Amphibious robot with bouncing function

Abstract

The invention provides an amphibious robot with a bouncing function, and relates to the technical field of robots, the amphibious robot comprises a robot body, walking wheels, a transmission mechanism and a bouncing mechanism; the walking wheel comprises a tensioning spherical frame structure, a first paddle, a second paddle and a supporting assembly, the first paddle and the second paddle are located on the two sides of the tensioning spherical frame structure, the supporting assembly is vertically arranged and can stretch out and draw back in the direction of the center connecting line, and the supporting assembly is connected with the first paddle and the second paddle. The transmission mechanism is connected with the supporting assembly and the robot body through a rotating shaft. The bouncing mechanism is matched with the take-up device through a pull rope to control compression and bouncing of the frame and convert the compression and bouncing into bouncing kinetic energy. According to the robot disclosed by the invention, the tensioning spherical frame structure and the paddles are arranged, so that the lightweight and elastic characteristics are provided, the walking stability is ensured, and jumping is realized. The robot is compact in overall structure, integrates walking and bouncing functions, can adapt to amphibious environments, and further has high obstacle crossing capacity.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to an amphibious robot with a jumping function. Background Art

[0002] With the rapid development of robotics, both land and water robots have been widely used in fields such as environmental exploration, target positioning, and disaster relief. However, due to the specific nature of their operating environments, most robots are limited to operating in a single environment. Land robots typically rely on wheels or tracks, making them suitable for both flat and rugged terrain but unable to effectively maneuver in water. Water robots, on the other hand, rely on floats or propellers for propulsion, making them difficult to adapt to complex land terrain.

[0003] Furthermore, wheeled or tracked robots are widely adopted due to their simple structure and high motion efficiency, but their ability to traverse obstacles is severely limited. They struggle to scale obstacles several times their height, such as collapsed building debris or large rocks. While legged robots (such as multi-legged crawling robots) offer greater terrain adaptability, their reliance on complex multi-degree-of-freedom drive mechanisms and precision control systems results in high manufacturing costs, high energy consumption, and reduced reliability, limiting their practicality in extreme environments. Furthermore, the motion capabilities of miniaturized robots are more susceptible to terrain size effects, further limiting their operational range in narrow or high-drop environments.

[0004] Jumping is a highly efficient way to traverse obstacles, helping robots overcome size limitations and quickly navigate complex terrain. However, traditional jumping mechanisms often rely on springs, pneumatics, or electromagnetic actuators, resulting in low energy efficiency, poor controllability, and bulky structures. This makes it difficult to achieve a balance between lightweight design, high explosive power, and stable movement.

[0005] Application Contents

[0006] In view of this, the present application proposes an amphibious robot with a bouncing function, which simplifies the mechanical structure while achieving efficient and controllable bouncing motion, so that it can adapt to amphibious scenarios.

[0007] The technical solution of this application is achieved as follows:

[0008] The present application provides an amphibious robot with a jumping function, comprising:

[0009] Robot body;

[0010] Two walking wheels are symmetrically arranged, one on each side of the robot body, and the other includes a tensioned spherical frame structure, a first paddle, a second paddle, and a support assembly. The first paddle and the second paddle are respectively fixed to the radial sides of the tensioned spherical frame structure. The support assembly is vertically arranged at the center of the tensioned spherical frame structure, and its two ends are respectively fixedly connected to the first paddle and the second blade. The support assembly can be extended and retracted along the direction of the line connecting the centers of the first paddle and the second blade.

[0011] The transmission mechanism includes a first rotating device and a rotating shaft, one end of the rotating shaft is vertically fixedly connected to the center of the support assembly, and the other end is connected to the first rotating device provided in the robot body;

[0012] The bouncing mechanism includes a pull rope and a take-up device. The rotating shaft and the support assembly are provided with a channel for the pull rope to pass through. One end of the pull rope passes through the channel and is fixedly connected to the first blade and the second blade respectively. The other end of the pull rope is connected to the take-up device arranged inside the robot body. The take-up device shortens the distance between the first blade and the second blade by winding up the pull rope, so that the tensioned spherical frame structure is compressed to accumulate elastic potential energy, and the jumping of the walking wheel is realized after the elastic potential energy is released.

[0013] On the basis of the above technical solution, preferably, the wire take-up device includes a wire winding drum, a cable, a second rotating device, an electromagnetic clutch and an anti-kink connector;

[0014] The second rotating device is fixed in the robot body;

[0015] There are two winding drums symmetrically arranged, each connected to the second rotating device through an electromagnetic clutch;

[0016] A cable with one end wound around a reel and the other end connected to a drawstring via a kink-resistant connector;

[0017] When the electromagnetic clutch is engaged, the second rotating device drives the two winding drums to rotate synchronously to reel in the cable. When the electromagnetic clutch is disconnected, the winding drums release the cable freely.

[0018] On the basis of the above technical solution, preferably, the second rotating device includes a reduction motor, a main gear, a slave gear and a transmission shaft. The reduction motor is fixedly arranged in the robot body, and the two ends of the transmission shaft are respectively connected to the winding disk through an electromagnetic clutch. The slave gear is fixed on the transmission shaft, and the output shaft of the reduction motor is meshed with the main gear and the slave gear.

[0019] On the basis of the above technical solution, preferably, the anti-kink connector includes a mounting sleeve and a rotating part arranged in the mounting sleeve, one end of the mounting sleeve is fixedly connected to the pull rope, and the end of the cable away from the winding reel is movably inserted into the mounting sleeve and fixedly connected to the rotating part, and the rotating part can rotate around the cable axis in the mounting sleeve.

[0020] On the basis of the above technical solution, preferably, the walking wheel also includes a first elastic member and a second elastic member, the first elastic member and the second elastic member are both mounted on the support assembly, the first elastic member is located between the rotating shaft and the first blade, and the second elastic member is located between the rotating shaft and the second blade.

[0021] On the basis of the above technical solution, preferably, the support assembly includes a first telescopic rod, a second telescopic rod and a connecting piece arranged coaxially;

[0022] The first telescopic rod and the second telescopic rod are symmetrically arranged on both sides of the connecting member, and the end of the first telescopic rod away from the connecting member is connected to the first blade.

[0023] One end of the second telescopic rod away from the connecting member is fixedly connected to the second blade, and the rotating shaft is fixedly connected to the connecting member;

[0024] The first elastic member is sleeved on the first telescopic rod, and its two ends respectively abut against the first blade and the connecting member;

[0025] The second elastic member is sleeved on the second telescopic rod, and two ends of the second elastic member are respectively in contact with the second blade and the connecting member.

[0026] On the basis of the above technical solution, preferably, the tensioned spherical frame structure includes:

[0027] Twelve spatially symmetrically distributed connection nodes are divided into three upper nodes, three lower nodes and six middle nodes. The first blade is fixedly connected to the three upper nodes, and the second blade is fixedly connected to the three lower nodes.

[0028] Six rigid rods of equal length, including three upper rigid rods connecting the upper nodes and the middle nodes, and three lower rigid rods connecting the lower nodes and the middle nodes. The six rigid rods are parallel to each other, and the planes of the three groups of rigid rods are perpendicular to each other;

[0029] Twenty-four flexible members are of equal length, and each connection node is connected to four flexible members. The flexible members, rigid rods and connection nodes form an icosahedral frame.

[0030] On the basis of the above technical solution, preferably, it also includes an upper fixing member and a lower fixing member, the upper fixing member is located at the center of the three upper nodes, and the upper fixing member is fixedly connected to the three upper nodes through three upper connecting rods distributed at equal angles in the horizontal direction, and the lower fixing member is located at the center of the three lower nodes, and the lower fixing member is fixedly connected to the three lower nodes through three lower connecting rods distributed at equal angles in the horizontal direction, the first blade is fixedly arranged on the outside of the upper fixing member, the second blade is fixedly arranged on the outside of the lower fixing member, and the two ends of the support assembly are fixedly connected to the upper fixing member and the lower fixing member respectively.

[0031] On the basis of the above technical solution, preferably, the tensioned spherical frame structure also includes an elastic net, which covers eighteen triangular faces of the twenty triangular faces formed by flexible parts and rigid rods in the icosahedral frame, wherein the two uncovered triangular faces are respectively composed of three upper nodes and three lower nodes.

[0032] On the basis of the above technical solution, preferably, an auxiliary wheel is provided at the tail of the robot body, and the rotation direction of the auxiliary wheel is consistent with the rotation direction of the walking wheel.

[0033] Compared with the prior art, this application has the following beneficial effects:

[0034] (1) The robot disclosed in this application uses a tensioned spherical frame structure as a walking wheel, combined with a retractable support component and a bouncing mechanism, to achieve efficient movement and obstacle-crossing capabilities in complex terrain. The specific technical effects are as follows: 1) The tensioned spherical frame structure has lightweight, isotropic elastic properties, which can not only ensure walking stability, but also achieve bouncing through compression energy storage; 2) The support component not only provides axial support to ensure driving stability, but also can adaptively retract and adjust to match the deformation of the frame; 3) The bouncing mechanism accurately controls the compression energy storage and release process of the tensioned frame by pulling the rope, converting elastic potential energy into jumping kinetic energy; 4) The overall structure is compact, integrating walking and bouncing functions into one, significantly improving the robot's maneuverability in complex environments such as ruins and rugged terrain, and is suitable for application scenarios that require strong obstacle-crossing capabilities; 5) By using a tensioned spherical frame structure and blades to form the wheel body, the walking wheel can not only adapt to land driving, but also provide effective propulsion on the water surface, realizing the application of the robot in different amphibious scenarios.

[0035] (2) This application achieves independent retraction and synchronous control of the cables on both sides through the combination of symmetrical dual winding drums and independent electromagnetic clutches, ensuring balanced force when the two running wheels compress the frame structure synchronously, thus avoiding deviation in the jumping direction. At the same time, the anti-kink connector is used to cut off the torsion transmission path, fundamentally eliminating the problem of cable knotting caused by accumulated stress due to rotation.

[0036] (3) By combining a single reduction motor with gear transmission and electromagnetic clutch, only one power source is needed to achieve the synchronous movement of the winding discs on both sides, realizing a compact layout of the bouncing mechanism and solving the control complexity problem caused by multiple power sources in the traditional solution. At the same time, the torque output stability is improved through gear transmission. The introduction of the electromagnetic clutch makes the winding disc retractable and retractable state switching faster, ensuring the precise control of the release timing of the elastic potential energy, thereby improving the reliability and coordination of the robot's jumping action.

[0037] (4) By configuring the first elastic member and the second elastic member, when the take-up device reels the drawstring, the upper fixing member and the lower fixing member are pulled closer to each other by tension, at which point the first elastic member and the second elastic member are compressed and store elastic potential energy. During the release phase of the elastic potential energy, the first elastic member and the second elastic member push the upper fixing member and the lower fixing member to move in opposite directions through elastic restoring force, prompting the tensioned spherical frame structure to quickly return to its original state, thereby improving the efficiency of converting elastic potential energy into jumping kinetic energy and enhancing the instantaneous explosive force of the traveling wheel's bounce.

[0038] (5) Through the symmetrical arrangement of the two telescopic rods and the rigid constraints of the connecting parts, the direction of elastic potential energy release is completely aligned with the axis of the telescopic rods, while the load distribution of the supporting structure is dispersed, improving energy conversion efficiency. The symmetrical support structure allows the elastic potential energy to be released stably along the axial direction, improving the reliability of the jumping action and the fatigue resistance of the mechanical structure. It is suitable for complex terrain movement scenarios that require frequent jumping.

[0039] (6) By arranging blades on both sides of the tensioned spherical frame structure in the radial direction, the tensioned spherical frame structure is rotated on the water surface, so that the rotational force is transmitted to the two blades, and then the two blades slide in the water, effectively providing propulsion on the water surface, so that the robot is suitable for amphibious mode.

[0040] (7) By setting the support part, a certain ground-contacting structure is extended from each vertex of the entire spherical frame structure as a support part. During the movement of the wheel body, the support part contacts the ground to provide supporting force, so that there is a certain gap between the connection node and the ground in the vertical direction, avoiding contact friction between the flexible part and the ground, and improving the service life of the flexible part. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 This is a schematic diagram of the three-dimensional structure of the amphibious robot with jumping function disclosed in this application;

[0043] Figure 2 A schematic diagram of the three-dimensional structure of the bouncing mechanism disclosed in this application;

[0044] Figure 3 This is a schematic diagram of the planar structure of the amphibious robot with jumping function disclosed in this application;

[0045] Figure 4 for Figure 3Plane section view at AA in the middle;

[0046] Figure 5 for Figure 2 A partial enlarged view of point B in the middle;

[0047] Figure 6 This is a schematic diagram of the three-dimensional structure of the traveling wheel disclosed in this application;

[0048] Figure 7 This is a schematic diagram of the three-dimensional structure of the tensioned spherical frame structure disclosed in this application; Figure 8 A structural mode of the tensioned spherical frame structure disclosed in this application;

[0049] Reference numerals:

[0050] 1. Robot body; 11. Auxiliary wheels; 2. Travel wheels; 21. Tensile spherical frame structure; 22. Upper fixing member; 23. Lower fixing member; 24. Support assembly; 241. First telescopic rod; 242. Second telescopic rod; 243. Connecting member; 25. First paddle; 26. Second paddle; 211. Connecting node; 211a. Upper node; 211b. Lower node; 211c. Middle node; 221. Upper connecting rod; 231. Lower connecting rod; 212. Rigid rod; 212a. Upper rigid rod; 212b. Lower rigid rod; 213. Flexible member; 214. Elastic net; 2110. Support part; M. Arc-shaped contact surface; 27. First elastic member; 28. Second elastic member; 3. Transmission mechanism; 31. First rotating device; 32. Rotating shaft; 4. Bouncing mechanism; 41. Pull rope; 42. Take-up device; Q. Channel; 421. Winding reel; 422. Cable; 423. Second rotating device; 424. Electromagnetic clutch; 425. Anti-kink connector; 4231. Reducer motor; 4232. Main gear; 4233. Slave gear; 4234. Transmission shaft; 4251. Mounting sleeve; 4252. Rotating member. DETAILED DESCRIPTION

[0051] The following will be combined with the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] like Figure 1 As shown, combined Figure 2-5 The embodiment of the present application discloses an amphibious robot with a bouncing function, including a robot body 1, walking wheels 2, a transmission mechanism 3 and a bouncing mechanism 4.

[0053] Among them, the robot body 1 serves as the carrier platform of the entire robot and is composed of a closed shell, which is used to carry other physical structures, including power supply, drive, control system and sensors, to ensure that the robot can work efficiently in complex environments.

[0054] The walking wheels 2 are important components for the robot to move. Two of them are symmetrically arranged, one on each side of the robot body 1 . The walking wheels 2 include a tensioned spherical frame structure 21 , a first paddle 25 , a second paddle 26 and a support assembly 24 .

[0055] The tensile spherical frame structure 21 is a three-dimensional hollow spherical structure that effectively reduces the weight of the running wheels 2, achieving an overall weight reduction and improving the robot's endurance. The tensile spherical frame structure 21 possesses both rigidity and elasticity, isotropic in three dimensions, and exhibits 360° symmetry. Regardless of the direction of external forces acting on it, deformation and force distribution are uniform.

[0056] Compared with traditional planar or semi-enclosed wheeled structures, the tensioned spherical frame structure 21 has a higher energy absorption capacity in extreme situations such as falling, collision, and rolling. After being impacted, it can buffer external forces through overall deformation and then return to its original state, ensuring the structural integrity of the tensioned spherical frame structure 21.

[0057] Since the tensioned spherical frame structure 21 is a three-dimensional hollow structure with no rigid support points inside, it can roll arbitrarily on the ground. However, for the robot to travel, the tensioned spherical frame structure 21 needs to roll around its fixed radial direction. For this reason, the present embodiment fixes the first paddle 25 and the second paddle 26 on both sides of the radial direction of the tensioned spherical frame structure 21. As a result, the first paddle 25 and the second paddle 26 serve as rigid fulcrums on the entire surface of the tensioned spherical frame. At the same time, the present embodiment also vertically arranges a support assembly 24 at the center of the tensioned spherical frame structure 21, and the two ends of the support assembly 24 are fixedly connected to the upper fixing member 22 and the lower fixing member 23, respectively.

[0058] The support assembly 24 serves as the axial support of the tensioned spherical frame structure 21, enabling the entire tensioned spherical frame structure 21 to travel stably around the circumferential direction formed by the support assembly 24, avoiding shaking or loss of control due to structural instability, thereby effectively improving the stability and controllability of the robot.

[0059] Since the tensioned spherical frame structure 21 has the characteristic of compressive deformation, the support component 24 is set to be able to expand and contract along the center line connecting the first blade 25 and the second blade 26, ensuring that the support component 24 can adaptively expand and contract when the tensioned spherical frame structure 21 undergoes elastic deformation to maintain structural stability.

[0060] In order to enable the walking wheel 2 to rotate in the circumferential direction formed by the support assembly 24, this embodiment provides a transmission mechanism 3 consisting of a first rotating device 31 and a rotating shaft 32. The first rotating device 31 is arranged inside the robot body 1, and one end of the rotating shaft 32 is vertically fixedly connected to the center of the support assembly 24, and the other end is connected to the first rotating device 31.

[0061] The first rotating device 31 provides a rotational torque, which is then transmitted to the support assembly 24 via the rotating shaft 32. The support assembly 24 then drives the entire running wheel 2 to rotate about the rotating shaft 32. In this embodiment, the structural coordination of the first blade 25, the support assembly 24, and the second blade 26 not only provides central axial support for the tensile spherical frame structure 21, but also serves as a medium for the rotating shaft 32 to apply rotational power to the tensile spherical frame.

[0062] In this embodiment, the first rotating device 31 can drive the rotating shaft 32 to rotate by using a motor plus gears, or by using a motor plus pulleys.

[0063] Although the tensioned spherical frame structure 21 has the ability to self-rebound upon impact and can be used on uneven terrains such as sand, gravel, and rugged surfaces, its ability to cross obstacles is severely limited, and it is difficult to climb over obstacles that are several times its own height, such as collapsed building debris or large rocks.

[0064] To this end, this embodiment provides a bouncing mechanism 4 on the robot to enable the robot to have a bouncing function so as to cross obstacles. The bouncing mechanism 4 of this embodiment includes a pull rope 41 and a wire-reeling device 42.

[0065] Among them, the rotating shaft 32 and the support assembly 24 are provided with a channel Q for the pull rope 41 to pass through. Specifically, the rotating shaft 32 and the support assembly 24 are hollow inside to form the channel Q. The rotating shaft 32 and the channel Q in the support assembly 24 are interconnected, so that it is convenient for the pull rope 41 to pass through the rotating shaft 32 and the channel Q in the support assembly 24 in turn.

[0066] One end of the pull rope 41 passes through the channel Q and is fixedly connected to the upper fixing member 22 and the lower fixing member 23 respectively. It is worth noting that two pull ropes 41 can be set in the above-mentioned channel Q, and one end of the two pull ropes 41 is fixedly connected to the first blade 25 and the second blade 26 respectively to ensure that the pulling force between the pull ropes 41 will not affect each other. The other end of the pull rope 41 is connected to the wire-winding device 42 arranged inside the robot body 1, and the wire-winding device 42 can wind up and release the pull rope 41.

[0067] The wire-reeling device 42 shortens the distance between the first blade 25 and the second blade 26 by winding the pull rope 41, so that the tensioned spherical frame structure 21 is compressed and accumulates elastic potential energy, and the traveling wheel 2 jumps after releasing the elastic potential energy.

[0068] With the above technical solution, when the robot needs to cross an obstacle, the pull rope 41 is tightened by the take-up device 42, and the pull rope 41 pulls the first blade 25 and the second blade 26, so that the first blade 25 and the second blade 26 are brought closer to each other. As the distance between the first blade 25 and the second blade 26 is shortened, the tensioned spherical frame contracts radially. At the same time, the support assembly 24 is also compressed in the axial direction. Under the action of the tensioning force, the tensioned spherical frame structure 21 is compressed in the direction of the support assembly 24 and completes the accumulation of elastic potential energy. When the elastic potential energy is accumulated, when the pull rope 41 is released by the take-up device 42, the tensioned spherical frame structure 21 can quickly restore its original structure in the axial direction of the support assembly 24 due to its own super elastic rebound ability, thereby generating a reaction force, and converting the stored elastic potential energy into vertical jumping kinetic energy.

[0069] In this embodiment, the rotating shaft 32 can adjust the angle of the support assembly 24 under the control of the first rotating device 31, and achieve directional jumping in coordination with the synchronous movement of the walking wheels 2 on both sides.

[0070] In addition, during the bouncing energy storage stage, the rigid connection between the first blade 25 and the second blade 26 forms an annular constraint, which limits the lateral deformation of the tensioned spherical frame structure 21 during the compression process, allowing the elastic potential energy to accumulate evenly in the vertical direction. When the elastic potential energy is released, the symmetrical structures of the two blades form inclined contact surfaces with the ground at the moment of contact, guiding the impact force to be dispersed in the horizontal direction through the arc-shaped contour of the blade edge. At the same time, the perpendicular relationship between the blade plane and the frame deformation plane is utilized to convert part of the impact energy into frame rebound power. During the jumping and taking-off stage, the planar structure of the blade forms an aerodynamic surface, which indirectly controls the flight posture by adjusting the position of the robot's center of gravity.

[0071] In addition, by setting the first paddle 25 and the second paddle 26, the robot can be adapted to the water surface. Specifically, when traveling on the water surface, the spherical frame structure 21 is tensioned and rotated on the water surface, so that the rotational force is transmitted to the two paddles, and then the two paddles slide in the water, effectively providing propulsion on the water surface.

[0072] In order to enable the robot to adapt to the amphibious mode, the robot body 1 is configured as a shell structure with a certain buoyancy, so that when used on the water surface, the robot body 1 can float on the water surface and be propelled on the water surface by the walking wheels 2.

[0073] The robot disclosed in this application utilizes a tensioned spherical frame structure 21 as its running wheels 2, combined with a retractable support assembly 24 and a bouncing mechanism 4, to achieve efficient movement and obstacle-crossing capabilities in complex terrain. The specific technical effects are as follows: 1) The tensioned spherical frame structure 21 has lightweight, isotropic elastic properties, ensuring both walking stability and bouncing through compression energy storage; 2) The support assembly 24 provides axial support to ensure driving stability and can adaptively retract and expand to accommodate frame deformation; 3) The bouncing mechanism 4 precisely controls the compression energy storage and release process of the tensioned frame by retracting and releasing the pull rope 41, converting elastic potential energy into jumping kinetic energy; 4) The overall structure is compact, integrating walking and bouncing functions, significantly improving the robot's maneuverability in complex environments such as ruins and rugged terrain, making it suitable for applications requiring strong obstacle-crossing capabilities; 5) By utilizing a tensioned spherical frame structure and paddles to form the wheel body, the running wheels are not only suitable for land travel but also provide effective propulsion on water, enabling the robot to be used in various amphibious scenarios.

[0074] In order to realize the function of retracting and releasing the pull rope 41, this embodiment shows a structural mode of the retracting device 42. Figure 2-5 As shown, the wire take-up device 42 includes a wire reel 421 , a cable 422 , a second rotating device 423 , an electromagnetic clutch 424 and an anti-kink connector 425 .

[0075] The second rotating device 423 is fixed in the robot body 1 and is used to provide rotational force.

[0076] Two symmetrical winding reels 421 are connected to the second rotating device 423 via electromagnetic clutches 424. Winding reels 421 are disc-shaped structures used to wind cables 422. Specifically, they can be implemented as metal discs with spiral grooves, with a diameter of 50-100 mm. These grooves guide the cables 422 into an orderly arrangement. Electromagnetic clutch 424 is a device that controls power transmission through electromagnetic force. Specifically, it can be implemented as a friction plate clutch. When the coil is energized, magnetic attraction is generated, coupling the active and driven discs. Upon de-energization, a spring returns the discs to separate them.

[0077] Specifically, the torque output by the second rotating device 423 is transmitted to the two winding drums 421 through the electromagnetic clutch 424. When the electromagnetic clutch 424 is in the engaged state, the two winding drums 421 reel the cables 422 at the same angular velocity, ensuring that the reeling lengths of the cables 422 on both sides are strictly consistent, thereby avoiding deformation of the tensioned spherical frame structure 21 due to excessive unilateral tension.

[0078] The cable 422 has one end wound around the winding drum 421 and the other end connected to the drawstring 41 via an anti-kink connector 425. The cable 422 and the drawstring 41 are connected to each other in an axially rotatable manner via the anti-kink connector 425. During normal travel of the running wheel 2, since one end of the drawstring 41 is fixedly connected to the first blade 25 and the second blade 26, the drawstring 41 rotates as the running wheel 2 rotates. The other end of the drawstring 41 is connected to the cable 422 via the anti-kink connector 425, which prevents the cable 422 from becoming entangled and knotted due to the twisting, thereby maintaining the straight traction state of the cable 422 and the drawstring 41.

[0079] This application utilizes a combination of symmetrical dual winding drums 421 and independent electromagnetic clutches 424 to achieve independent and synchronized retraction and release of cables 422 on both sides, ensuring balanced force when the two wheels 2 simultaneously compress the frame structure, thus preventing deviations in jumping directions. Furthermore, an anti-kink connector 425 cuts off the torsion transmission path, fundamentally eliminating the problem of cables 422 becoming tangled due to accumulated rotational stress.

[0080] As some embodiments, the second rotating device 423 of this embodiment includes a reduction motor 4231, a main gear 4232, a slave gear 4233 and a transmission shaft 4234. The reduction motor 4231 is fixedly arranged in the robot body 1, and the two ends of the transmission shaft 4234 are respectively connected to the winding disk 421 through an electromagnetic clutch 424. The slave gear 4233 is fixedly arranged on the transmission shaft 4234, and the output shaft of the reduction motor 4231 is meshed and connected with the main gear 4232 and the slave gear 4233.

[0081] Among them, the reduction motor 4231 is a driving device that converts electrical energy into mechanical rotational motion. Specifically, it can be implemented by a DC motor with a reduction box, and the output torque and speed are controlled by adjusting the gear reduction ratio. The main gear 4232 refers to a transmission gear connected to the output shaft of the reduction motor 4231. Specifically, it can be implemented by a helical cylindrical gear. Its number of teeth forms a preset speed ratio with the slave gear 4233 to achieve power transmission. The slave gear 4233 refers to a driven gear that is meshed with the main gear 4232 and fixed on the transmission shaft 4234. Specifically, it can be implemented by a steel gear with the same module as the main gear 4232, and is fixed to the transmission shaft 4234 by a key connection. The transmission shaft 4234 refers to a rigid rod that transmits rotational power. Specifically, it can be implemented by a hollow steel pipe structure, and both ends are supported by bearings in the robot body 1 to reduce friction loss. The electromagnetic clutch 424 refers to a clutch device that controls power transmission through electromagnetic force. Specifically, it can be implemented using a dry single-plate electromagnetic clutch 424. When power is on, the winding disk 421 and the transmission shaft 4234 rotate synchronously. When power is off, the winding disk 421 can rotate freely.

[0082] Specifically, the reduction motor 4231 is fixedly mounted within the robot body 1. Its output shaft meshes with a slave gear 4233 on the transmission shaft 4234 via a master gear 4232. When the reduction motor 4231 is activated, the master gear 4232 drives the slave gear 4233 to rotate, which in turn drives the transmission shaft 4234 to rotate synchronously. The ends of the transmission shaft 4234 are connected to the two winding reels 421 via electromagnetic clutches 424. When the electromagnetic clutches 424 are energized and engaged, the rotational force of the transmission shaft 4234 is transmitted to the winding reels 421, causing both reels 421 to synchronously reel in the cable 422. When the electromagnetic clutches 424 are de-energized and disengaged, the reels 421 are disconnected from the transmission shaft 4234, allowing the cable 422 to be freely released. The meshing structure of the master gear 4232 and the slave gear 4233, through the reduction ratio adjustment, converts the motor's high-speed, low-torque output into a low-speed, high-torque output, thereby meeting the required tension for reeling the cable 422. The transmission shaft 4234 maintains rigid support during the gear transmission process to avoid power loss caused by deformation due to torque transmission.

[0083] This application utilizes a single reduction motor 4231 combined with a gear transmission and electromagnetic clutch 424, achieving synchronized movement of the two winding reels 421 with a single power source. This achieves a compact layout for the bouncing mechanism 4, resolves the control complexity associated with multiple power sources in conventional solutions, and simultaneously improves torque output stability through the gear transmission. The introduction of the electromagnetic clutch 424 allows for faster switching between the retracted and extended states of the winding reel 421, ensuring precise control of the release timing of the elastic potential energy, thereby improving the reliability and coordination of the robot's jumping motion.

[0084] As some embodiments, the anti-kink connector 425 includes a mounting sleeve 4251 and a rotating member 4252 arranged in the mounting sleeve 4251, one end of the mounting sleeve 4251 is fixedly connected to the pull rope 41, and the end of the cable 422 away from the winding reel 421 is movably inserted into the mounting sleeve 4251 and fixedly connected to the rotating member 4252, and the rotating member 4252 can rotate around the axis of the cable 422 in the mounting sleeve 4251.

[0085] Mounting sleeve 4251 is an annular housing structure surrounding rotating member 4252. It is fixedly connected to cable 41 to form a radial constraint and can be made of aluminum alloy. Rotating member 4252 is a rotating component mounted within mounting sleeve 4251, such as a sphere, miniature ball bearing, or rotating sleeve. In this embodiment, rotating member 4252 is a sphere that rotates within mounting sleeve 4251 about the axis of cable 422.

[0086] During the bouncing process, although the tensioned spherical frame structure 21 can complete the accumulation of elastic potential energy after compression deformation and can adaptively rebound when the elastic potential energy is released, there is a situation where the instantaneous bouncing explosive force is insufficient.

[0087] To this end, this embodiment adopts the following technical solution. Specifically, the walking wheel 2 also includes a first elastic member 27 and a second elastic member 28. The first elastic member 27 and the second elastic member 28 are both mounted on the support assembly 24. The first elastic member 27 is located between the rotating shaft 32 and the first blade 25, and the second elastic member 28 is located between the rotating shaft 32 and the second blade 26.

[0088] The first elastic member 27 and the second elastic member 28 can be implemented by a coil spring, a butterfly spring or a rubber sleeve, and are used to accumulate elastic potential energy when the support assembly 24 is under pressure. When the take-up device 42 reels the pull rope 41, the first blade 25 and the second blade 26 are pulled closer to each other, at which time the first elastic member 27 and the second elastic member 28 are compressed and store elastic potential energy. During the elastic potential energy release stage, the first elastic member 27 and the second elastic member 28 push the first blade 25 and the second blade 26 to move in opposite directions through the elastic restoring force, prompting the tensioned spherical frame structure 21 to quickly return to its original state, thereby improving the efficiency of converting elastic potential energy into jumping kinetic energy and increasing the instantaneous explosive force of the running wheel bouncing.

[0089] Through the symmetrically distributed elastic member structure, the movement paths of the first blade 25 and the second blade 26 are synchronously constrained, thereby avoiding deformation of the tensioned spherical frame structure 21 caused by unilateral stress concentration.

[0090] In some embodiments, the support assembly 24 includes a first telescopic rod 241 , a second telescopic rod 242 , and a connecting member 243 that are coaxially arranged.

[0091] The first telescopic rod 241 and the second telescopic rod 242 are symmetrically arranged on both sides of the connecting member 243. The end of the first telescopic rod 241 away from the connecting member 243 is connected to the first paddle 25, and the end of the second telescopic rod 242 away from the connecting member 243 is fixedly connected to the second paddle 26. The rotating shaft 32 is fixedly connected to the connecting member 243; the first elastic member 27 is sleeved on the first telescopic rod 241, and its two ends respectively abut against the first paddle 25 and the connecting member 243; the second elastic member 28 is sleeved on the second telescopic rod 242, and its two ends respectively abut against the second paddle 26 and the connecting member 243.

[0092] The first telescopic rod 241 and the second telescopic rod 242 are rigid rod-like structures that can be extended and retracted axially. Specifically, they can be implemented as telescopic hydraulic rods or pneumatic rods. They are used to transmit the axial force between the connector 243 and the two blades. Connector 243 is a rigid component that connects the two telescopic rods. Specifically, it can be implemented as a metal plate or a three-way bracket. It is used to maintain the coaxial symmetry of the two telescopic rods.

[0093] When the take-up device 42 shortens the distance between the first blade 25 and the second blade 26 by the pull rope 41, the first elastic member 27 and the second elastic member 28 are respectively compressed and stored on the corresponding telescopic rod. At this time, the connecting member 243 acts as a conjugate node of the double telescopic rod, so that the compression movement of the first blade 25 and the second blade 26 remains linear and neutral, avoiding the skew deformation of the tensioned spherical frame structure 21. During the release of elastic potential energy, the restoring force of the elastic member pushes the telescopic rod to reset, driving the first blade 25 and the second blade 26 to move in the opposite direction, and driving the walking wheel 2 to complete the jumping action. Through the symmetrical arrangement of the double telescopic rods and the double elastic members, the torque applied by the rotating shaft 32 is evenly distributed to the telescopic rods on both sides, avoiding the stress concentration problem caused by the unilateral support structure.

[0094] This solution, through the symmetrical arrangement of the two telescopic rods and the rigid constraint of connector 243, ensures that the direction of elastic potential energy release completely coincides with the axis of the telescopic rods, simultaneously distributing the load distribution of the support structure and improving energy conversion efficiency. This symmetrical support structure allows for stable axial release of elastic potential energy, enhancing the reliability of jumping movements and the fatigue resistance of the mechanical structure. It is suitable for complex terrain scenarios requiring frequent jumping.

[0095] It is worth noting that compared with the traditional wheel structure, since the walking wheel 2 of this embodiment is a tensioned spherical frame structure 21, which is a three-dimensional hollow structure, the overall structure is relatively light, and when rotating in the water, the resistance is small. The paddle blades slide through the water, so that the robot can effectively travel on the water surface, which solves the problem that the traditional wheel structure cannot provide propulsion on the water surface, and enables the robot to meet the requirements of driving on land and water, thereby improving the overall adaptability and maneuverability of the robot in complex environments.

[0096] It should be noted that the robots of this embodiment can realize amphibious mode and can realize forward, backward and turning. For example, if the rotation speed and direction of the walking wheels 2 of the two robots are consistent, the forward or backward movement can be controlled. When the rotation directions of the walking wheels 2 of the two robots are consistent but the rotation speeds are inconsistent, the turning can be controlled.

[0097] Refer to the attached Figure 6 and 7 As shown, this embodiment shows a preferred structural mode of the tensioned spherical frame structure 21.

[0098] The tensile spherical frame structure 21 includes twelve spatially symmetrically distributed connection nodes 211 , six rigid rods 212 and twenty-four flexible members 213 .

[0099] The twelve spatially symmetrically distributed connection nodes 211 are divided into three upper nodes 211a, three lower nodes 211b and six middle nodes 211c, and the upper fixing member 22 is located at the center of the three upper nodes 211a.

[0100] The twelve-node symmetrical distribution conforms to the vertex topology of the regular icosahedron (a regular icosahedron has 12 vertices), ensuring the isotropy of the frame and uniform distribution of force.

[0101] The six rigid rods 212 include three upper rigid rods 212a and three lower rigid rods 212b. One end of the three upper rigid rods 212a is connected to the three upper nodes 211a, and the other ends of the three upper rigid rods 212a are connected to the three middle nodes 211c. One end of the three lower rigid rods 212b is connected to the three lower nodes 211b, and the other ends of the three lower rigid rods 212b are connected to the remaining three middle nodes 211c. In this embodiment, the three upper rigid rods 212a, the three lower rigid rods 212b, and the six middle nodes 211c are connected in an alternating manner. That is, one middle node 211c is connected to an upper rigid rod 212a, and its adjacent middle node 211c is connected to a lower rigid rod 212b, thereby achieving an alternating connection of the middle nodes 211c.

[0102] In this example, the six rigid rods 212 are parallel to each other, and the planes of the three sets of rigid rods 212 are perpendicular to each other. This creates a three-dimensional orthogonal support system, ensuring that the frame maintains rigid support when subjected to forces in any direction, avoiding localized stress concentrations. Furthermore, the frame exhibits high rigidity in all three directions, preventing distortion during rotation. The six rigid rods 212 are of equal length, ensuring the symmetry of the frame and evenly distributing deformation.

[0103] The twenty-four flexible members 213 have the same length, and each connection node 211 is connected to four flexible members 213 . The flexible members 213 , the rigid rods 212 , and the connection nodes 211 form an icosahedral frame.

[0104] In this embodiment, the flexible members 213 can be elastic cords, elastic bands, or resiliently extendable rods, allowing the frame to elastically deform when impacted, absorbing energy and returning to its original shape after the external force disappears. Each node is connected to four flexible members 213, forming a spatial network structure that enhances the frame's impact resistance while maintaining sufficient flexibility to adapt to complex terrain (such as sandy areas and swamps). The entire spherical frame structure is a regular icosahedron with a high stiffness-to-weight ratio, capable of withstanding heavy loads while remaining lightweight.

[0105] Compared to a solid wheel, the tensile spherical frame structure of this embodiment is a three-dimensional hollow structure, which significantly reduces weight and reduces the robot's energy consumption. The flexible member 213 is combined with the rigid rod 212 to ensure strength while avoiding the use of excessive metal materials, achieving lightweight.

[0106] Since the tensioned spherical frame structure is a three-dimensional hollow structure as a whole, although it can rebound to its original structure when impacted, the overall stiffness may not be sufficient to provide a large load. This makes it easy for the walking wheels composed of the tensioned spherical frame structure to collapse when the robot walks on land, affecting its walking ability and also its jumping ability.

[0107] To this end, this embodiment makes certain structural arrangements for the tensile spherical frame structure. Specifically, the tensile spherical frame structure 21 further includes an elastic mesh 24. The elastic mesh 214 covers eighteen of the twenty triangular faces formed by the flexible members and rigid rods in the icosahedral frame. The two uncovered triangular faces are each composed of three upper nodes and three lower nodes.

[0108] The elastic net 24 enhances the strength of the tensile spherical frame structure 21, providing a flexible cushion. The first and second blades 25 and 26 maintain structural integrity in key stress-bearing areas. During walking, the first and second blades bear the primary load, while the elastic net helps disperse pressure and prevent collapse. During bouncing, the first and second blades ensure efficient force transmission, while the elastic net stores and releases energy. This configuration ensures the robot can adapt to a wide range of environments, delivering exceptional performance both in driving and overcoming obstacles.

[0109] In the above embodiment, the elastic net 24 is a fabric with elastic material and is provided with a plurality of holes. By setting the number of holes, the tensioning force of the entire tensioned spherical frame structure can be adjusted to adapt it to different scenarios.

[0110] The walking wheel of this embodiment also includes an upper fixing member and a lower fixing member. The upper fixing member is located at the center of the three upper nodes, and the upper fixing member is fixedly connected to the three upper nodes through three upper connecting rods distributed at equal angles in the horizontal direction. The lower fixing member is located at the center of the three lower nodes, and the lower fixing member is fixedly connected to the three lower nodes through three lower connecting rods distributed at equal angles in the horizontal direction. The first blade is fixedly arranged on the outside of the upper fixing member, and the second blade is fixedly arranged on the outside of the lower fixing member. The two ends of the support assembly are fixedly connected to the upper fixing member and the lower fixing member respectively.

[0111] In this embodiment, the upper fixing member 22 is fixedly connected to the three upper nodes 211a through three upper connecting rods 221 distributed at equal angles in the horizontal direction. The lower fixing member 23 is located at the center of the three lower nodes 211b. The lower fixing member 23 is fixedly connected to the three lower nodes 211b through three lower connecting rods 231 distributed at equal angles in the horizontal direction.

[0112] Specifically, the three upper nodes 211a are connected by three flexible members 213 to form an equilateral triangle. The upper fixing member 22 is connected to the three upper nodes 211a via three upper connecting rods 221 evenly spaced at 120°. This ensures that the upper fixing member 22 and the three upper nodes 211a form a stable triangular support structure, improving overall rigidity. The even angle distribution ensures uniform force transmission and avoids unilateral stress concentration.

[0113] Accordingly, the three lower nodes 211b are connected by three flexible members 213 to form an equilateral triangle. The lower fixing member 23 is connected to the three lower nodes 211b via three lower connecting rods 231 evenly spaced at 120°. This ensures that the lower fixing member 23 and the three lower nodes 211b form a stable triangular support structure, improving overall rigidity. The even angle distribution ensures uniform force transmission and avoids unilateral stress concentration.

[0114] In the above embodiment, the upper connecting rod 221 and the lower connecting rod 231 are both rigid connecting rods, ensuring that the upper fixing member 22 has a certain rigidity between the upper connecting rod 221 and the upper node 211a, and correspondingly ensuring that the lower fixing member 23 has a certain rigidity between the lower connecting rod 231 and the lower node 211b.

[0115] The two blades are fixedly mounted on the outside of the upper fixing member 22 and the lower fixing member 23, respectively, forming the relative position of the blades and the frame. Through this structural arrangement, the connection between the blades and the tensioned spherical frame structure 21 no longer directly depends on the upper and lower nodes 211b, avoiding the direct transfer of stress between the nodes.

[0116] By shifting the blade attachment points from direct node connections to upper and lower fixtures 22 and 23, the blade reaction forces are effectively dispersed, avoiding stress concentration between the upper and lower nodes 211b due to the blade reaction forces. This allows the nodes to deform more freely when the frame is subjected to external impact or deformation, thereby improving the structure's impact resistance.

[0117] This new connection method no longer directly restricts the node's deformation capacity, allowing the frame to deform more freely when subjected to external impacts, reducing resistance during the deformation process. This improves the adaptability of the running wheel 2 in complex environments, especially when encountering uneven terrain or uneven force.

[0118] The design of the upper fixing member 22 and the lower fixing member 23 not only ensures the stability of the blade, but also provides better support for the rotation of the blade, reduces the direct contact and stress transfer between the blade and the node, helps the entire frame structure to be more stable when deformed, and improves the stability and adaptability of the walking wheel 2.

[0119] The first blade 25 is a plate-like structure rigidly connected to the outside of the upper fixing member 22. Specifically, it can be made of metal or high-strength composite materials and connected to the outside of the upper fixing member 22 by welding or bolting. During the bounce landing phase, this blade increases the force-bearing area by contacting the ground, avoiding local stress concentration that may cause deformation of the frame structure. The second blade 26 is a plate-like structure rigidly connected to the outside of the lower fixing member 23. Specifically, it can be made of the same material and connected in the same way as the first blade 25. Its outer edge profile is symmetrical with the first blade 25, forming multiple points of contact with the ground during landing, improving support stability.

[0120] As some embodiments, a support portion 2110 is provided on the outer side of each connection node 211 along the axial direction of the rigid rod 212. Through the setting of the support portion 2110, a certain ground-contacting structure is extended from each vertex of the entire tensioned spherical frame structure 21 as the support portion 2110. During the driving process of the wheel body, the support portion 2110 contacts the ground to provide supporting force, so that there is a certain gap between the connection node 211 and the ground in the vertical direction, thereby avoiding contact friction between the flexible part 213 and the ground and improving the service life of the flexible part 213.

[0121] It is also worth noting that due to the setting of the support part 2110, the contact area between the support part 2110 and the ground is small, so it can easily cross some loose soil terrain to avoid slipping.

[0122] In order to enable the blades to adapt to the terrestrial environment, in this embodiment, the first blade 25 and the second blade 26 are configured as circular structures, and the first blade 25 and the second blade 26 have an arc-shaped contact surface M on one side facing the outside of the tensioned spherical frame structure 21.

[0123] The arcuate contact surface M is designed to provide a smooth and stable interface when in contact with the ground. The curved curve reduces localized pressure concentration during contact, thereby reducing friction and wear. Furthermore, the arcuate contact surface M serves as the contact point with the ground during bouncing, and its large contact area with the ground ensures a smooth bounce.

[0124] Furthermore, the design of the curved contact surface M helps the blades cut through the water more efficiently. This is because the curved surface can appropriately change the angle of contact between the blade and the water, reducing the disturbance and turbulence of the water flow, thereby reducing friction and impact with the water and thus reducing contact resistance. As the disturbance and resistance of the water flow are reduced, more energy can be converted into propulsion, thereby improving overall propulsion efficiency.

[0125] The highest point of the arc on the first blade 25 is greater than the top surface height of the support portion 2110 on the upper node 211a in the vertical direction, and the highest point of the arc contact surface M on the second blade 26 is greater than the top surface height of the support portion 2110 on the upper node 211a in the vertical direction.

[0126] By adopting the above technical solution, it can be achieved that when the walking wheel 2 is traveling on land, the arc-shaped contact surface M first contacts the ground. In this way, it is ensured that when the walking wheel 2 rotates, more power can be directly transmitted to the ground through the blades, avoiding unnecessary sliding or friction losses, which helps to improve the driving force and driving efficiency of the walking wheel 2.

[0127] By designing the curved contact surface M to contact the ground first, the propeller blade's curved structure provides better grip and propulsion when it contacts the ground. This curved contact surface M not only reduces friction but also helps improve contact between the propeller blade and the ground.

[0128] It should be noted that the two blades are on both sides of the spherical frame structure in the radial direction. When the blades rotate to the vertical direction, the arc-shaped contact surface M of the blades contacts the ground. When the blades rotate to the horizontal direction, they still rely on the support part 2110 to contact the ground.

[0129] The present application further proposes to provide an auxiliary wheel 11 at the tail of the robot body 1 , and the rotation direction of the auxiliary wheel 11 is consistent with the rotation direction of the walking wheel 2 .

[0130] The training wheels 11 are wheel-like structures installed at the rear of the robot to provide additional support. Specifically, they can be anti-slip wheels with rubber treads. The diameter of the training wheels 11 can be between one-third and one-half the diameter of the running wheels 2. Rotational consistency means that the training wheels 11 maintain the same rotational direction as the running wheels 2 during movement. In this embodiment, the training wheels 11 are passive.

[0131] Specifically, when the robot moves or bounces, the auxiliary wheels 11 are always in contact with the ground and rotate synchronously. During the compression stage of the walking wheels 2, the auxiliary wheels 11 share the ground reaction force to prevent the tail of the robot from sinking; during the bounce release stage, the auxiliary wheels 11 rotate synchronously with the walking wheels 2 to form a coherent rolling support to prevent the torque imbalance caused by the moment the walking wheels 2 leave the ground; during the landing buffer stage, the auxiliary wheels 11 quickly match the rotation speed of the walking wheels 2 to form a three-point support system consisting of the walking wheels 2 and the auxiliary wheels 11, reducing the risk of roll due to inertia after landing.

[0132] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An amphibious robot with a jumping function, characterized in that: include: Robot body; Two walking wheels are symmetrically arranged, one on each side of the robot body, and the other includes a tensioned spherical frame structure, a first paddle, a second paddle, and a support assembly. The first paddle and the second paddle are respectively fixed to the radial sides of the tensioned spherical frame structure. The support assembly is vertically arranged at the center of the tensioned spherical frame structure, and its two ends are respectively fixedly connected to the first paddle and the second blade. The support assembly can be extended and retracted along the direction of the line connecting the centers of the first paddle and the second blade. The transmission mechanism includes a first rotating device and a rotating shaft, one end of the rotating shaft is vertically fixedly connected to the center of the support assembly, and the other end is connected to the first rotating device provided in the robot body; The bouncing mechanism includes a pull rope and a take-up device. The rotating shaft and the support assembly are provided with a channel for the pull rope to pass through. One end of the pull rope passes through the channel and is fixedly connected to the first blade and the second blade respectively. The other end of the pull rope is connected to the take-up device arranged inside the robot body. The take-up device shortens the distance between the first blade and the second blade by winding up the pull rope, so that the tensioned spherical frame structure is compressed to accumulate elastic potential energy, and the jumping of the walking wheel is realized after the elastic potential energy is released.

2. The amphibious robot with a jumping function according to claim 1, characterized in that: The wire take-up device includes a wire reel, a cable, a second rotating device, an electromagnetic clutch and an anti-kink connector; The second rotating device is fixed in the robot body; There are two winding drums symmetrically arranged, each connected to the second rotating device through an electromagnetic clutch; A cable with one end wound around a reel and the other end connected to a drawstring via a kink-resistant connector; When the electromagnetic clutch is engaged, the second rotating device drives the two winding drums to rotate synchronously to reel in the cable. When the electromagnetic clutch is disconnected, the winding drums release the cable freely.

3. The amphibious robot with a jumping function as claimed in claim 2, characterized in that: The second rotating device includes a reduction motor, a main gear, a slave gear and a transmission shaft. The reduction motor is fixedly arranged in the robot body, and the two ends of the transmission shaft are respectively connected to the winding disk through an electromagnetic clutch. The slave gear is fixedly arranged on the transmission shaft, and the output shaft of the reduction motor is meshed with the main gear and the slave gear.

4. The amphibious robot with a jumping function as claimed in claim 2, characterized in that: The anti-kink connector includes a mounting sleeve and a rotating part arranged in the mounting sleeve. One end of the mounting sleeve is fixedly connected to the pull rope, and the end of the cable away from the winding drum is movably inserted into the mounting sleeve and fixedly connected to the rotating part. The rotating part can rotate around the cable axis in the mounting sleeve.

5. The amphibious robot with a jumping function as claimed in claim 2, characterized in that: The walking wheel also includes a first elastic member and a second elastic member. The first elastic member and the second elastic member are both sleeved on the supporting assembly. The first elastic member is located between the rotating shaft and the first blade, and the second elastic member is located between the rotating shaft and the second blade.

6. The amphibious robot with a jumping function as claimed in claim 5, characterized in that: The support assembly includes a first telescopic rod, a second telescopic rod and a connecting piece that are coaxially arranged; The first telescopic rod and the second telescopic rod are symmetrically arranged on both sides of the connecting member, and the end of the first telescopic rod away from the connecting member is connected to the first blade. One end of the second telescopic rod away from the connecting member is fixedly connected to the second blade, and the rotating shaft is fixedly connected to the connecting member; The first elastic member is sleeved on the first telescopic rod, and its two ends respectively abut against the first blade and the connecting member; The second elastic member is sleeved on the second telescopic rod, and two ends of the second elastic member are respectively in contact with the second blade and the connecting member.

7. The amphibious robot with a jumping function as claimed in claim 1, characterized in that: The tensioned spherical frame structure comprises: Twelve spatially symmetrically distributed connection nodes are divided into three upper nodes, three lower nodes and six middle nodes. The first blade is fixedly connected to the three upper nodes, and the second blade is fixedly connected to the three lower nodes. Six rigid rods of equal length, including three upper rigid rods connecting the upper nodes and the middle nodes, and three lower rigid rods connecting the lower nodes and the middle nodes. The six rigid rods are parallel to each other, and the planes of the three groups of rigid rods are perpendicular to each other; Twenty-four flexible members are of equal length, and each connection node is connected to four flexible members. The flexible members, rigid rods and connection nodes form an icosahedral frame.

8. The amphibious robot with jumping function according to claim 7, characterized in that: It also includes an upper fixing member and a lower fixing member, the upper fixing member is located at the center of the three upper nodes, and the upper fixing member is fixedly connected to the three upper nodes through three upper connecting rods distributed at equal angles in the horizontal direction. The lower fixing member is located at the center of the three lower nodes, and the lower fixing member is fixedly connected to the three lower nodes through three lower connecting rods distributed at equal angles in the horizontal direction. The first blade is fixedly arranged on the outside of the upper fixing member, and the second blade is fixedly arranged on the outside of the lower fixing member. The two ends of the support assembly are fixedly connected to the upper fixing member and the lower fixing member respectively.

9. The amphibious robot with a jumping function according to claim 7, characterized in that: The tensioned spherical frame structure also includes an elastic net, which covers eighteen triangular faces of the twenty triangular faces formed by the flexible parts and the rigid rods in the icosahedron frame, wherein the two uncovered triangular faces are respectively composed of three upper nodes and three lower nodes.

10. The amphibious robot with jumping function according to claim 1, characterized in that: The tail of the robot body is provided with auxiliary wheels, and the rotation direction of the auxiliary wheels is consistent with the rotation direction of the walking wheels.

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