Multimodal robot adaptable to multi-medium environments

Abstract

The application provides a multi-modal robot adaptable to a multi-medium environment, comprising a body assembly, three degrees of freedom fin-shaped leg assemblies and a single degree of freedom spine assembly; the single degree of freedom spine assembly is used to provide a rotation degree of freedom of up and down swing; the three degrees of freedom fin-shaped leg assemblies are multiple, and are respectively installed at the front end of the body assembly and the rear side of the spine support plate; the three degrees of freedom fin-shaped leg assemblies comprise a thigh assembly and a shank assembly; a fin plate is installed on the shank assembly, and a ball foot is installed at the distal end of the shank assembly. The single degree of freedom and the degree of freedom of the rear leg are combined to complete the motion mode of the swing tail fin of the fish according to the swimming mode of the tail fin of the fish, and the degree of freedom of the front leg can be used as the control direction of the pectoral fin, so that the multi-medium efficient movement function of the robot is realized, the reuse of the robot executor is met, the waste of the special executor and the decline of the movement efficiency in the specific environment are avoided, and the decline of the movement efficiency caused by the waste of the executor does not occur.

Description

Technical Field

[0001] This invention relates to the field of multimodal robot technology, specifically to a multimodal robot adaptable to multi-media environments, and more particularly to a multimodal robot adaptable to polar multi-media environments. Background Technology

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

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

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

[0005] First, currently, sub-ice roaming robots (such as sub-ice crawlers) and anchored robots can typically only attach to the ice bottom and move short distances on the sub-ice surface in a limited manner. These devices require deployment via manual drilling or existing ice fractures, and their range of motion is limited by ice thickness and drilling location. Furthermore, because they generally lack the ability to move freely in water, they can only perform tasks within fixed areas, making it difficult to adapt to complex sub-ice environments. The need for periodic return to manual drilling for maintenance or battery replacement further reduces their operational efficiency.

[0006] Secondly, although autonomous underwater vehicles (AUVs) possess strong mobility and can perform long-duration independent missions, their deployment and recovery still require human intervention. Especially in polar ice regions, the deployment and recovery of AUVs often rely on openings in the ice or direct human intervention. This approach not only requires significant manpower and resources but also carries the risk of technical malfunctions in extremely cold environments.

[0007] Third, robots used for ice exploration are generally only adapted to large-scale ice sheets, and their movement is limited in polar edge ice areas filled with scattered floating ice.

[0008] These limitations restrict the application scope of polar exploration robots, making it difficult to adapt to the diverse needs of polar scientific exploration missions.

[0009] As disclosed in patent document CN116923010A, an amphibious robot, control method, and application belong to the field of special robot technology. This amphibious robot includes a body, a motion mechanism, and a control unit. The motion mechanism includes several propeller mechanisms and propeller drives. The propeller mechanisms have wheels and webs. This invention enables the robot to move in two environments. In some embodiments, the propeller mechanisms can achieve obstacle-crossing functionality. In this invention, the propeller mechanism adopts a propeller coupling design, achieving omnidirectional movement of the robot in three dimensions underwater and on land under the drive of four motors. The robot has two airbags, one above and one below, which can achieve depth control in any gait. This solution uses conventional propeller propulsion without incorporating biomimetic functions, and therefore cannot balance speed and maneuverability in different motion states. Summary of the Invention

[0010] In view of the shortcomings of the prior art, the purpose of this invention is to provide a multimodal robot that can adapt to multi-media environments.

[0011] The multimodal robot adaptable to multi-media environments provided by the present invention includes a body assembly, a three-degree-of-freedom fin-like leg assembly, and a single-degree-of-freedom spine assembly.

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

[0013] The three-degree-of-freedom fin-like leg assembly comprises multiple components, which are respectively installed at the front end of the fuselage assembly and at the rear side of the spine support plate. The three-degree-of-freedom fin-like leg assembly includes a thigh assembly and a lower leg assembly.

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

[0015] The lower leg assembly is equipped with fins.

[0016] Preferably, the three-degree-of-freedom fin-like leg assembly further includes a first drive unit, a second drive unit, and a third drive 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 the first unit shell, and the second drive unit is fixed to the rotating end of the first drive unit through the second unit shell.

[0018] The first driving unit and the second driving unit are respectively used to drive the thigh assembly to rotate around the first rotation axis and the second rotation axis, wherein the first rotation axis and the second rotation axis intersect.

[0019] The third drive unit is fixed to the rotating end of the second drive unit via a third unit shell, and the thigh assembly is fixed to the fixed end of the third drive unit via a thigh shell.

[0020] The lower leg assembly is hinged to the thigh assembly and is connected to the third drive unit via a transmission mechanism. The third drive unit is used to drive the lower leg assembly 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 main pulley, a secondary pulley, and a synchronous belt, wherein the main pulley and the secondary pulley are driven by the synchronous belt.

[0023] The main pulley is fixed to the rotating end of the third drive unit, the auxiliary pulley is hinged to the distal end of the thigh shell, and the lower leg assembly is fixed to the auxiliary pulley via a lower leg connector.

[0024] Preferably, both the second drive unit and the third drive unit are provided with cable interfaces;

[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 includes a spinal fixation component and a spinal connector;

[0027] The fixing part of the spinal drive unit is installed at the rear end of the body assembly via a spinal fixation member, and the rotating part of the spinal drive unit is connected to the front side of the spinal support plate via a spinal connector.

[0028] Preferably, a spinal limiting block is installed on the spinal fixation component;

[0029] The spinal limiting block is used to limit the rotation angle of the spinal drive unit by abutting against the upper and lower sides of the spinal connector.

[0030] Preferably, at least two sets of three-degree-of-freedom fin-like leg assemblies are mounted on the front end of the fuselage assembly, and the rotation axes of the first drive units of the two three-degree-of-freedom fin-like leg assemblies are configured to be parallel.

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

[0032] Preferably, the spinal drive unit is used to drive the spinal support plate to rotate about a fourth rotation axis, which 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 achieves efficient multi-media mobility for robots while enabling actuator reuse, avoiding the waste of dedicated actuators and reduced motion efficiency caused by movement in specific environments. Referring to the swimming motion of fish tail fins, the addition of a single degree of freedom combined with the hind leg degrees of freedom enables the fish to swing its tail fin, while the foreleg degrees of freedom can be used for pectoral fin direction control. This new configuration fully utilizes its actuators in both aquatic and terrestrial environments, preventing actuator waste and reduced motion efficiency.

[0035] 2. This invention integrates multiple biomimetic propulsion functions. By flexibly combining tail fin propulsion, pectoral fin propulsion, and side fin directional control, the robot mentioned in this invention can balance movement speed and maneuverability in different motion states. Attached Figure Description

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

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

[0038] Figure 2 This is a schematic diagram of the overall structure of the three-degree-of-freedom fin-like leg assembly in this invention;

[0039] Figure 3 This is a schematic diagram of the internal structure of the three-degree-of-freedom fin-like leg assembly in this invention;

[0040] Figure 4 This is a partially enlarged schematic diagram of the single-degree-of-freedom spine assembly in this invention;

[0041] Figure 5 This is a schematic diagram of the structure of the present invention in a swimming posture.

[0042] The diagram shows:

[0043] Detailed Implementation

[0044] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0045] This invention discloses a multimodal robot adaptable to various media environments. While achieving efficient multi-media mobility, it also enables actuator reuse, avoiding the waste of dedicated actuators and reduced motion efficiency caused by motion in specific environments. Referring to the tail fin swimming motion of fish, the addition of a single degree of freedom combined with the hind leg degrees of freedom enables the fish's tail fin swinging motion pattern, while the foreleg degrees of freedom can be used for pectoral fin direction control. This new configuration fully utilizes its actuators in both aquatic and terrestrial environments, preventing actuator waste and resulting motion efficiency reduction.

[0046] The multimodal robot adaptable to multi-media environments provided by the present invention, such as Figure 1 As shown, the robot includes a fuselage assembly 1, a three-degree-of-freedom fin-like leg assembly 2, and a single-degree-of-freedom spine assembly 3. The fuselage assembly 1 is a sealed compartment with structures for connecting the three-degree-of-freedom fin-like leg assembly 2 and the single-degree-of-freedom spine assembly 3. The three-degree-of-freedom fin-like leg assembly 2 is used to drive the robot to move in multi-media environments, including walking on land, roaming on ice surfaces, moving in water using a tail fin, and moving in water using a side fin.

[0047] like Figure 4 As shown, the single-degree-of-freedom spinal assembly 3 includes a spinal support plate 305 and a spinal drive unit 303. The spinal support plate 305 is rotatably mounted on the rear end of the body assembly 1 via the spinal drive unit 303. The spinal drive unit 303 drives the spinal support plate 305 and the three-degree-of-freedom fin-like leg assembly 2 on the rear side to swing up and down, completing the tail fin swinging motion.

[0048] like Figure 2As shown, there are multiple three-degree-of-freedom fin-like leg components 2, which are respectively installed on the front end of the fuselage component 1 and the rear side of the spine support plate 305. The three-degree-of-freedom fin-like leg components 2 include a thigh component 204 and a lower leg component 205. The proximal end of the thigh component 204 is rotatably connected to the front end of the fuselage 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 lower leg 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 lower leg component 205. The fin plate 206 is fixed to the lower leg assembly 205 and is used to move in water in a biomimetic propulsion mode. The fin plate 206 is different depending on the three-degree-of-freedom fin-like leg assembly 2 it is located in. The three-degree-of-freedom fin-like leg assembly 2 at the front is a side fin plate, and the three-degree-of-freedom fin-like leg assembly 2 at the rear is a tail fin plate. The cross-section of the side fin plate and the tail fin plate is plate-shaped, wing-shaped, or membrane-shaped.

[0049] Through continuous exploration and experimentation, this invention enables the robot to perform various movements by using three-degree-of-freedom fin-like leg components 2 located around its perimeter; and by using a single-degree-of-freedom spine component 3 located at the robot's waist to drive the three-degree-of-freedom fin-like leg components 2 at the rear of the robot to swing, thereby realizing the robot's three-degree-of-freedom tail fin swing function. Therefore, this invention can satisfy the robot's mobility functions in various media, including walking on land, roaming on ice surfaces, moving in water using tail fin mode, and moving in water using side fin mode. Moreover, the robot's overall power structure design is reasonable and compact, which can meet the diverse needs of polar exploration missions.

[0050] like Figure 2 , Figure 3As shown, the three-degree-of-freedom fin-like 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 via a first unit shell 208, and the second drive unit 202 is fixed to the rotating end of the first drive unit 201 via a 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 a first rotation axis and a second rotation axis, wherein the first rotation axis and the second rotation axis intersect; the third drive unit 203 is fixed to the rotating end of the second drive unit 202 via a third unit shell 210, and the thigh assembly 204 is fixed to the fixed end of the third drive unit 203 via a thigh shell 211; the lower leg assembly 205 is hinged to the thigh assembly 204 and is connected to the third drive unit 203 via a transmission mechanism 213, and the third drive unit 203 is used to drive the lower leg assembly 205 to rotate around a third rotation axis. The second and third rotation axes are parallel and perpendicular to the first rotation axis, thereby enabling the forearm assembly 205 to rotate in three degrees of freedom.

[0051] Specifically, the first driving unit 201 drives the second driving unit 202 to achieve left-right oscillation of the second driving unit 202 and its subsequent components relative to the first driving unit 201; the second driving unit 202 drives the third driving unit 203 to achieve back-and-forth oscillation of the third driving unit 203 and its subsequent components relative to the second driving unit 202; the upper end of the thigh component 204 is provided with the third driving unit 203, which drives the lower leg component 205 to achieve back-and-forth oscillation of the lower leg component 205 and its subsequent components relative to the thigh component 204; the first driving unit 201, the second driving unit 202, and the third driving unit 203 enable the three-degree-of-freedom fin-like leg component 2 to move in space, such as... Figure 1 , Figure 5 As shown, the robot can perform functions such as walking on land, roaming on ice surfaces, moving in water using its tail fin, and moving in water using its side fins.

[0052] In a preferred embodiment, a first axial structure restricting the axial movement of the first driving unit 201 and a first circumferential structure restricting the circumferential rotation of the first driving unit 201 are provided between the first unit shell 208 and the first driving unit 201; the first axial structure and the first circumferential structure are a combined structure or two separate structures. A second axial structure restricting the axial movement of the second driving unit 202 and a second circumferential structure restricting the circumferential rotation of the second driving unit 202 are provided between the second unit shell 206 and the second driving unit 202; the second axial structure and the second circumferential structure are a combined structure or two separate structures. A third axial structure restricting the axial movement of the third driving unit 203 and a third circumferential structure restricting the circumferential rotation of the third driving unit 203 are provided between the third unit shell 210 and the third driving unit 203; the third axial structure and the third circumferential structure are a combined structure or two separate structures.

[0053] The drive units of the present invention are connected in series and concentrated near the fuselage assembly, which reduces the rotational inertia of the three-degree-of-freedom fin-like leg assembly and makes it more flexible in movement.

[0054] In a preferred embodiment, a ball foot 207 is mounted at the distal end of the lower leg assembly 205. The ball foot 207 is made of rubber material, which can reduce the impact force on the robot when it walks on land.

[0055] In a preferred embodiment, the first unit shell 208, the second unit shell 209, and the third unit shell 210 are all provided with screw holes for mounting fasteners to fix 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; correspondingly, the 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 and the sealing ring friction rings contact each other through the sealing rings to achieve dynamic sealing of the drive units, so that the drive units can rotate normally in underwater environments without being damaged by water ingress.

[0056] In more preferred embodiments, the first drive unit 201, the second drive unit 202, and the third drive unit 203 are respectively a rotary motor or a motor with a reducer; 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 collinear.

[0057] In more preferred embodiments, the three-degree-of-freedom fin-like leg assembly 2 includes a first drive unit 201, a second drive unit 202, a third drive unit 203, a thigh assembly 204, a lower leg assembly 205, a fin plate 206, and a ball foot 207 connected in sequence; for the three-degree-of-freedom fin-like leg assembly 2 at the front of the fuselage, the first drive unit 201 is fixed to the fuselage assembly 1 via a first unit shell 208; the second drive unit 202 is fixed to the rotating end of the first drive unit 201 via a second unit shell 209; the third drive unit 203 is fixed to the rotating end of the second drive unit 202 via a third unit shell 210; the thigh assembly 204 is fixed to the fixed end of the third drive unit 203 via a thigh shell 211; and the lower leg assembly 205 is hinged to the thigh assembly 204 via a lower leg connector 212.

[0058] In more preferred examples, such as Figure 3 As shown, 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. The main pulley 214 and the secondary pulley 215 are driven by the synchronous belt, with a reduction ratio of 1. The main 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 lower leg assembly 205 is fixed to the secondary pulley 215 through the lower leg connector 212. The transmission mechanism 213 enables motion transmission from the third drive unit 203 to the lower leg assembly 205, while reducing the overall rotational inertia of the three-degree-of-freedom fin-shaped leg assembly 2.

[0059] In more preferred embodiments, the second drive unit 202 and the third drive unit 203 have cable interfaces 216, which are fixed to the second unit housing 209 and the third unit housing 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.

[0060] like Figure 4 As shown, the single-degree-of-freedom spinal assembly 3 further includes a spinal fixation member 301 and a spinal connector 304; the fixing part of the spinal drive unit 303 is installed at the rear end of the body assembly 1 through the spinal fixation member 301, and the rotating part of the spinal drive unit 303 is connected to the front side of the spinal support plate 305 through the spinal connector 304. The spinal drive unit 303 is used to drive the spinal support plate 305 to rotate around a fourth rotation axis, which is perpendicular to the first rotation axis. A spinal limiting block 302 is installed on the spinal fixation member 301; the spinal limiting block 302 is used to limit the rotation angle of the spinal drive unit 303 by abutting against the upper and lower sides of the spinal connector 304.

[0061] In more preferred embodiments, the single-degree-of-freedom spinal assembly 3 is fixed to the body assembly 1 by a spinal fixation member 301; the spinal drive unit 303 is fixed to the spinal fixation member 301; a spinal limiting block 302 is installed on the spinal fixation member 301 to limit the rotation angle of the drive unit; a spinal connector 304 is fixed to the rotating end of the spinal drive unit 303, and the spinal support plate 305 is fixed to the spinal connector, so that the spinal drive unit 303 drives the spinal support plate 305 to swing up and down through the spinal connector 304, thereby realizing the tail fin swinging function of the robot.

[0062] In a preferred embodiment, at least two sets of three-degree-of-freedom fin-like leg assemblies 2 are distributed on the body assembly 1, and at least one set of three-degree-of-freedom fin-like leg assemblies 2 are distributed on the spine support plate 305. Preferably, the front of the robot has two sets of the three-degree-of-freedom fin-like leg assemblies 2, fixed to the body assembly 1, with the rotation axes of the two sets of first drive units 201 arranged in parallel; the rear of the robot has two sets of the three-degree-of-freedom fin-like leg assemblies 2, fixed to the spine support plate 305, with the rotation axes of the two sets of first drive units 201 arranged in parallel.

[0063] In a preferred embodiment, the fuselage assembly 1 contains a battery, a control unit, a sensor, and a transformer.

[0064] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0065] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A multimodal robot adaptable to multi-media environments, characterized in that, It includes a fuselage assembly (1), a three-degree-of-freedom fin-like leg assembly (2), and a single-degree-of-freedom spine assembly (3). The single-degree-of-freedom spinal assembly (3) includes a spinal support plate (305) and a spinal drive unit (303). The spinal support plate (305) is rotatably mounted on the rear end of the body assembly (1) via the spinal drive unit (303) and is used to swing up and down under the drive of the spinal drive unit (303). The three-degree-of-freedom fin-like leg assembly (2) consists of multiple components, 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-like leg assembly (2) includes a thigh assembly (204) and a lower leg assembly (205). The proximal end of the thigh assembly (204) is rotatably connected to the front end of the body 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 lower leg assembly (205) is rotatably connected to the distal end of the thigh assembly (204) and has one rotational degree of freedom. Fins (206) are mounted on the lower leg assembly (205); The three-degree-of-freedom fin-like 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 body 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 driving unit (201) and the second driving 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 and the second rotation axis intersect; 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 lower leg assembly (205) is hinged to the thigh assembly (204) and is connected to the third drive unit (203) via a transmission mechanism (213). The third drive unit (203) is used to drive the lower leg assembly (205) to rotate around a third rotation axis. 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. The main pulley (214) and the secondary pulley (215) are driven by the synchronous belt. The main pulley (214) is fixed to the rotating end of the third drive unit (203), the auxiliary pulley (215) is hinged to the far end of the thigh shell (211), and the calf assembly (205) is fixed to the auxiliary pulley (215) through the calf connector (212).

2. The multimodal robot adaptable to multiple media environments according to claim 1, characterized in that, The second rotation axis is parallel to the third rotation axis, and both are perpendicular to the first rotation axis.

3. The multimodal robot adaptable to multi-media environments according to claim 1, characterized in that, Both the second drive unit (202) and the third drive unit (203) are provided with cable interfaces (216); The cable interface (216) is fixed on the second unit shell (209) and the third unit shell (210) to extend the control cables of the second drive unit (202) and the third drive unit (203) outward.

4. The multimodal robot adaptable to multi-media environments according to claim 1, characterized in that, The single-degree-of-freedom spinal assembly (3) also includes a spinal fixation member (301) and a spinal connector (304). The fixed part of the spinal drive unit (303) is installed at the rear end of the body assembly (1) through the spinal fixation member (301), and the rotating part of the spinal drive unit (303) is connected to the front side of the spinal support plate (305) through the spinal connector (304).

5. The multimodal robot adaptable to multi-media environments according to claim 4, characterized in that, A spinal limiting block (302) is installed on the spinal fixation device (301); The spinal limiting block (302) is used to limit the rotation angle of the spinal drive unit (303) by abutting against the upper and lower sides of the spinal connector (304).

6. The multimodal robot adaptable to multiple media environments according to claim 1, characterized in that, At least two sets of three-degree-of-freedom fin-like leg assemblies (2) are mounted on the front end of the fuselage assembly (1), and the rotation axes of the first drive unit (201) of the two three-degree-of-freedom fin-like leg assemblies (2) are configured to be parallel.

7. The multimodal robot adaptable to multi-media environments according to claim 1, characterized in that, At least one set of three-degree-of-freedom fin-like leg assemblies (2) are mounted on the rear side of the spinal support plate (305), and the rotation axes of the first drive units (201) of the two three-degree-of-freedom fin-like leg assemblies (2) are configured to be parallel.

8. The multimodal robot adaptable to multiple media environments according to claim 1, characterized in that, The spinal drive unit (303) is used to drive the spinal support plate (305) to rotate around a fourth rotation axis, which is perpendicular to the first rotation axis.

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