Amphibious walking mechanism

Abstract

The invention discloses an amphibious walking mechanism, and particularly relates to the technical field of amphibious vehicles, the amphibious walking mechanism comprises a vehicle body, two supporting covers are symmetrically arranged at one end of the bottom side of the vehicle body, and two connecting rods are symmetrically and rotatably connected to the other end of the bottom side of the vehicle body. An annular groove is formed in a walking wheel, multiple sets of ground gripping claws are stored in the annular groove in an annular array mode, and multiple sets of positioning columns can be controlled to drive the ground gripping claws to synchronously move inwards or outwards through a connecting base; the two walking wheels can be controlled to deflect to the tail end of the vehicle body and form a paddle wheel structure, so that the vehicle can effectively adapt to running on normal ground, soft or muddy ground, shoal transition and water, multi-mode self-adaptive transmission switching of land and water terrains can be achieved by integrating the walking wheels, the ground gripping claws and the paddle wheel structure into an integrated walking mechanism, operation is convenient and efficient, and the service life of the vehicle is prolonged. Walking is stable and reliable, and the using effect is good.

Description

Technical Field

[0001] This invention relates to the field of amphibious vehicle technology, specifically to an amphibious walking mechanism. Background Technology

[0002] Amphibious vehicles are special vehicles that combine the characteristics of both cars and boats, capable of traveling on land and navigating water. Due to their superior amphibious capabilities, amphibious vehicles can cross rivers, lakes, and seas while in motion, without being restricted by bridges or boats, thus gaining widespread attention and application in transportation, particularly in the military.

[0003] Currently, existing amphibious walking mechanisms mostly adopt a separate design structure, such as land wheels and independent propellers, land tracks and underwater propulsion. Their integration is low, resulting in structural redundancy and large space occupation. At the same time, in complex terrains such as soft, muddy, and shallow waters, the wheels and tracks are prone to slipping, getting stuck, or uneven ground pressure, making it difficult to achieve a smooth connection between land, shallow water and water, resulting in poor performance. Therefore, this application proposes an amphibious walking mechanism. Summary of the Invention

[0004] The purpose of this invention is to provide an amphibious walking mechanism. This invention features annular grooves on the walking wheels, within which multiple sets of gripping claws are arranged in a circular array. Multiple positioning posts can be controlled to drive the gripping claws synchronously inward or outward via connecting seats. By incorporating connecting rods, a second drive unit, and a movable shaft, the two walking wheels can be deflected to the rear of the vehicle body to form a paddlewheel structure. This effectively adapts to normal ground, soft or muddy ground, shallow water transitions, and water travel. Furthermore, by integrating the walking wheels, gripping claws, and paddlewheel structure into a single walking mechanism, multi-mode adaptive transmission switching between amphibious and terrestrial terrain can be achieved. The mechanism is convenient and efficient to operate, provides stable and reliable walking, and exhibits good performance, thus addressing the aforementioned shortcomings in the technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an amphibious walking mechanism, comprising a vehicle body, two support covers symmetrically arranged at one end of the bottom side of the vehicle body, and two connecting rods symmetrically rotatably connected at the other end of the bottom side of the vehicle body, a fixed shaft being installed through a bearing between the two support covers, a movable shaft being fixed at the bottom end of the connecting rod, and fixed seats being installed at both ends of the fixed shaft and the end of the movable shaft, with a walking wheel installed at one end of the fixed seat; The outer side of the walking wheel has an annular groove in the middle, and multiple sets of connecting seats are arranged in a circular array inside the annular groove. The outer side of the connecting seat is provided with a gripping claw. The walking wheel has a cavity, and a support ring is rotatably installed on the inner side of the cavity. Multiple positioning posts facing the connecting seats are connected through the cavity and the annular groove. One end of the positioning post is connected to the connecting seat, and a synchronous transmission component is provided between the other end of the positioning post and the support ring. The first drive unit is connected to the fixed shaft and is used to drive the fixed shaft to rotate; The second drive unit, located on the vehicle body, is used to drive the two connecting rods to rotate simultaneously.

[0006] Preferably, the synchronous transmission assembly includes a toothed ring disposed on the side wall of the support ring, and multiple threaded columns facing the positioning column are rotatably connected in a ring array by bearings on the inner side of the cavity. One end of each threaded column is fixed with a transmission gear that meshes with the toothed ring, and the other end of the threaded column is screwed into the positioning column by threads. A guide assembly is provided between the positioning column and the traveling wheel. A third motor is embedded in the cavity, and the output end of the third motor is connected to one of the threaded columns.

[0007] Preferably, the guide assembly includes guide posts symmetrically arranged on both sides of the positioning post relative to one end of the connecting seat, and a plurality of guide holes matching the guide posts are connected through the cavity and the annular groove, and one end of the guide post passes through the guide hole and is connected to the connecting seat.

[0008] Preferably, the inner side of the support ring is provided with a plurality of sliding columns, and the inner side of the cavity is provided with a sliding groove that matches the sliding columns.

[0009] Preferably, the connecting seat and the gripper are fixedly connected by bolts.

[0010] Preferably, the first drive unit includes a first motor disposed in the vehicle body, a second gear disposed at one end of the fixed shaft and located inside the support cover, the output end of the first motor is connected to the first gear, and the first gear meshes with the second gear.

[0011] Preferably, the second drive unit includes a transmission rod rotatably connected to one end of the vehicle body via a bearing and a fine adjustment component. The fine adjustment component is used to control the transmission rod to rotate precisely. The two ends of the transmission rod are symmetrically provided with first bevel gears. The top ends of the two connecting rods extend into the vehicle body and are provided with second bevel gears. The two second bevel gears mesh perpendicularly with the two first bevel gears respectively. A fourth motor is embedded inside the fixed base, and the output end of the fourth motor extends outside the fixed base and is connected to the walking wheel.

[0012] Preferably, the fine-tuning assembly includes a support frame disposed inside the vehicle body near the transmission rod, a toothed column is slidably connected to the inner side of the support frame, and a drive gear that meshes with the toothed column is fixed to the end of the transmission rod. The inner side of the support frame is rotatably connected to a threaded rod via a bearing, and a second motor is fixed at the top of the support frame. The output end of the second motor is connected to the threaded rod, and the toothed column is screwed onto the outside of the threaded rod via a threaded connection.

[0013] Preferably, a limiting block is provided on one side of the gear column relative to the drive gear, and a limiting groove matching the limiting block is provided on the inner side of the support frame.

[0014] Preferably, an airbag is provided on the underside of the vehicle body, and an air tube is provided on the airbag. The top end of the air tube extends into the vehicle body and is connected to an air pump through a control valve.

[0015] The technical effects and advantages provided by the present invention in the above technical solution are as follows: This invention provides an annular groove on the wheel, in which multiple gripping claws are arranged in a circular array. With the cooperation of a support ring, positioning pins, and synchronous transmission components, the multiple positioning pins can be controlled to drive the gripping claws to move synchronously inward or outward through the connecting seat, thereby regulating the gripping claws to retract inward or extend outward. When driving on normal ground, the gripping claws set in the ring array are embedded and stored in the ring grooves on the outside of the vehicle body, which will not cause significant friction damage to the ground. When driving on soft or muddy ground, the positioning column can be driven to extend the gripping claws outward, so that the ends of the gripping claws can extend out of the ring grooves and embed into the soft soil, increasing the ground pressure and grip force, thereby ensuring stable walking. When transitioning to shallow water, the positioning column can be driven to extend the gripping claws out of the ring grooves, ensuring that the gripping claws make full contact with the bottom of the water while achieving a certain amount of propulsion in the water, thereby effectively preventing the vehicle body from slipping in shallow water. It can adjust the deployment diameter of the driving wheels in time according to changes in water depth, thereby achieving a smooth transition. By setting up structures such as connecting rods, a second drive unit, and a movable shaft, when the device travels in water, it can simultaneously drive the two connecting rods to rotate, which can cause the fixed seat to drive the traveling wheels to deflect. By controlling the two traveling wheels to deflect 90 degrees, they can be moved from the sides of the vehicle body to the rear end of the vehicle body and arranged side by side. At this time, the positioning column can be driven by the synchronous transmission component to drive multiple sets of gripping claws to extend outward to the maximum extent, thereby forming a paddle wheel structure. In conjunction with the high-speed rotation of the traveling wheels relative to the fixed seat, the vehicle body can be efficiently propelled to travel in water. This invention integrates the walking wheel, gripper, and paddle wheel structure into a single walking mechanism, enabling multi-mode adaptive transmission switching on both land and water terrain. It is convenient and efficient to operate, and provides stable and reliable walking with good performance. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is one of the overall structural schematic diagrams of the present invention; Figure 2 This is the second schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of the vehicle body of the present invention; Figure 4 This is a schematic diagram of the structure of the walking wheel of the present invention when it deforms in water; Figure 5 This is one of the schematic diagrams of a deformed gripper on the walking wheel of the present invention; Figure 6 This is the second schematic diagram of the deformed structure of the gripper on the walking wheel of the present invention; Figure 7 This is a schematic diagram of the connection structure between the fixed shaft and the traveling wheel of the present invention; Figure 8 This is a schematic diagram of the connection structure between the transmission rod and the two connecting rods of the present invention; Figure 9 This is a schematic diagram of the connection between the transmission rod and the support frame of the present invention; Figure 10 This is a longitudinal sectional view of the walking wheel of the present invention; Figure 11 This is a schematic diagram of the internal structure of the walking wheel of the present invention; Figure 12 This is a partial cross-sectional view of the walking wheel of the present invention; Figure 13 This is a schematic diagram of the connection between the support ring and the connecting seat of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Vehicle body; 2. Airbag; 3. Air pump; 4. Support cover; 5. Fixed shaft; 6. Fixed seat; 7. Traveling wheel; 8. First motor; 9. First gear; 10. Second gear; 11. Connecting rod; 12. Movable shaft; 13. Transmission rod; 14. First bevel gear; 15. Second bevel gear; 16. Drive gear; 17. Support frame; 18. Gear column; 19. Threaded rod; 20. Second motor; 21. Cavity; 22. Positioning column; 23. Connecting seat; 24. Grip claw; 25. Third motor; 26. Support ring; 27. Gear ring; 28. Sliding column; 29. ​​Sliding groove; 30. Threaded column; 31. Transmission gear; 32. Guide column; 33. Guide hole; 34. Fourth motor. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] This invention provides, for example Figures 1-13 The amphibious walking mechanism shown includes a vehicle body 1. Two support covers 4 are symmetrically arranged on one bottom end of the vehicle body 1, and two connecting rods 11 are symmetrically rotatably connected to the other bottom end of the vehicle body 1. A fixed shaft 5 is installed between the two support covers 4 through a bearing. A movable shaft 12 is fixed to the bottom end of the connecting rod 11. Fixed seats 6 are installed at both ends of the fixed shaft 5 and the end of the movable shaft 12. A walking wheel 7 is installed at one end of the fixed seat 6. A first drive unit is connected to the fixed shaft 5 and is used to drive the fixed shaft 5 to rotate. Specifically, the first drive unit includes a first motor 8 located inside the vehicle body 1, a second gear 10 located at one end of the fixed shaft 5 and inside the support cover 4, and the output end of the first motor 8 is connected to a first gear 9, and the first gear 9 meshes with the second gear 10. Based on this, by starting the first motor 8, the first motor 8 can drive the first gear 9 to rotate, and then the first gear 9 drives the second gear 10 to rotate, which in turn drives the fixed shaft 5 to rotate. Thus, the fixed shaft 5 can drive the two end wheels 7 to rotate through the fixed seat 6. Through the front-drive design, the vehicle body 1 can be driven to walk on land. An airbag 2 is installed on the bottom side of the vehicle body 1. An air tube is installed on the airbag 2. The top of the air tube extends into the vehicle body 1 and is connected to an air pump 3 through a control valve. By starting the air pump 3 and cooperating with the control valve, the airbag 2 can be inflated and deflated. When the vehicle body 1 is driving in water, the inflated airbag 2 can make the vehicle body 1 float effectively on the water surface. When the vehicle body 1 is driving on land, the deflated airbag 2 can greatly reduce the space occupied to avoid affecting the driving of the vehicle body 1. In addition, the exterior of the airbag 2 can be made of a material with extremely high toughness, wear resistance and anti-slip properties to ensure safety. In addition, by installing a camera on the vehicle body 1, driving scenes can be captured and the driving environment can be detected. Furthermore, by incorporating components such as a controller and a wireless communication module, real-time transmission of the image data can be achieved, thereby enabling remote monitoring. It is worth noting that, in order to better adapt to amphibious travel, pressure sensors and water quality sensors can be embedded on the outside of the vehicle body 1. The pressure sensor can detect ground pressure or water pressure, and the water quality sensor can detect water turbidity and sediment content, thereby enabling better control of the device's driving mode.

[0023] For details, please refer to the following: Figures 10-13 As shown, the outer side of the walking wheel 7 has an annular groove in the middle, and multiple sets of connecting seats 23 are arranged in a circular array inside the annular groove. Grip claws 24 are provided on the outer side of the connecting seats 23. The walking wheel 7 has a cavity 21, and a support ring 26 is rotatably mounted inside the cavity 21. Multiple positioning pins 22 facing the connecting seats 23 are connected through the cavity 21 and the annular groove. One end of each positioning pin 22 is connected to the connecting seat 23, and a synchronous transmission assembly is provided between the other end of the positioning pin 22 and the support ring 26. Based on this, refer to... Figure 1 When driving on normal ground, the two walking wheels 7 can be controlled to rotate synchronously through the first drive unit to realize the movement of the vehicle body 1. At this time, the gripping claws 24 set in the ring array are embedded in the ring groove on the outside of the vehicle body 1, which will not cause great friction damage to the ground.

[0024] In one specific embodiment of the present invention, the synchronous transmission assembly includes a gear ring 27 disposed on the side wall of the support ring 26. Multiple threaded posts 30 facing the positioning post 22 are rotatably connected to the inner side of the cavity 21 in a circular array via bearings. One end of each threaded post 30 is fixed with a transmission gear 31 that meshes with the gear ring 27, and the other end of the threaded post 30 is screwed onto the positioning post 22 via threads. A guide assembly is provided between the positioning post 22 and the traveling wheel 7. A third motor 25 is embedded inside the cavity 21, and the output end of the third motor 25 is connected to one of the threaded posts 30. Based on this, by activating the third motor 25, the third motor 25 can drive the threaded column 30 to rotate. The threaded column 30 can drive the meshing gear ring 27 to rotate via the transmission gear 31, thereby causing the gear ring 27 to drive the support ring 26 to rotate stably within the cavity 21. Then, the support ring 26 drives multiple sets of transmission gears 31 to rotate via the gear ring 27, causing the transmission gears 31 to drive the connected threaded column 30 to rotate. Afterward, the threaded column 30 drives the positioning column 22 to move. In conjunction with the guide assembly, multiple sets of positioning columns 22 can be driven to move synchronously inward or outward. Thus, referring to... Figure 5 When driving on soft or muddy ground, the control system can start the third motor 25, which drives the threaded column 30 to rotate. The threaded column 30 can drive the meshing gear ring 27 to rotate through the transmission gear 31. This allows the gear ring 27 to drive the support ring 26 to rotate stably within the cavity 21. Then, the support ring 26 drives multiple sets of transmission gears 31 to rotate through the gear ring 27. This drives the connected threaded column 30 to rotate. The threaded column 30 then drives the positioning column 22 to move. In conjunction with the guide assembly, this drives multiple sets of positioning columns 22 to move outward synchronously. Then, the positioning column 22 drives the connecting seat 23 to move, which in turn drives the gripping claw 24 to move. This controls the multiple sets of gripping claws 24 arranged in a ring array to extend outward synchronously, allowing the ends of the gripping claws 24 to extend out of the annular groove and embed into the soft soil, increasing the ground pressure and gripping force, thereby ensuring stable walking.

[0025] In this embodiment, the guiding component includes guide posts 32 symmetrically arranged on both sides of the positioning post 22 relative to one end of the connecting seat 23. A plurality of guide holes 33 matching the guide posts 32 are connected through the cavity 21 and the annular groove. One end of the guide post 32 passes through the guide hole 33 and is connected to the connecting seat 23. Based on this, by setting the guide post 32 and the guide hole 33, as the positioning post 22 moves, the positioning post 22 can drive the guide post 32 to move along the guide hole 33, thereby supporting and limiting the positioning post 22 to ensure that the positioning post 22 moves smoothly in a straight line. At the same time, it can greatly strengthen the connection strength between the positioning post 22 and the connecting seat 23 and enhance the stability of the structure.

[0026] Multiple sliding posts 28 are provided on the inner side of the support ring 26, and a sliding groove 29 matching the sliding posts 28 is provided on the inner side of the cavity 21. Based on this, by setting the sliding posts 28 and the sliding groove 29, the support ring 26 can drive the sliding posts 28 to slide along the sliding groove 29, thereby greatly enhancing the stability of the support ring 26 when rotating.

[0027] And during the transition to shallow waters, refer to Figure 6 The positioning column 22 can be further driven to move through the synchronous transmission component, so that the positioning column 22 drives the gripping claw 24 to extend further out of the annular groove through the connecting seat 23. This ensures that the gripping claw 24 is in full contact with the bottom of the water while achieving a certain amount of propulsion in the water, thereby effectively preventing the vehicle body 1 from slipping in the shallows. The unfolding diameter of the walking wheel 7 can be adjusted in time according to the changes in water depth, thus achieving a smooth transition.

[0028] The connecting seat 23 and the gripper 24 are fixedly connected by bolts. The bolt connection allows for quick fastening and separation between the connecting seat 23 and the gripper 24, enabling the gripper 24 to be disassembled and installed separately for maintenance and replacement, which greatly improves the applicability of the device.

[0029] For details, please refer to the following: Figure 3 , Figure 8 and Figure 9 As shown, the present invention also includes a second drive unit, which is disposed on the vehicle body 1, for driving the two connecting rods 11 to rotate simultaneously.

[0030] In one specific embodiment of the present invention, the second drive unit includes a transmission rod 13 rotatably connected to one end of the vehicle body 1 via a bearing and a fine-tuning component. The fine-tuning component is used to control the precise rotation of the transmission rod 13. First bevel gears 14 are symmetrically arranged at both ends of the transmission rod 13. The top ends of two connecting rods 11 extend into the vehicle body 1 and are provided with second bevel gears 15, with the two second bevel gears 15 meshing perpendicularly with the two first bevel gears 14 respectively. A fourth motor 34 is embedded inside the fixed base 6, and the output end of the fourth motor 34 extends out of the fixed base 6 and is connected to the traveling wheel 7. Thus, referring to... Figure 4When traveling in water, the transmission rod 13 can be precisely rotated by the fine-tuning component, which drives the first bevel gear 14 at both ends to rotate. Then, the first bevel gear 14 drives the vertically meshing second bevel gear 15 to rotate, which in turn drives the connected connecting rod 11 to rotate. The connecting rod 11 can then drive the connected fixed seat 6 to rotate via the movable shaft 12, which in turn drives the traveling wheel 7 to deflect. By controlling the two traveling wheels 7 to deflect 90 degrees, they are moved from the sides of the vehicle body 1 to the rear end of the vehicle body 1 and arranged side by side. At this time, the positioning column 22 can be driven to move outward to its limit by the synchronous transmission component, which drives the multiple sets of gripping claws 24 to spread outward to the maximum extent, thus forming a paddle wheel structure. At this time, by starting the fourth motor 34 in the fixed seat 6, the fourth motor 34 drives the traveling wheel 7 to rotate at high speed relative to the fixed seat 6, thereby efficiently propelling the vehicle body 1 to travel in water. By integrating the walking wheel 7, gripper 24 and paddle wheel structure into a single walking mechanism, multi-mode adaptive transmission switching can be achieved in both water and land terrains. This makes the operation convenient and efficient, and the walking is stable and reliable, resulting in good performance.

[0031] In this embodiment, the fine-tuning component includes a support frame 17 located inside the vehicle body 1 near the transmission rod 13. A toothed column 18 is slidably connected to the inner side of the support frame 17, and a drive gear 16 meshing with the toothed column 18 is fixed to the end of the transmission rod 13. A threaded rod 19 is rotatably connected to the inner side of the support frame 17 via a bearing, and a second motor 20 is fixed to the top of the support frame 17. The output end of the second motor 20 is connected to the threaded rod 19, and the toothed column 18 is threadedly connected to the outside of the threaded rod 19. Based on this, by driving the second motor 20, the second motor 20 can drive the threaded rod 19 to rotate, and then the threaded rod 19 drives the toothed column 18 to move within the support frame 17, so that the toothed column 18 can drive the meshing drive gear 16 to rotate. Under the precise meshing transmission of the tooth grooves, the drive gear 16 can be controlled to drive the transmission rod 13 to rotate precisely.

[0032] A limit block is provided on one side of the gear 18 relative to the drive gear 16, and a limit groove matching the limit block is provided on the inner side of the support frame 17. Based on this, by setting the limit block and the limit groove, the gear 18 can drive the limit block to slide along the limit groove, thereby greatly ensuring the stability of the gear 18 when it moves.

[0033] Therefore, in use, the two driving wheels 7 can be controlled to rotate synchronously by the first drive unit. When the vehicle body 1 is traveling on the ground, the gripping claws 24 arranged in annular array are embedded in the annular grooves on the outside of the vehicle body 1, preventing significant frictional damage to the ground. When traveling on soft or muddy ground, the third motor 25 can be started by the control system, causing the third motor 25 to drive the threaded column 30 to rotate. The threaded column 30 can drive the meshing gear ring 27 to rotate through the transmission gear 31, thereby causing the gear ring 27 to drive the support ring 26 to rotate stably within the cavity 21. Then, the support ring 26 drives multiple sets of transmission gears 31 to rotate through the gear ring 27, causing the transmission gears 31 to drive the connected threaded column 30 to rotate. Then, the threaded post 30 drives the positioning post 22 to move, cooperating with the guide assembly, thereby driving multiple sets of positioning posts 22 to move outward synchronously. The positioning post 22 then drives the connecting seat 23 to move, which in turn drives the gripping claws 24 to move. This controls the multiple sets of gripping claws 24 arranged in a ring array to extend outward synchronously, allowing the ends of the gripping claws 24 to extend out of the annular groove and embed into the soft soil, increasing the ground pressure and gripping force, thus ensuring stable movement. Furthermore, during transitions to shallow water, the synchronous transmission assembly can further drive the positioning post 22 to move, causing the positioning post 22 to drive the gripping claws 24 further out of the annular groove via the connecting seat 23. This ensures that the gripping claws 24 make full contact with the bottom of the water, achieving stable movement in the water. The vehicle body 1 is propelled forward to effectively prevent slippage in shallow water. The deployment diameter of the traveling wheels 7 is adjusted promptly according to changes in water depth to achieve a smooth transition. When traveling in water, the air pump 3, in conjunction with the control valve, inflates and deflates the airbag 2. A fully inflated airbag 2 allows the vehicle body 1 to float effectively on the water surface. Then, the transmission rod 13 is precisely rotated via the fine-tuning component, causing it to drive the first bevel gears 14 at both ends to rotate. The first bevel gears 14 then drive the vertically meshing second bevel gear 15 to rotate, which in turn drives the connecting rod 11 to rotate. The connecting rod 11 then drives the connected fixed seat 6 to rotate via the movable shaft 12, thereby allowing the fixed seat 6 to drive the traveling wheel 1. The wheels 7 deflect, and by controlling the two wheels 7 to deflect 90 degrees, they move from the sides of the vehicle body 1 to the rear of the vehicle body 1 and are arranged side by side. At this time, the positioning column 22 can be driven to move outward to its limit through the synchronous transmission component, so that the positioning column 22 drives multiple sets of gripping claws 24 to spread outward to the maximum extent, thereby forming a paddle wheel structure. At this time, by activating the fourth motor 34 in the fixed base 6, the fourth motor 34 drives the wheels 7 to rotate at high speed relative to the fixed base 6, thereby efficiently propelling the vehicle body 1 to move in the water. By integrating the wheels 7, gripping claws 24 and paddle wheel structure into a single walking mechanism, multi-mode adaptive transmission switching between water and land terrain can be realized. The operation is convenient and efficient, the walking is stable and reliable, and the use effect is good.

[0034] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An amphibious walking mechanism, comprising a vehicle body (1), characterized in that: Two support covers (4) are symmetrically arranged on one side of the bottom of the vehicle body (1), and two connecting rods (11) are symmetrically rotatably connected to the other side of the bottom of the vehicle body (1). A fixed shaft (5) is installed between the two support covers (4) through a bearing. A movable shaft (12) is fixed at the bottom of the connecting rod (11). Fixed seats (6) are installed at both ends of the fixed shaft (5) and the end of the movable shaft (12). A traveling wheel (7) is installed at one end of the fixed seat (6). The outer side of the walking wheel (7) is provided with an annular groove, and multiple sets of connecting seats (23) are arranged in an annular array inside the annular groove. The outer side of the connecting seat (23) is provided with a gripping claw (24). The walking wheel (7) is provided with a cavity (21). A support ring (26) is rotatably installed on the inner side of the cavity (21). Multiple positioning posts (22) facing the connecting seat (23) are connected through the cavity (21) and the annular groove. One end of the positioning post (22) is connected to the connecting seat (23), and a synchronous transmission component is provided between the other end of the positioning post (22) and the support ring (26). The first driving unit is connected to the fixed shaft (5) and is used to drive the fixed shaft (5) to rotate; The second drive unit is located on the vehicle body (1) and is used to drive the two connecting rods (11) to rotate simultaneously.

2. The amphibious walking mechanism according to claim 1, characterized in that: The synchronous transmission assembly includes a toothed ring (27) disposed on the side wall of the support ring (26). The inner side of the cavity (21) is rotatably connected to a plurality of threaded columns (30) facing the positioning column (22) through a bearing in a ring array. One end of the threaded column (30) is fixed with a transmission gear (31) that meshes with the toothed ring (27), and the other end of the threaded column (30) is screwed to the positioning column (22) through a thread. A guide assembly is provided between the positioning column (22) and the traveling wheel (7). A third motor (25) is embedded in the cavity (21), and the output end of the third motor (25) is connected to one of the threaded columns (30).

3. The amphibious walking mechanism according to claim 2, characterized in that: The guide assembly includes guide posts (32) symmetrically arranged on both sides of the positioning post (22) relative to one end of the connecting seat (23). A plurality of guide holes (33) matching the guide posts (32) are connected through the cavity (21) and the annular groove. One end of the guide post (32) passes through the guide hole (33) and is connected to the connecting seat (23).

4. The amphibious walking mechanism according to claim 1, characterized in that: The inner side of the support ring (26) is provided with a plurality of sliding columns (28), and the inner side of the cavity (21) is provided with a sliding groove (29) that matches the sliding column (28).

5. The amphibious walking mechanism according to claim 1, characterized in that: The connecting seat (23) and the gripper (24) are fixedly connected by bolts.

6. The amphibious walking mechanism according to claim 5, characterized in that: The first drive unit includes a first motor (8) located inside the vehicle body (1), and a second gear (10) is provided at one end of the fixed shaft (5) and inside the support cover (4). The output end of the first motor (8) is connected to the first gear (9), and the first gear (9) meshes with the second gear (10).

7. The amphibious walking mechanism according to claim 1, characterized in that: The second drive unit includes a transmission rod (13) rotatably connected to one end of the vehicle body (1) via a bearing and a fine adjustment component. The fine adjustment component is used to control the transmission rod (13) to rotate precisely. The two ends of the transmission rod (13) are symmetrically provided with first bevel gears (14). The top ends of the two connecting rods (11) extend into the vehicle body (1) and are provided with second bevel gears (15). The two second bevel gears (15) mesh perpendicularly with the two first bevel gears (14) respectively. The fourth motor (34) is embedded inside the fixed base (6), and the output end of the fourth motor (34) extends to the outside of the fixed base (6) and is connected to the walking wheel (7).

8. The amphibious walking mechanism according to claim 7, characterized in that: The fine-tuning assembly includes a support frame (17) located inside the vehicle body (1) near the transmission rod (13), with a toothed column (18) slidably connected to the inner side of the support frame (17), and a drive gear (16) meshing with the toothed column (18) fixed at the end of the transmission rod (13). The inner side of the support frame (17) is rotatably connected to a threaded rod (19) via a bearing, and a second motor (20) is fixed at the top of the support frame (17). The output end of the second motor (20) is connected to the threaded rod (19), and the toothed column (18) is screwed onto the outside of the threaded rod (19).

9. An amphibious walking mechanism according to claim 7, characterized in that: The gear column (18) is provided with a limiting block on one side relative to the drive gear (16), and the inner side of the support frame (17) is provided with a limiting groove that matches the limiting block.

10. An amphibious walking mechanism according to claim 1, characterized in that: An airbag (2) is provided on the bottom side of the vehicle body (1). An air tube is provided on the airbag (2). The top end of the air tube extends into the vehicle body (1) and is connected to an air pump (3) through a control valve.

Images