A bionic suspension and tilting flight amphibious robot

Abstract

The application belongs to the technical field of aircrafts, and discloses an amphibious robot integrating bionic suspension and tilting flight, which comprises a frame; a tilting wing mechanism with a rotor is installed on the frame, the tilting wing mechanism is used for driving the rotor to rotate and adjusting the posture of the rotor relative to the frame; a negative pressure mechanism is arranged on the frame and used for generating a negative pressure area between the frame and a climbing wall surface when the robot is climbing, so as to provide the robot with an adsorption force towards the climbing wall surface; a plurality of moving parts are arranged below the frame and used for driving the robot to move on the climbing wall surface; the moving parts and the frame are connected through suspension mechanisms, which are used for absorbing the impact generated when the robot contacts the climbing wall surface; the problems that the posture adjustment of the flying and climbing robot is difficult when landing on an inclined wall surface, the driving force is insufficient when moving, and the robot is prone to overturning or falling due to the influence of gravity are effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, specifically relating to an amphibious robot that integrates biomimetic suspension and tilting flight. Background Technology

[0002] With the increasing demand for high-altitude operations, the inspection and maintenance of large facilities such as wind turbine blades, offshore drilling platforms, and tower cranes are becoming increasingly arduous. Traditional manual inspection methods suffer from low efficiency and high safety risks. Therefore, amphibious robots with flight and climbing capabilities have gradually become a research hotspot.

[0003] Existing flying wall-climbing robots typically employ rotor mechanisms for flight and rely on wheeled or tracked locomotives for movement on the wall surface. However, when the robot lands on an inclined wall, it struggles to adjust its attitude in time according to the wall's angle, resulting in poor contact angles between the robot and the wall during landing. This makes it prone to tipping over or slipping due to a shift in the center of gravity. Furthermore, when moving on an inclined wall, relying solely on the driving force of the locomotive lacks additional auxiliary thrust to counteract the downward component of gravity along the wall, making it difficult for the robot to obtain sufficient traction on steep surfaces. This limits its movement speed, hinders its obstacle-crossing ability, and in severe cases, makes it susceptible to slipping and falling due to gravity. Therefore, existing technologies suffer from difficulties in attitude adjustment when landing on inclined walls and are prone to tipping over or falling due to insufficient driving force caused by gravity. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an amphibious robot that integrates biomimetic suspension and tilting flight, thereby solving the problems of existing flying wall-climbing robots having difficulty adjusting their attitude when landing on inclined walls, and being susceptible to gravity during movement, resulting in insufficient driving force and easy overturning or falling.

[0005] The objective of this invention can be achieved through the following technical solutions: An amphibious robot that integrates biomimetic suspension and tilting flight includes a frame; A tilting wing mechanism with rotors is mounted on the frame. The tilting wing mechanism is used to drive the rotor to rotate and adjust the rotor's attitude relative to the frame. The frame is equipped with a negative pressure mechanism to create a negative pressure area between the frame and the crawling wall when the robot crawls, so as to provide the robot with an adhesive force toward the crawling wall; Multiple moving parts are located below the frame to drive the robot to move on the climbing wall surface; The moving part and the frame are connected by a suspension mechanism to absorb the impact generated when the robot comes into contact with the wall it is climbing.

[0006] Furthermore, the tilting wing mechanism includes a first rotating motor fixedly mounted on the frame, the output shaft of the first rotating motor being coaxially fixedly connected to a rotating shaft, the rotating shaft being horizontally placed and rotatably connected to the frame, a second rotating motor being fixedly mounted on the peripheral wall of the rotating shaft, the output shaft of the second rotating motor being perpendicular to the rotating shaft, and the rotor being coaxially fixed to the output shaft of the second rotating motor.

[0007] Furthermore, the tilting wing mechanisms on the frame consist of multiple units placed side by side; In the tilting wing mechanism, there are multiple second rotating motors arranged at intervals along the corresponding rotating shaft axis, and the number of rotors and second rotating motors are equal and correspond one-to-one.

[0008] Furthermore, a protective cover is fixedly fitted on the shaft at the position corresponding to each of the second rotating motors. The protective cover is in the shape of a hollow sphere, and the second rotating motor and the rotor are located inside the corresponding protective cover.

[0009] Furthermore, the moving part includes a wheel frame, on which a roller is rotatably connected. The central axis of the roller is horizontally placed. A third rotary motor for driving the roller to rotate is fixedly mounted on the wheel frame. The output end of the third rotary motor is coaxially fixed with the roller, and the central axes of the rollers of each moving part are parallel to each other.

[0010] Furthermore, the suspension mechanism includes a fixing member, which is fixedly connected to the frame. At least one set of multi-link damping units is provided at the lower end of the fixing member, and the lower end of the multi-link damping units is connected to the wheel frame. The multi-link damping unit includes a vertically placed first buffer part. The upper and lower ends of the first buffer part are respectively rotatably hinged to a fixed member and a wheel frame. The first buffer part is provided with first connecting rods on both sides of the horizontal direction perpendicular to the roller axis. The upper ends of the first connecting rods are rotatably hinged to the fixed member. The lower ends of the first connecting rods are rotatably hinged to second connecting rods. The lower ends of the second connecting rods are rotatably hinged to the wheel frame. The end of the first connecting rod near the second connecting rod is rotatably hinged to a second buffer part. The upper end of the second buffer part is rotatably hinged to the fixed member.

[0011] Furthermore, when there are multiple sets of multi-link damping units at the lower end of the fixing member, the multiple sets of multi-link damping units are placed side by side along the corresponding roller axis.

[0012] Furthermore, both the first and second buffer sections are spring dampers.

[0013] Furthermore, the negative pressure mechanism includes a fourth rotating motor fixedly installed at the lower end of the frame. The output shaft of the fourth rotating motor is placed vertically downward and is fixedly fitted with rotating blades.

[0014] The beneficial effects of this invention are: This application utilizes a tilt-wing mechanism to drive the rotor to rotate and adjust its spatial attitude. On one hand, this allows the robot to flexibly adjust its fuselage angle during flight for a smooth landing on climbing walls of varying inclinations. On the other hand, during wall movement, the tilt-wing mechanism adjusts the rotor axis to be parallel to the wall surface, and the thrust generated by the rotor assists the moving part in propelling the robot forward, effectively improving obstacle-crossing ability and movement efficiency. A negative pressure mechanism creates a negative pressure area between the frame and the climbing wall surface, using atmospheric pressure to firmly adhere the robot to the wall, ensuring the robot maintains its position while moving on inclined walls. Stable adhesion prevents slippage due to gravity, effectively solving the problems of difficulty in attitude adjustment when landing on inclined walls and insufficient driving force caused by gravity during movement, which can easily lead to overturning or falling in existing technologies. The suspension mechanism absorbs impact energy when the robot contacts the wall or crosses obstacles, buffering vertical and multi-directional vibrations, keeping the body in a smooth transition and preventing adhesion failure or body swaying caused by rigid impact. This ensures that the robot can smoothly and reliably complete mode switching and task execution throughout the entire process from aerial flight to wall movement. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of a portion of the structure at the rotating shaft of the present invention; Figure 3 This is a partial structural diagram of the first connecting rod of the present invention; Figure 4 This is a schematic diagram of the frame and negative pressure mechanism of the present invention; Figure 5 This is a schematic diagram analyzing the vertical force state of the suspension mechanism and moving part of the present invention; Figure 6 This is a schematic diagram analyzing the tilted force state of the suspension mechanism and moving part of the present invention. Detailed Implementation

[0017] 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.

[0018] like Figures 1 to 4 As shown, an amphibious robot that integrates biomimetic suspension and tilting flight includes a frame 100; A tilting wing mechanism 200 with a rotor 201 is mounted on the frame 100. The tilting wing mechanism 200 is used to drive the rotor 201 to rotate and adjust the attitude of the rotor 201 relative to the frame 100. The frame 100 is provided with a negative pressure mechanism 300, which is used to generate a negative pressure area between the frame 100 and the climbing wall when the robot is crawling, so as to provide the robot with an adsorption force towards the climbing wall. Multiple moving parts 400 are provided below the frame 100 for driving the robot to move on the climbing wall surface; The moving part 400 and the frame 100 are connected by a suspension mechanism 500 to absorb the impact generated when the robot comes into contact with the wall surface it is climbing. This application uses a tilting wing mechanism 200 to drive the rotor 201 to rotate and adjust its spatial attitude. On the one hand, this allows the robot to flexibly adjust its fuselage angle during flight, enabling a smooth landing on climbing walls with different inclination angles. On the other hand, when moving on the climbing wall, the tilting wing mechanism 200 adjusts the axis of the rotor 201 to be parallel to the climbing wall. The thrust generated by the rotor 201 can assist the moving part 400 in driving the robot forward, thereby effectively improving obstacle-crossing ability and movement efficiency. The negative pressure mechanism 300 forms a negative pressure area between the frame 100 and the climbing wall, utilizing a large... Air pressure firmly attaches the robot to the climbing wall, ensuring stable adhesion when the robot moves on vertical or inclined walls, preventing it from slipping due to gravity. The suspension mechanism 500 connects the moving part 400 and the frame 100, absorbing impact energy when the robot contacts the wall or crosses obstacles, buffering vertical and multi-directional vibrations, keeping the body in a smooth transition, preventing adhesion failure or body shaking caused by rigid impacts, and thus ensuring that the robot can smoothly and reliably complete mode switching and task execution throughout the entire process from flying in the air to moving on the wall.

[0019] like Figure 2As shown, the tilting wing mechanism 200 includes a first rotating motor 202 fixedly mounted on the frame 100. The output shaft of the first rotating motor 202 is coaxially fixedly connected to a rotating shaft 203. The rotating shaft 203 is horizontally placed and rotatably connected to the frame 100. A second rotating motor 204 is fixedly mounted on the peripheral wall of the rotating shaft 203. The output shaft of the second rotating motor 204 is perpendicular to the rotating shaft 203. The rotor 201 is coaxially fixed to the output shaft of the second rotating motor 204. The first rotating motor 202 drives the rotating shaft 203 to rotate. The rotating shaft 203 is horizontally arranged and drives the second rotating motor 204 and the rotor 201 mounted on it to tilt as a whole, thereby realizing the attitude adjustment of the rotor 201 relative to the frame 100. The output shaft of the second rotating motor 204 is perpendicular to the rotating shaft 203 and independently drives the rotor 201 to rotate to generate lift or thrust. Through this dual-motor layered drive structure, the rotation function and attitude adjustment function of the rotor 201 are decoupled. This allows the robot to flexibly adjust the thrust direction to adapt to different landing attitudes during flight, and also allows the rotor 201 axis to be parallel to the wall when moving on the wall. The thrust of the rotor 201 assists the moving part 400 to overcome obstacles, thereby improving the robot's mobility and adaptability in complex working conditions.

[0020] The tilting wing mechanisms 200 on the frame 100 are multiple units placed side by side; In the tilting wing mechanism 200, there are multiple second rotating motors 204 arranged at intervals along the axial direction of the corresponding rotating shaft 203, and the number of rotors 201 and second rotating motors 204 are equal and correspond one-to-one. By arranging multiple tilting wing mechanisms 200 in parallel on the frame 100, the robot obtains greater lift and thrust redundancy. The coordinated work of multiple mechanisms significantly enhances the stability of the flight attitude. At the same time, each tilting wing mechanism 200 has multiple second rotating motors 204 and corresponding rotors 201 arranged at intervals along the rotation axis 203. The coordinated work of the multiple rotors 201 provides sufficient power for flight and wall movement, further improving the robot's obstacle crossing ability and motion efficiency. Preferably, there are two second rotating motors 204 arranged axially at intervals on the same rotating shaft 203. The two rotors 201 are arranged coaxially and can rotate in opposite directions, thereby canceling each other's spin torque, making flight control more precise. At the same time, when moving on the wall, the two rotors 201 can work together to output auxiliary thrust, further enhancing the robot's obstacle-crossing ability and motion stability.

[0021] A protective cover 205 is fixedly fitted on the shaft 203 at the position corresponding to each of the second rotating motors 204. The protective cover 205 is in the shape of a hollow sphere, and the second rotating motors 204 and the rotor 201 are located inside the corresponding protective cover 205. The protective cover 205 is a hollow spherical shape and is fixedly sleeved on the first rotating shaft 203. It tilts synchronously with the tilting wing mechanism 200, completely enclosing the second rotating motor 204 and the rotor 201 inside. During the robot's flight or wall movement, the protective cover 205 can effectively prevent the rotor 201 from colliding with external obstacles and being damaged. At the same time, the hollow structure allows airflow to pass smoothly without affecting the lift or thrust generated by the rotor 201. It combines safety protection and aerodynamic efficiency, ensuring the robot can operate reliably in complex environments. Preferably, the protective cover 205 consists of two flanges and multiple thermoplastic polyurethane filaments connected between the two flanges. The flanges are fixed to the rotating shaft 203, and the multiple thermoplastic polyurethane filaments are arranged in an arc shape, so that the protective cover 205 forms a hollow spherical structure. Thermoplastic polyurethane material has the characteristics of light weight and high toughness. When it is subjected to collision, it can elastically deform to absorb impact energy, which not only ensures the safety protection of the rotor 201, but also minimizes the structural weight and reduces the impact on flight performance.

[0022] The moving part 400 includes a wheel frame 401, on which a roller 402 is rotatably connected. The central axis of the roller 402 is horizontally placed. A third rotary motor 403 for driving the roller 402 to rotate is fixedly installed on the wheel frame 401. The output end of the third rotary motor 403 is coaxially fixed with the roller 402, and the central axes of the rollers 402 of each moving part 400 are parallel to each other. The third rotary motor 403 directly drives the roller 402 to rotate. The central axes of the rollers 402 of each moving part 400 are parallel to each other, ensuring that the wheels move synchronously and in the same direction when the robot moves on the wall. The wheel frame 401 serves as the connecting part between the roller 402 and the suspension mechanism 500, effectively transmitting the driving force generated by the third rotary motor 403 and the reaction force of the wall on the roller 402 to the suspension mechanism 500 and the frame 100, realizing the robot's smooth movement and flexible steering on the wall, and providing reliable power support for obstacle crossing and path adjustment.

[0023] like Figure 4 As shown, the suspension mechanism 500 of this application adopts a frog-like front leg flexible suspension scheme. Specifically, the suspension mechanism 500 includes a fixing member 501, which is fixedly connected to the frame 100. At least one set of multi-link damping units is provided at the lower end of the fixing member 501, and the lower end of the multi-link damping unit is connected to the wheel frame 401. The multi-link damping unit includes a vertically placed first buffer part 502. The upper and lower ends of the first buffer part 502 are respectively rotatably hinged to the fixing member 501 and the wheel frame 401. The first buffer part 502 is provided with first connecting rods 503 on both sides of the horizontal direction perpendicular to the axis of the roller 402. The upper ends of the first connecting rods 503 are rotatably hinged to the fixing member 501. The lower ends of the first connecting rods 503 are rotatably hinged to the second connecting rods 504. The lower ends of the second connecting rods 504 are rotatably hinged to the wheel frame 401. The end of the first connecting rod 503 near the second connecting rod 504 is rotatably hinged to the second buffer part 505. The upper ends of the second buffer parts 505 are rotatably hinged to the fixing member 501. The fastener 501 fixes the suspension mechanism 500 to the frame 100. The first buffer part 502 is vertically arranged and compresses and deforms first when subjected to vertical impact (e.g., Figure 5 As shown), it absorbs the main impact energy; the first link 503 and the second link 504 form a linkage mechanism, which expands outward under the impact and drives the second buffer part 505 to compress, realizing secondary buffering in the vertical direction. Through the sequential action of the two-stage buffering, the impact vibration in the vertical direction is effectively attenuated; the symmetrically arranged links on both sides and the second buffer part 505 form a transverse buffering structure along the arrangement direction of the two first links 503, as shown. Figure 6 As shown, when subjected to lateral or tilting impacts, the buffer sections on both sides undergo varying degrees of compression deformation, absorbing and dispersing the lateral impact energy. The vertical and lateral buffer structures work together to enable the robot to quickly attenuate multi-directional impacts and maintain posture stability during landing and obstacle crossing, avoiding adsorption failure or control instability due to severe vibration. Preferably, the upper end of the first buffer part 502 is rotatably hinged to the fixing member 501 via a first hinge shaft, and the lower end of the first buffer part 502 is rotatably hinged to the wheel frame 401 via a second hinge shaft; the upper end of the first connecting rod 503 is rotatably hinged to the fixing member 501 via a third hinge shaft, the lower end of the first connecting rod 503 is rotatably hinged to the upper end of the second connecting rod 504 via a fourth hinge shaft, the lower end of the second connecting rod 504 is rotatably hinged to the wheel frame 401 via a fifth hinge shaft, the upper end of the second buffer part 505 is rotatably hinged to the fixing member 501 via a sixth hinge shaft, and the lower end of the second buffer part 505 is rotatably hinged to the end of the first connecting rod 503 near the second connecting rod 504 via a seventh hinge shaft; each hinge shaft is placed parallel to the central axis of the roller 402, so that each component of the multi-link damping unit can rotate freely around the hinge shaft when subjected to vertical or lateral impact, ensuring a smooth buffer path and sensitive response, thereby fully utilizing the functions of multi-level buffering and multi-directional shock absorption.

[0024] When there are multiple sets of multi-link damping units at the lower end of the fixing member 501, the multiple sets of multi-link damping units are placed side by side along the axial direction of the corresponding roller 402. Multiple sets of multi-link damping units are connected in parallel to bear impact loads and share the forces from different directions, forming a parallel suspension structure that can effectively resist lateral vibration and lateral overturning moment, further enhancing the robot's stability and impact resistance when moving on complex walls.

[0025] Both the first buffer section 502 and the second buffer section 505 are spring dampers; The spring damper has the dual functions of elastic reset and damping energy dissipation. When subjected to impact, the spring part compresses and stores energy and slowly resets, while the damping part converts vibration energy into heat energy for dissipation. This achieves the effect of rapidly attenuating vibration and avoiding body rebound, ensuring that the robot can smoothly transition during landing and obstacle crossing, and reducing the adverse effects of impact on the body and adsorption stability.

[0026] like Figure 3 As shown, the negative pressure mechanism 300 includes a fourth rotary motor 301 fixedly installed at the lower end of the frame 100. The output shaft of the fourth rotary motor 301 is placed vertically downward and is fixedly fitted with a rotating blade 302. The fourth rotating motor 301 drives the rotating blade 302 to rotate at high speed, continuously expelling the air between the frame 100 and the wall, creating a negative pressure area between the frame 100 and the wall. The atmospheric pressure above the frame 100 then generates an adsorption force towards the wall, firmly pressing the robot onto the wall. This structure is simple and compact, achieving effective adsorption without the need for complex sealing devices, providing stable adhesion for the robot to reliably stay and move on vertical or inclined walls, ensuring the safety and stability of the robot during wall climbing. Preferably, there are two fourth rotary motors 301, which are arranged vertically at the lower end of the frame 100. The upper fourth rotary motor 301 is installed between the main board and the sub-board of the frame 100, and the lower fourth rotary motor 301 is installed at the lower end of the sub-board of the frame 100. Each motor drives the corresponding rotating blade 302 to rotate, forming a multi-stage negative pressure output, which not only enhances the adsorption force, but also improves the reliability and redundancy of the system.

[0027] Combination Figures 1 to 4 The overall working process of the amphibious robot integrating biomimetic suspension and tilting flight of this invention is described below: Flight and Tilting Phase: After the robot starts, the second rotary motor 204 in each tilting wing mechanism 200 drives the corresponding rotor 201 to rotate at high speed, generating lift to take the robot into the air. At this time, the first rotary motor 202 drives the rotating shaft 203 to rotate according to the flight attitude requirements, causing the second rotary motor 204 and the rotor 201 to tilt as a whole, enabling the robot to flexibly adjust pitch, roll and yaw angles in the air, achieving stable hovering, forward movement and turning, until it flies to the vicinity of the target climbing wall.

[0028] Landing and Buffering Phase: As the robot approaches an inclined or vertical wall, the tilting wing mechanism 200 actively adjusts the attitude of the rotor 201, gradually aligning the fuselage frame 100 with the wall's tilt angle. At the instant the roller 402 contacts the wall, the suspension mechanism 500 activates: in the multi-link damping unit at the lower end of the fixed component 501, the vertically placed first buffer 502 compresses and deforms first, absorbing vertical impact energy; simultaneously, the first link 503 and the second link 504 rotate relative to each other, pushing the second buffer 505 to compress, achieving secondary buffering. The symmetrically arranged second buffers 505 work together to absorb lateral impacts and lateral moments, effectively attenuating multi-directional vibrations and preventing the fuselage from overturning or failing to adhere due to rigid impacts.

[0029] Adsorption Phase: After the roller 402 contacts the wall, the fourth rotating motor 301 of the negative pressure mechanism 300 starts, driving the rotating blade 302 to rotate at high speed, continuously expelling the air between the frame 100 and the wall, forming a negative pressure area. The atmospheric pressure above the frame 100 then generates an adsorption force towards the wall, firmly pressing the robot onto the wall.

[0030] Crawling and Assisted Propulsion Phase: After adsorption stabilizes, the third rotary motor 403 of each moving part 400 drives the rollers 402 to rotate. The central axes of each roller 402 are parallel to each other, driving the robot to move along the wall. Simultaneously, the tilting wing mechanism 200 adjusts the axis of the rotor 201 to be parallel to the wall. The thrust generated by the rotor 201 is in the same direction as the tangential direction of the wall, assisting the moving part 400 to overcome the downward component of gravity along the wall and obstacle resistance, improving obstacle-crossing ability and movement speed. The suspension mechanism 500 continuously absorbs the dynamic impact generated by uneven wall surface or obstacle crossing, maintaining a stable gap between the frame 100 and the negative pressure mechanism 300 and the wall, preventing adsorption failure.

[0031] Mode switching and recovery: After the task is completed, the negative pressure mechanism 300 stops working, and the tilting wing mechanism 200 restores the rotor 201 to the lift posture, allowing the robot to detach from the wall and fly away. Throughout the process, the protective cover 205 tilts synchronously with the rotating shaft 203 to prevent the rotor 201 from colliding with external obstacles and ensure system safety.

[0032] Through the above process, the robot has achieved a complete amphibious operation process, from aerial flight, attitude tilting, smooth landing, multi-stage buffering, negative pressure adsorption, wall movement, and takeoff and recovery. This effectively solves the problems of difficulty in adjusting attitude when landing on an inclined wall, insufficient driving force during movement, and easy tipping and falling in existing technologies.

[0033] 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.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. An amphibious robot integrating biomimetic suspension and tilting flight, comprising a frame (100), characterized in that: A tilting wing mechanism (200) with a rotor (201) is mounted on the frame (100). The tilting wing mechanism (200) is used to drive the rotor (201) to rotate and adjust the attitude of the rotor (201) relative to the frame (100). The frame (100) is provided with a negative pressure mechanism (300) to generate a negative pressure area between the frame (100) and the climbing wall when the robot crawls, so as to provide the robot with an adsorption force toward the climbing wall; Multiple moving parts (400) are provided below the frame (100) for driving the robot to move on the climbing wall surface; The moving part (400) and the frame (100) are connected by a suspension mechanism (500) to absorb the impact generated when the robot comes into contact with the wall.

2. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 1, characterized in that, The tilting wing mechanism (200) includes a first rotating motor (202) fixedly mounted on the frame (100). The output shaft of the first rotating motor (202) is coaxially fixedly connected to a rotating shaft (203). The rotating shaft (203) is horizontally placed and rotatably connected to the frame (100). A second rotating motor (204) is fixedly mounted on the peripheral wall of the rotating shaft (203). The output shaft of the second rotating motor (204) is perpendicular to the rotating shaft (203). The rotor (201) is coaxially fixed to the output shaft of the second rotating motor (204).

3. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 2, characterized in that, The tilting wing mechanisms (200) on the frame (100) are multiple and placed side by side; In the tilting wing mechanism (200), there are multiple second rotating motors (204) arranged at intervals along the axial direction of the corresponding rotating shaft (203). The number of rotors (201) and second rotating motors (204) are equal and correspond one-to-one.

4. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 3, characterized in that, Protective covers (205) are fixedly fitted on the shaft (203) at the positions corresponding to each of the second rotating motors (204). The protective covers (205) are hollow spherical, and the second rotating motors (204) and rotors (201) are located inside the corresponding protective covers (205).

5. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 1, characterized in that, The moving part (400) includes a wheel frame (401), on which a roller (402) is rotatably connected. The central axis of the roller (402) is horizontally placed. A third rotary motor (403) for driving the roller (402) to rotate is fixedly installed on the wheel frame (401). The output end of the third rotary motor (403) is coaxially fixed with the roller (402), and the central axes of the rollers (402) of each moving part (400) are parallel to each other.

6. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 5, characterized in that, The suspension mechanism (500) includes a fixing member (501), which is fixedly connected to the frame (100). At least one set of multi-link damping units is provided at the lower end of the fixing member (501), and the lower end of the multi-link damping unit is connected to the wheel frame (401). The multi-link damping unit includes a vertically placed first buffer part (502). The upper and lower ends of the first buffer part (502) are respectively rotatably hinged to the fixing part (501) and the wheel frame (401). The first buffer part (502) is provided with first connecting rods (503) on both sides of the horizontal direction perpendicular to the axis of the roller (402). The upper ends of the first connecting rods (503) are rotatably hinged to the fixing part (501). The lower ends of the first connecting rods (503) are rotatably hinged to the second connecting rods (504). The lower ends of the second connecting rods (504) are rotatably hinged to the wheel frame (401). The end of the first connecting rod (503) near the second connecting rod (504) is rotatably hinged to the second buffer part (505). The upper end of the second buffer part (505) is rotatably hinged to the fixing part (501).

7. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 6, characterized in that, When there are multiple sets of multi-link damping units at the lower end of the fixing member (501), the multiple sets of multi-link damping units are placed side by side along the axial direction of the corresponding roller (402).

8. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 6, characterized in that, Both the first buffer section (502) and the second buffer section (505) are spring dampers.

9. The amphibious robot integrating biomimetic suspension and tilting flight according to claim 8, characterized in that, The negative pressure mechanism (300) includes a fourth rotary motor (301) fixedly installed at the lower end of the frame (100). The output shaft of the fourth rotary motor (301) is placed vertically downward and is fixedly fitted with a rotating blade (302).

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