An autonomously foldable all-terrain robot

Abstract

This invention relates to the field of robotics, disclosing an autonomously foldable amphibious robot, comprising a main body including a housing and a mounting end cap, the mounting end cap being detachably connected to the housing, and a power unit mounted on the housing; four propeller assemblies, each located around the periphery of the mounting end cap, each propeller assembly including blade assemblies and a control assembly for rotating the blade assemblies; four folding arm assemblies, located at the four corners of the mounting end cap, each folding arm corresponding to a propeller assembly, with carbon fiber tubes installed between the corresponding folding arm and propeller assemblies; and dual-mode wheel-leg assemblies located at the bottom of the housing. This invention achieves an organic unity of three modes: aerial flight, water navigation, and compact storage; significantly reducing redundant structures and weight, and improving space utilization and system energy efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an omnidirectional robot that can fold autonomously. Background Technology

[0002] With the continuous upgrading of operational needs in fields such as surveying and inspection, emergency rescue, and environmental monitoring, robotic equipment with multi-media mobility has become a key focus of industry research and development, which places higher demands on equipment portability, environmental adaptability, and structural reliability.

[0003] In existing technologies, the vast majority of aerial robots and drones employ rigid, fixed designs for their arm and rotor mechanisms, with only a few models possessing basic folding capabilities. This type of structure has significant technical shortcomings: firstly, rigid, fixed structures have extremely low space utilization, occupying excessive space during transportation, storage, and carrying, making it difficult to meet the demands for portability and miniaturization; secondly, the fixed fuselage shape during operation prevents the active adjustment of structural dimensions according to the operational scenario, severely limiting maneuverability in confined spaces and complex terrain. Furthermore, existing folding mechanisms often employ exposed servo motors or hydraulic rods for direct drive, or rely on additional servo mechanisms to achieve folding actions. This not only results in structural redundancy, numerous parts, and a high failure rate, but also exposes motion transmission components that are highly susceptible to corrosion and jamming in harsh environments such as wading, high salt spray, and dust storms, making it difficult to guarantee the overall protective performance and operational reliability of the aircraft.

[0004] Amphibious robots developed to meet the needs of multi-scenario operations generally adopt a "modular" design, which is simply a combination of functional modules for different operational scenarios. For example, air-sea amphibious robots need to be equipped with two independent air flight and water propulsion modules, resulting in a complex overall structure, excessive weight, and a significant reduction in power utilization efficiency and endurance. The modular design also introduces more sealing points and mechanical interfaces, which can easily become weak points in complex environments, further reducing the stability of equipment operation. In addition, existing land-based locomotion mechanisms are difficult to adapt to depressions, swamps, and uneven terrain, lacking sufficient terrain adaptability and obstacle-crossing performance, and unable to achieve continuous and reliable operation in all scenarios and terrains.

[0005] To address this, a self-folding omnidirectional robot is proposed. Summary of the Invention

[0006] The purpose of this invention is to provide an autonomously foldable amphibious robot, which aims to solve or improve at least one of the above-mentioned technical problems.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention provides an autonomously foldable amphibious robot, comprising... The fuselage body includes a housing and a mounting end cover, the mounting end cover being detachably connected to the housing, and the housing housing housing a power unit; The propeller assembly includes four propeller assemblies, which are respectively disposed on the periphery of the mounting end cover; each propeller assembly includes a blade assembly and a control component that drives the blade assembly to rotate. The folding arm assembly has four components, which are located at the four corners of the mounting end cover. Each folding arm assembly corresponds to a rotor assembly, and a carbon fiber tube is installed between each folding arm assembly and the rotor assembly. A dual-mode wheel and leg assembly is located at the bottom of the housing.

[0008] Preferably, the folding arm assembly includes a housing fixedly connected to the mounting end cap, a rotating shaft rotatably connected inside the housing, a carbon tube connector fixedly connected to the middle of the rotating shaft, the carbon tube connector being fixedly connected to the carbon tube, openings for the carbon tube connector to move on the bottom and side walls of the housing, and a push-stop component fixedly connected to the rotating shaft; a stepper motor fixedly connected to the top wall of the housing, a lead screw fixedly connected to the output shaft of the stepper motor, the end of the lead screw away from the stepper motor being rotatably engaged with the inner wall of the housing, a locking key slidably connected to the top wall of the housing, the lead screw passing through the locking key and threadedly engaged with the locking key, and the locking key being adapted to the push-stop component.

[0009] Preferably, the push-stop is disc-shaped, and a groove adapted to the key is formed on the periphery of the push-stop. Two protrusions are fixedly connected to the periphery of the push-stop, and the two protrusions are located on both sides of the groove. Two fixing blocks are fixedly connected inside the housing, and the two fixing blocks are located on both sides of the push-stop. The protrusions and fixing blocks are correspondingly arranged.

[0010] Preferably, the control component includes a motor sleeve, with a waterproof shell fixedly connected to the end of the carbon tube away from the carbon tube connector. The motor sleeve is located inside the waterproof shell, and a brushless motor is fixedly connected inside the motor sleeve. An inner sleeve is fixedly connected to the output shaft of the brushless motor. An outer sleeve is rotatably disposed above the inner sleeve. A retaining groove is provided between the outer sleeve and the inner sleeve. The retaining groove slides with the inner sleeve along its axial direction. Two retaining grooves adapted to the retaining groove are formed on the inner wall of the inner sleeve. The retaining groove is fixedly connected to the outer sleeve.

[0011] Preferably, an intermediate sleeve is fixedly connected to the top of the brushless motor sleeve, an electromagnetic fixing frame is fixedly connected inside the intermediate sleeve, the inner sleeve passes through the electromagnetic fixing frame, a ring magnet is fixedly connected to the electromagnetic fixing frame, several electromagnets and a circuit board are fixedly connected inside the electromagnetic fixing frame, the electromagnets are electrically connected to the circuit board, and a charging port is provided on the bottom surface of the electromagnetic fixing frame.

[0012] Preferably, the blade assembly includes a mounting base fixedly connected to the outer sleeve, a mounting frame fixedly connected to the mounting base, a mounting rod installed in the mounting frame, one end of the blade disposed in the mounting frame, the mounting rod passing through the end of the blade and rotatably engaging with the blade, a fixing block fixedly connected in the mounting frame, and a spring button installed in the mounting frame, the fixing block and the spring button being located on opposite sides of the end of the blade.

[0013] Preferably, the dual-mode wheel leg assembly includes a central support, on which three wheel leg bodies are rotatably connected. An arc-shaped baffle is fixedly provided on the outer side wall of each wheel leg body. A central gear is rotatably connected to the middle of the central support. A locking tooth that meshes with the central gear is provided on the inner side of the end of each wheel leg body that rotatably engages with the central support. An adjustment motor that drives the central gear to rotate is installed at the bottom of the housing.

[0014] Preferably, the box body is a streamlined box body, the outer wall of the box body has a teardrop-shaped streamlined profile, one end of the box body is a narrow, pointed, flow-facing end, and the other end of the box body is a gently converging end.

[0015] The present invention discloses the following technical effects: This invention utilizes a cohesive design between the folding arm assembly and the propeller assembly. It employs a fully enclosed folding arm structure driven by a built-in screw-locking key-push mechanism, eliminating exposed moving parts. This allows for precise folding and unfolding of the arm, enabling rapid switching between operating modes and adapting to multi-media operations on land, sea, and air. The unfolded arm features mechanical self-locking, solving the problems of corrosion and jamming in traditional exposed folding mechanisms. The accompanying spring-button locking structure for the folding propellers allows for folding and locking without additional power, reducing the overall storage volume by 50% and significantly improving portability.

[0016] The electromagnetic drive control component of the rotor assembly adopts a non-contact, fully enclosed pitch-changing structure. The electromagnetic force drives the slot component to switch the pitch, and a single rotor system is compatible with both air flight and water propulsion functions. This eliminates the redundant design of traditional amphibious equipment with dual-module splicing, reduces the overall weight, improves power efficiency, and completely solves the pain point of poor waterproof and dustproof performance of traditional pitch-changing mechanisms.

[0017] The dual-mode wheel-leg assembly uses gear meshing to achieve wheel-leg opening and closing mode switching, adapting to travel on smooth roads and obstacle crossing on rugged terrain; ensuring reliable operation of the whole machine in complex environments.

[0018] This invention abandons the traditional modular stacking approach of amphibious robots, and achieves an organic unity of three modes—air flight, water navigation, and compact storage—through an innovative "paddle-arm integrated" folding mechanism and a "magnetically controlled variable propeller" actuator. This significantly reduces redundant structures and weight, improving space utilization and system energy efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the autonomously foldable amphibious robot of the present invention; Figure 2 This is a schematic diagram of the structure of the housing of the present invention; Figure 3 This is a schematic diagram of the propeller assembly of the present invention; Figure 4 This is a schematic diagram of the control component structure of the present invention; Figure 5 This is a schematic diagram of the blade assembly structure of the present invention; Figure 6 This is a schematic diagram of the folded structure of the propeller assembly of the present invention; Figure 7 This is a schematic diagram of the folding arm assembly structure of the present invention; Figure 8 This is a schematic diagram of the dual-mode wheel leg assembly of the present invention in its open state. Figure 9 This is a schematic diagram of the retracted state structure of the dual-modal wheel leg assembly of the present invention; Figure 10 This is a schematic diagram of the folding arm assembly of the present invention after the amphibious robot is folded. Figure 11 This is a schematic diagram of the amphibious robot structure after the carbon nanotubes and blades of the present invention are folded; Figure 12 This is a schematic diagram of the blade deflection of the present invention; The components are as follows: 1. Housing; 2. Mounting end cap; 3. Carbon tube; 4. Outer shell; 5. Rotating shaft; 6. Carbon tube connector; 7. Push stop; 8. Stepper motor; 9. Lead screw; 10. Locking key; 11. Groove; 12. Protrusion; 13. Motor sleeve; 14. Waterproof shell; 15. Brushless motor; 16. Inner sleeve; 17. Outer sleeve; 18. Locking slot; 19. Intermediate sleeve; 20. Electromagnetic fixing bracket; 21. Mounting base; 22. Mounting frame; 23. Mounting rod; 24. Blade; 25. Fixing block; 26. Spring button; 27. Central support; 28. Wheel leg body; 29. ​​Central gear; 30. Locking tooth. Detailed Implementation

[0021] 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.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Reference Figures 1-12 This invention provides an autonomously foldable amphibious robot, including... The main body of the fuselage includes a housing 1 and a mounting end cover 2. The mounting end cover 2 is detachably connected to the housing 1. The housing 1 is equipped with a power unit. The propeller assembly consists of four propeller assemblies, which are respectively located on two sides of the mounting end cover. The propeller assembly includes a blade assembly and a control component that drives the blade assembly to rotate. The folding arm assembly consists of four units, located at the four corners of the mounting end cap 2. Each folding arm assembly corresponds to a rotor assembly, and a carbon tube 3 is installed between each corresponding folding arm assembly and rotor assembly. By folding the carbon tube 3, the blade 24 is transformed from an air-rotating propeller into an underwater propulsion propeller. The brushless motor 15 drives the blade 24 to rotate, thereby propelling the UAV to swim on the water surface.

[0024] The dual-mode wheel and leg assembly is located at the bottom of the housing 1.

[0025] Further optimization of the design: The folding arm assembly includes a housing 4 fixedly connected to the mounting end cover 2. A rotating shaft 5 is rotatably connected inside the housing 4. A carbon tube connector 6 is fixedly connected to the middle of the rotating shaft 5, and the carbon tube connector 6 is fixedly connected to the carbon tube 3. Openings for the movement of the carbon tube connector 6 are provided on the bottom and side walls of the housing. A push stop 7 is fixedly connected to the rotating shaft 5. A stepper motor 8 is fixedly connected to the top wall of the housing. A lead screw 9 is fixedly connected to the output shaft of the stepper motor 8. The end of the lead screw 9 away from the stepper motor 8 is rotatably engaged with the inner wall of the housing. A locking key 10 is slidably connected to the top wall of the housing. The lead screw 9 passes through the locking key 10 and is threadedly engaged with the locking key 10. The locking key 10 is adapted to the push stop 7. Folding arms often use exposed servo motors or hydraulic rods for direct drive, which are prone to corrosion and jamming in water-filled, high-salt-spray, or dusty environments. The arm folding strategy is achieved by using a lead screw 9 to drive a locking key 10, which in turn drives a push-stop component 7. During folding, the motor reverses to move the locking key 10 forward, causing the push-stop component 7 to rotate counter-clockwise or clockwise, thus folding the carbon tube 3 arm downwards and stopping the push-stop component 7 at a specific position on the outer casing 4 to fix the arm's position. Before unfolding, the stepper motor 8 rotates forward to push the locking key 10 backwards, causing the locking key 10 to rotate back and lock onto another fixing block 25 on the outer casing 4, completing the pre-positioning and returning the arm to a straight state. Finally, the mechanical structure achieves self-locking of the arm. The entire drive mechanism is completely concealed within the outer casing 4, with no exposed moving parts. After folding, the arm and blades can be laid flat on the same layer for storage, further reducing the overall width of the machine and achieving true "integrated propeller-arm, compact folding, and rapid deployment."

[0026] Further optimization of the design: the push stop 7 is disc-shaped, and the push stop 7 has a groove 11 on its periphery that matches the key 10. Two protrusions 12 are fixedly connected to the periphery of the push stop 7, and the two protrusions 12 are located on both sides of the groove 11. Two fixing blocks 25 are fixedly connected inside the housing, and the two fixing blocks 25 are located on both sides of the push stop 7. The protrusions 12 and fixing blocks 25 are set in correspondence.

[0027] Further optimization of the scheme: the control component includes a motor sleeve 13, a waterproof shell 14 is fixedly connected to the end of the carbon tube 3 away from the carbon tube connector 6, the motor sleeve 13 is located inside the waterproof shell 14, a brushless motor 15 is fixedly connected inside the motor sleeve 13, an inner sleeve 16 is fixedly connected to the output shaft of the brushless motor 15, an outer sleeve 17 is rotatably arranged above the inner sleeve 16, a slot 18 is provided between the outer sleeve 17 and the inner sleeve 16, the slot 18 slides with the inner sleeve 16 along its axial direction, and the inner wall of the inner sleeve 16 has two slots that are adapted to the slot 18, the slot 18 is fixedly connected to the outer sleeve 17.

[0028] When blade 24 is fixed, intermediate sleeve 19 remains stationary. Using an electromagnetic device and the principle of magnetic levitation, electromagnetic force causes the electromagnetic device and the slot 18 to repel each other, fixing the slot 18 at a specific position within the inner sleeve 16, thus fixing blade 24 in that position. When blade 24 deflects at an angle, intermediate sleeve 19 remains stationary. The electromagnetic device changes the direction of the current, altering the direction of the electromagnetic force between the electromagnetic device and the slot 18 from repulsion to attraction. This causes the slot 18 to move downwards due to the electromagnetic attraction, fixing it in another slot within the inner sleeve 16. The pull generated by the magnetic force then causes the outer sleeve 17 to move downwards. Meanwhile, vertical grooves are provided on the periphery of the outer sleeve 17 corresponding to the columnar structure at the end of the blade 24. The columnar structure at the end of the blade 24 is located in the vertical groove. The mounting seat at the end of the blade 24 is a bent structure. A receiving groove adapted to the bent structure is fixedly connected to the outer wall of the outer sleeve 17. The bent structure slides in the receiving groove. When the outer sleeve 17 moves downward under the pulling force generated by the magnetic force, the receiving groove moves downward with the outer sleeve 17. However, the columnar structure at the end of the blade 24 does not move up and down under the action of the mounting frame, thereby causing the bent structure to drive the blade 24 to deflect. That is, during the downward movement of the outer sleeve 17, only the bent structure of the mounting seat 21 deflects downward with the outer sleeve 17. The receiving groove can provide horizontal displacement space for the movement of the bent structure, while the blade 24 and the columnar structure at the end only rotate under its action, thereby realizing the deflection angle of the blade 24. Due to the axial fixing effect of the axial fixing member of the blade 24, the blade 24 will not detach when rotating.

[0029] Further optimizing the design, a middle sleeve 19 is fixedly connected to the top of the brushless motor 15 sleeve 13. An electromagnetic fixing frame 20 is fixedly connected inside the middle sleeve 19. An inner sleeve 16 passes through the electromagnetic fixing frame 20. A ring magnet is fixedly connected to the electromagnetic fixing frame 20. Several electromagnets and a circuit board are fixedly connected inside the electromagnetic fixing frame 20. The electromagnets are electrically connected to the circuit board. A charging port is provided on the bottom surface of the electromagnetic fixing frame 20. A wire is connected through the electromagnetic interface of the middle sleeve 19 and then connected to the electromagnetic charging port to charge the electromagnetic levitation device. Magnetic levitation technology is introduced into the propeller hub to achieve pitch switching without mechanical contact. The non-contact transmission unit consists of a ring magnet, electromagnets, a strong magnetic slot 18, and a double-layer slot. By changing the direction of the current in the electromagnet, it generates a repulsive or attractive magnetic force with the slot 18, thereby driving the slot 18 to move quickly between the upper and lower slots and lock into position, corresponding to high and low propeller pitches respectively. The system uses a Hall sensor for position feedback and combines it with a PID control algorithm to quickly and stably switch positions. Its fully enclosed structure is lightweight and reduces weight compared to traditional servo motor designs, completely solving the problems of waterproofing and dustproofing. A metal conductor generates a magnetic field when an electric current flows through it. The electromagnetic intensity B is perpendicular to the direction of the current I, resulting in a Hall voltage U. The formula is given, where K represents the Hall coefficient and d is the thickness of the metal conductor. From this formula, it can be seen that the Hall voltage U is directly proportional to the electromagnetic induction intensity B. Using this principle, adjustments can be made by collecting data from the position sensor to change the distance between the levitation magnetic element and the electromagnetic device, thereby changing the electromagnetic induction intensity B and consequently the Hall voltage U. Therefore, the specific position of the levitation magnetic element can be determined by observing the voltage magnitude of the position sensor, thus determining the specific position of the card slot 18 within the card slot.

[0030] Furthermore, the electromagnetic mounting bracket 20 is equipped with a microcontroller module and an information transmission line, and an electromagnetic device cover is installed on the top.

[0031] Further optimization of the design: The blade assembly includes a mounting base 21 rotatably connected to the outer sleeve 17. A mounting frame 22 is fixedly connected to the mounting base 21. A mounting rod 23 is installed inside the mounting frame 22. One end of a blade 24 is located inside the mounting frame 22. The mounting rod 23 passes through the end of the blade 24 and rotatably engages with it. A fixing block 25 is fixedly connected inside the mounting frame 22. A spring button 26 is also installed inside the mounting frame 22. The fixing block 25 and the spring button 26 are located on opposite sides of the end of the blade 24. Existing folding blade designs are mostly purely manual or rely on external servo mechanisms, resulting in numerous parts, high failure rates, and insufficient portability. Therefore, a "spring button 26 locking structure" is adopted, employing a mechanical intelligent design where "pressing the spring button 26 manually folds the blade, and releasing the button locks the blade 24 in position." By manually pressing down on the spring button 26, the spring is compressed, causing the button 26 to move downwards, thus manually folding the blade 24. When the blade 24 is folded to the maximum folding angle, the pressure is released, causing the spring button 26 to spring back, thus locking the blade 24 at the maximum folding angle position, achieving the folding function of the blade 24. A fixing block 25 and a limiting mechanism are set inside the rotor hub. Manually pressing it folds the blade 24 to the maximum angle and temporarily locks it. When the rotor starts, the blade 24 is fixed at the maximum folding angle due to the limiting effect of the spring button 26. This process requires no additional power or complex control, achieving the goal of reducing the storage volume by 50%, while ensuring high reliability and excellent portability.

[0032] Further optimization of the design includes a dual-mode wheel-leg assembly comprising a central support 27, on which three wheel-leg bodies 28 are rotatably connected. An arc-shaped baffle is fixedly installed on the outer wall of each wheel-leg body 28. A central gear 29 is rotatably connected to the center of the central support 27. A locking tooth 30, meshing with the central gear 29, is provided on the inner side of the end of each wheel-leg body 28 that rotatably engages with the central gear 29. An adjustment motor that drives the central gear 29 to rotate is installed at the bottom of the housing 1. For uneven terrain such as depressions and swamps, the dual-mode wheel-leg assembly utilizes the meshing of the central gear 29 and the locking tooth 30 on the wheel-legs to drive the rotation of the wheel-leg bodies 28, enabling the opening and closing of the wheel-leg bodies 28. This allows the drone to overcome obstacles in uneven areas by adjusting the motor to open the wheel-leg bodies 28, adapting to different terrains and enabling the drone to operate in various environments.

[0033] Further optimization of the design resulted in a streamlined box 1 with a teardrop-shaped streamlined profile on its outer wall. One end of the box 1 is a narrow, pointed, flow-facing end, while the other end is a gently converging end. During its movement in the water, the box 1 exhibits a velocity pattern of lower velocity at both ends and higher velocity at the sides. This creates a low-pressure area at the tail end and a high-pressure area on the sides, reducing the impact of the water flow on the box 1 and allowing it to propel itself steadily through the water. The teardrop-shaped structure of this box 1 effectively reduces resistance during movement in the water flow.

[0034] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0035] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An omnidirectional robot capable of autonomous folding, characterized in that: include The main body of the fuselage includes a housing (1) and a mounting end cover (2). The mounting end cover (2) is detachably connected to the housing (1). The housing (1) is equipped with a power unit. The propeller assembly has four propeller assemblies, which are respectively arranged on the periphery of the mounting end cover (2); the propeller assembly includes a blade assembly and a control component that drives the blade assembly to rotate. The folding arm assembly is provided in four parts. The folding arm assembly is located at the four corners of the mounting end cover (2). The folding arm assembly is provided in a one-to-one correspondence with the propeller assembly. A carbon tube (3) is installed between the corresponding folding arm assembly and the propeller assembly. A dual-mode wheel leg assembly is located at the bottom of the housing (1).

2. The autonomously foldable amphibious robot according to claim 1, characterized in that: The folding arm assembly includes a housing (4) fixedly connected to the mounting end cap (2), a rotating shaft (5) rotatably connected inside the housing (4), a carbon tube connector (6) fixedly connected in the middle of the rotating shaft (5), the carbon tube connector (6) fixedly connected to the carbon tube (3), the bottom wall and side wall of the housing are provided with openings for the movement of the carbon tube connector (6), a push stop (7) fixedly connected on the rotating shaft (5); a stepper motor (8) fixedly connected to the top wall of the housing, a lead screw (9) fixedly connected to the output shaft of the stepper motor (8), the end of the lead screw (9) away from the stepper motor (8) rotatably engaging with the inner wall of the housing, a key (10) slidably connected to the top wall of the housing, the lead screw (9) passing through the key (10) and threadedly engaging with the key (10), the key (10) being adapted to the push stop (7).

3. The autonomously foldable amphibious robot according to claim 2, characterized in that: The push-stop (7) is disc-shaped. The push-stop (7) has a groove (11) on its periphery that is compatible with the key (10). Two protrusions (12) are fixedly connected to the periphery of the push-stop (7). The two protrusions (12) are located on both sides of the groove (11). Two fixing blocks (25) are fixedly connected inside the housing. The two fixing blocks (25) are located on both sides of the push-stop (7). The protrusions (12) and the fixing blocks (25) are correspondingly arranged.

4. The autonomously foldable amphibious robot according to claim 2, characterized in that: The control component includes a motor sleeve (13), a waterproof shell (14) is fixedly connected to one end of the carbon tube (3) away from the carbon tube connector (6), the motor sleeve (13) is located inside the waterproof shell (14), a brushless motor (15) is fixedly connected inside the motor sleeve (13), an inner sleeve (16) is fixedly connected to the output shaft of the brushless motor (15), an outer sleeve (17) is rotatably arranged above the inner sleeve (16), a slot (18) is provided between the outer sleeve (17) and the inner sleeve (16), the slot (18) slides with the inner sleeve (16) along its axial direction, two slots are opened on the inner wall of the inner sleeve (16) to match the slot (18), and the slot (18) is fixedly connected to the outer sleeve (17).

5. The autonomously foldable amphibious robot according to claim 4, characterized in that: The top of the sleeve (13) of the brushless motor (15) is fixedly connected to an intermediate sleeve (19), and an electromagnetic fixing frame (20) is fixedly connected inside the intermediate sleeve (19). The inner sleeve (16) passes through the electromagnetic fixing frame (20). A ring magnet is fixedly connected on the electromagnetic fixing frame (20). Several electromagnets and a circuit board are fixedly connected inside the electromagnetic fixing frame (20). The electromagnets are electrically connected to the circuit board. A charging port is opened on the bottom surface of the electromagnetic fixing frame (20).

6. The autonomously foldable amphibious robot according to claim 1, characterized in that: The blade assembly includes a mounting base (21) fixedly connected to the outer sleeve (17), a mounting frame (22) fixedly connected to the mounting base (21), a mounting rod (23) installed in the mounting frame (22), one end of a blade (24) is provided in the mounting frame (22), the mounting rod (23) passes through the end of the blade (24) and rotates with the blade (24), a fixing block (25) is fixedly connected in the mounting frame (22), and a spring button (26) is installed in the mounting frame (22). The fixing block (25) and the spring button (26) are respectively located on both sides of the end of the blade (24).

7. The autonomously foldable amphibious robot according to claim 1, characterized in that: The dual-mode wheel assembly includes a central support (27), on which three wheel bodies (28) are rotatably connected. An arc-shaped baffle is fixedly provided on the outer side wall of the wheel body (28). A central gear (29) is rotatably connected to the middle of the central support (27). A locking tooth (30) that meshes with the central gear (29) is provided on the inner side of the end of the wheel body (28) that rotatably engages with the central support (27). An adjustment motor that drives the central gear (29) to rotate is installed at the bottom of the housing (1).

8. The autonomously foldable amphibious robot according to claim 1, characterized in that: The box (1) is a streamlined box (1), the outer wall of the box (1) is a teardrop-shaped streamlined profile, one end of the box (1) is a narrowed pointed front end, and the other end of the box (1) is a gently converging end.

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