine support plate 305 through the first unit shell 208, and the second drive unit 202 is fixed to the rotating end of the first drive unit 201 through the second unit shell 209; the first drive unit 201 and the second drive unit 202 are respectively used to drive the thigh assembly 204 to rotate around the first rotation axis and the second rotation axis, wherein the first rotation axis intersects the second rotation axis; the third drive unit 203 is fixed to the rotating end of the second drive unit 202 through the third unit shell 210, and the thigh assembly 204 is fixed to the fixed end of the third drive unit 203 through the thigh shell 211; the calf assembly 205 is hinged to the thigh assembly 204, and is connected to the third drive unit 203 through the transmission mechanism 213, and the third drive unit 203 is used to drive the calf assembly 205 to rotate around the third rotation axis. The second rotation axis is parallel to the third rotation axis and perpendicular to the first rotation axis, thereby achieving three-degree-of-freedom rotation of the arm assembly 205 .

[0062] Specifically, the first drive unit 201 is used to drive the second drive unit 202 to achieve the left and right swing of the second drive unit 202 and the subsequent components relative to the first drive unit 201; the second drive unit 202 is used to drive the third drive unit 203 to achieve the front and back swing of the third drive unit 203 and the subsequent components relative to the second drive unit 202; the upper end of the thigh component 204 is provided with the third drive unit 203 to drive the calf component 205 to achieve the front and back swing of the calf component 205 and the subsequent components relative to the thigh component 204; the three-degree-of-freedom fin-shaped leg component 2 is moved in space by the first drive unit 201, the second drive unit 202, and the third drive unit 203, as shown in FIG. Figure 1 、 Figure 5 As shown, the robot can walk on land, roam on the ice surface, move in water in tail fin mode, and move in water in side fin mode.

[0063] In a preferred example, a first axial structure for limiting the axial movement of the first drive unit 201 and a first circumferential structure for limiting the circumferential rotation of the first drive unit 201 are provided between the first unit shell 208 and the first drive unit 201; the first axial structure and the first circumferential structure are a combined structure or two separate structures; a second axial structure for limiting the axial movement of the second drive unit 202 and a second circumferential structure for limiting the circumferential rotation of the second drive unit 202 are provided between the second unit shell 206 and the second drive unit 202; the second axial structure and the second circumferential structure are a combined structure or two separate structures; a third axial structure for limiting the axial movement of the third drive unit 203 and a third circumferential structure for limiting the circumferential rotation of the third drive unit 203 are provided between the third unit shell 210 and the third drive unit 203; the third axial structure and the third circumferential structure are a combined structure or two separate structures;

[0064] The driving units of the present invention are connected in series and concentrated near the fuselage assembly, thereby reducing the moment of inertia of the three-degree-of-freedom fin-shaped leg assembly and making the movement flexible.

[0065] In a preferred embodiment, a ball foot 207 is installed at the distal end of the calf component 205. The ball foot 207 is made of rubber material and can reduce the impact force on the robot when walking on land.

[0066] In a preferred example, the first unit shell 208, the second unit shell 209, and the third unit shell 210 are all provided with screw holes for assembling fasteners for fixing the first drive unit 201, the second drive unit 202, and the third drive unit 203; the first unit shell 208, the second unit shell 209, and the third unit shell 210 are all provided with grooves for installing sealing rings; the corresponding first drive unit 201, the second drive unit 202, and the third drive unit 203 are provided with sealing ring friction rings; the sealing ring grooves are in contact with the sealing ring friction rings through the sealing rings to achieve dynamic sealing of the drive units, so that the drive units can rotate normally in an underwater environment without being damaged by water ingress.

[0067] In more preferred examples, the first drive unit 201, the second drive unit 202, and the third drive unit 203 are respectively rotating motors or motors with reducers; the rotation axis of the first drive unit 201 is perpendicular to the axes of the second drive unit 202 and the third drive unit 203; the rotation axis of the second drive unit 202 and the steering axis of the third drive unit 203 are collinearly arranged.

[0068] In more preferred embodiments, the three-degree-of-freedom fin-shaped leg assembly 2 includes a first drive unit 201, a second drive unit 202, a third drive unit 203, a thigh assembly 204, a calf assembly 205, a fin 206, and a ball foot 207, which are connected in sequence. For the three-degree-of-freedom fin-shaped leg assembly 2 at the front of the fuselage, the first drive unit 201 is fixed to the fuselage assembly 1 through a first unit shell 208; the second drive unit 202 is fixed to the rotating end of the first drive unit 201 through a second unit shell 209; the third drive unit 203 is fixed to the rotating end of the second drive unit 202 through a third unit shell 210; the thigh assembly 204 is fixed to the fixed end of the third drive unit 203 through a thigh shell 211; and the calf assembly 205 is hinged to the thigh assembly 204 through a calf connector 212.

[0069] In more preferred embodiments, Figure 3 As shown, the transmission mechanism 213 is installed inside the thigh shell 211 and includes a primary pulley 214, a secondary pulley 215, and a timing belt. The primary pulley 214 and the secondary pulley 215 are driven by a timing belt with a reduction ratio of 1. The primary pulley 214 is fixed to the rotating end of the third drive unit 203, and the secondary pulley 215 is hinged to the distal end of the thigh shell 211. The calf assembly 205 is fixed to the secondary pulley 215 via the calf connector 212. The transmission mechanism 213 enables motion transmission from the third drive unit 203 to the calf assembly 205, while reducing the overall moment of inertia of the three-degree-of-freedom fin-shaped leg assembly 2.

[0070] In more preferred examples, the second drive unit 202 and the third drive unit 203 are provided with a cable interface 216, which is fixed on the second unit shell 209 and the third unit shell 210, and can extend the control cables of the second drive unit 202 and the third drive unit 203 outward, while preventing water from entering during operation.

[0071] like Figure 4 As shown, the single-degree-of-freedom spine assembly 3 also includes a spine fixing member 301 and a spine connector 304. The fixing portion of the spine drive unit 303 is mounted on the rear end of the body assembly 1 via the spine fixing member 301, and the rotating portion of the spine drive unit 303 is connected to the front side of the spine support plate 305 via the spine connector 304. The spine drive unit 303 is used to drive the spine support plate 305 to rotate about a fourth rotation axis, which is perpendicular to the first rotation axis. A spine limit block 302 is mounted on the spine fixing member 301. The spine limit block 302 is used to limit the rotation angle of the spine drive unit 303 by abutting against the upper and lower sides of the spine connector 304.

[0072] In more preferred examples, the single-degree-of-freedom spine assembly 3 is fixed to the fuselage assembly 1 through a spine fixing member 301; the spine driving unit 303 is fixed to the spine fixing member 301; a spine limit block 302 is installed on the spine fixing member 301 to limit the rotation angle of the driving unit; the spine connecting member 304 is fixed to the rotating end of the spine driving unit 303, and the spine support plate 305 is fixed to the spine connecting member, so that the spine driving unit 303 drives the spine support plate 305 to swing up and down through the spine connecting member 304, thereby realizing the tail fin swinging function of the robot.

[0073] In a preferred embodiment, at least two groups of three-DOF fin-shaped leg assemblies 2 are distributed on the body assembly 1, and at least one group of three-DOF fin-shaped leg assemblies 2 is distributed on the spine support plate 305. Preferably, the front portion of the robot has two groups of three-DOF fin-shaped leg assemblies 2, fixed to the body assembly 1, with the rotation axes of the two groups of first drive units 201 arranged to be parallel; the rear portion of the robot has two groups of three-DOF fin-shaped leg assemblies 2, fixed to the spine support plate 305, with the rotation axes of the two groups of first drive units 201 arranged to be parallel;

[0074] In a preferred example, a battery, a control unit, a sensor, and a transformer are provided inside the fuselage assembly 1 .

[0075] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0076] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A multimodal robot that can adapt to a multi-media environment, characterized in that: It comprises a body assembly (1), a three-degree-of-freedom fin-shaped leg assembly (2), and a single-degree-of-freedom spine assembly (3); The single-degree-of-freedom spine assembly (3) comprises a spine support plate (305) and a spine drive unit (303); the spine support plate (305) is rotatably mounted on the rear end of the body assembly (1) via the spine drive unit (303), and is configured to swing up and down under the drive of the spine drive unit (303); There are a plurality of three-degree-of-freedom fin-shaped leg assemblies (2), which are respectively mounted on the front end of the fuselage assembly (1) and the rear side of the spine support plate (305). The three-degree-of-freedom fin-shaped leg assembly (2) includes a thigh assembly (204) and a calf assembly (205); The proximal end of the thigh component (204) is rotatably connected to the front end of the body component (1) or the rear side of the spine support plate (305) and has two independent rotational degrees of freedom; the proximal end of the calf component (205) is rotatably connected to the distal end of the thigh component (204) and has one rotational degree of freedom; A fin plate (206) is installed on the calf component (205).

2. The multimodal robot capable of adapting to a multi-media environment according to claim 1, characterized in that: The three-degree-of-freedom fin-shaped leg assembly (2) further includes a first drive unit (201), a second drive unit (202), and a third drive unit (203); The first drive unit (201) is fixed to the front end of the body assembly (1) or the rear side of the spine support plate (305) through a first unit shell (208), and the second drive unit (202) is fixed to the rotating end of the first drive unit (201) through a second unit shell (209); The first drive unit (201) and the second drive unit (202) are used to drive the thigh component (204) to rotate around a first rotation axis and a second rotation axis, respectively, wherein the first rotation axis intersects the second rotation axis; The third drive unit (203) is fixed to the rotating end of the second drive unit (202) via a third unit housing (210), and the thigh component (204) is fixed to the fixed end of the third drive unit (203) via a thigh housing (211); The calf component (205) is hinged to the thigh component (204) and is in transmission connection with a third drive unit (203) via a transmission mechanism (213). The third drive unit (203) is used to drive the calf component (205) to rotate around a third rotation axis.

3. The multimodal robot capable of adapting to a multi-media environment according to claim 2, characterized in that: The second rotation axis is parallel to the third rotation axis and is perpendicular to the first rotation axis.

4. The multimodal robot capable of adapting to a multi-media environment according to claim 2, characterized in that: The transmission mechanism (213) is installed inside the thigh shell (211), and includes a main pulley (214), a secondary pulley (215) and a synchronous belt, and the main pulley (214) and the secondary pulley (215) are driven by the synchronous belt; The primary pulley (214) is fixed to the rotating end of the third drive unit (203), the secondary pulley (215) is hinged to the distal end of the thigh shell (211), and the small question component (205) is fixed to the secondary pulley (215) via a calf connector (212).

5. The multimodal robot capable of adapting to a multi-media environment according to claim 2, characterized in that: The second drive unit (202) and the third drive unit (203) are both provided with a cable interface (216); The cable interface (216) is fixed on the second unit shell (209) and the third unit shell (210), and is used to allow the control cables of the second drive unit (202) and the third drive unit (203) to extend outward.

6. The multimodal robot capable of adapting to a multi-media environment according to claim 1, characterized in that: The single-degree-of-freedom spine assembly (3) further comprises a spine fixing member (301) and a spine connecting member (304); The fixed portion of the spine drive unit (303) is mounted on the rear end of the body assembly (1) via a spine fixing member (301), and the rotating portion of the spine drive unit (303) is connected to the front side of the spine support plate (305) via a spine connecting member (304).

7. The multimodal robot capable of adapting to a multi-media environment according to claim 6, characterized in that: A spine limiting block (302) is installed on the spine fixing member (301); The spine limiting block (302) is used to limit the rotation angle of the spine driving unit (303) by abutting against the upper side and the lower side of the spine connecting member (304).

8. The multimodal robot capable of adapting to a multi-media environment according to claim 1, characterized in that: At least two groups of three-degree-of-freedom fin-shaped leg assemblies (2) are installed at the front end of the fuselage assembly (1), and the rotation axes of the first driving units (201) of the two three-degree-of-freedom fin-shaped leg assemblies (2) are arranged to be parallel.

9. The multimodal robot capable of adapting to a multi-media environment according to claim 1, characterized in that: At least one set of three-degree-of-freedom fin-shaped leg assemblies (2) is installed on the rear side of the spine support plate (305), and the rotation axes of the first driving units (201) of the two three-degree-of-freedom fin-shaped leg assemblies (2) are arranged to be parallel.

10. The multimodal robot capable of adapting to a multi-media environment according to claim 2, characterized in that: The spine driving unit (303) is used to drive the spine support plate (305) to rotate around a fourth rotation axis, and the fourth rotation axis is perpendicular to the first rotation axis.

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