Mechanical foot and amphibious vehicle

Abstract

The application provides a mechanical foot and an amphibious vehicle, and relates to the technical field of vehicles.The amphibious vehicle comprises a vehicle body and four mechanical feet installed around the bottom of the vehicle body.Each mechanical foot comprises a connecting piece rotatably connected to the vehicle body, two crank link mechanisms rotatably connected to the same point of the connecting piece, and two foot structures rotatably connected to different crank link mechanisms.The connecting piece drives the two crank link mechanisms to move asymmetrically, thereby driving the two foot structures to alternately lift or fall.The structure cooperation between the connecting piece and the crank link mechanisms realizes simple and efficient motion control, reduces unnecessary complexity and potential failure points, and avoids motion instability caused by gear wear or transmission problems, so that the amphibious vehicle has obvious advantages in simplifying the structure, improving the motion stability and adaptability, and can better adapt to diversified application requirements.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and more specifically, to a mechanical leg and an amphibious aircraft. Background Technology

[0002] Amphibious vehicles are a key component of modern marine technology and are of great significance to the implementation of the maritime power strategy. my country has abundant coastal tidal flat resources, covering approximately 1.512 million hectares, which possess important ecological functions and potential, representing a vital reserve of land resources. However, traditional underwater vehicles are prone to running aground in shallow waters or areas above the water, while land-based machinery is susceptible to slipping or getting stuck in the complex terrain of tidal flats. These problems limit operational efficiency. Amphibious vehicles, as tools capable of operating both on water and land, effectively solve these technical challenges.

[0003] Existing amphibious vehicles are mainly wheeled and tracked, both of which rely on the friction generated by the large contact area between their wheels or tracks and the ground to propel them forward. However, most tidal flats are composed of soft mud and sand. Wheeled vehicles are prone to getting stuck in this environment, unable to move forward, and their obstacle-crossing ability is weak, making it difficult to cope with common obstacles such as reefs and gullies. Tracked vehicles, due to their large contact area with the seabed, may cause serious damage to the seabed ecosystem, stirring up large amounts of mud and sand that affect the habitat and reproduction of marine life, resulting in adverse effects.

[0004] To address this issue, mechanically legged amphibious vehicles have emerged. Publication CN120482201A discloses a single-degree-of-freedom biomimetic quadrupedal crawling robot based on a coupled planar linkage mechanism. By integrating a parallelogram mechanism and a crank-rocker mechanism, the mechanical legs can accurately simulate human walking movements, possessing smooth and efficient motion capabilities. However, because the mechanical legs can only support the ground with two legs simultaneously while the other two are raised, they cannot simultaneously support the entire frame with all four legs, resulting in poor overall stability.

[0005] To address this issue, document CN218616953U discloses an eight-legged parallel exploration robot capable of landing on all four legs simultaneously, increasing stability, and performing a series of movements such as forward, backward, and turning, meeting the operational needs of robots in complex or hazardous environments. However, this eight-legged parallel exploration robot uses a relatively complex gear transmission system and multiple motion components to achieve coordinated movement of the mechanical legs. This complex mechanical structure increases the system's failure rate and maintenance difficulty. Furthermore, the motion accuracy and stability of the gear transmission system are easily affected by factors such as wear and gear meshing conditions, which may lead to instability and decreased accuracy with long-term use.

[0006] Therefore, how to simplify the structure of the robotic leg while improving its stability and reliability during long-term operation remains an urgent problem to be solved. Utility Model Content

[0007] The purpose of this application is to provide a mechanical leg and an amphibious vehicle in order to address the shortcomings of the above-mentioned technology.

[0008] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0009] This application provides a mechanical foot, including a connector for rotatably connecting to the main body of a vehicle, two crank-connecting rod mechanisms rotatably connected to the same point of the connector, and two foot structures rotatably connected to different crank-connecting rod mechanisms. The rotation of the connector causes the two crank-connecting rod mechanisms to move asymmetrically, thereby causing the two foot structures to alternately lift and lower.

[0010] Furthermore, each crank-connecting rod mechanism includes a first connecting rod and a second connecting rod rotatably connected to the same point of the connecting member, and a third connecting rod and a fourth connecting rod rotatably connected to the other ends of the first connecting rod and the second connecting rod, respectively. The end of the third connecting rod away from the first connecting rod and the end of the fourth connecting rod away from the second connecting rod are rotatably connected to the same point of the vehicle body, and the foot structure is rotatably connected to the connection point of the first connecting rod and the third connecting rod.

[0011] Furthermore, the fourth link is a triangular link, with its first and second ends rotatably connected to the second and third links respectively. The third end of the triangular link is rotatably connected to the foot structure via the fifth link. The fifth link is parallel to and spaced apart from the third link, so that the lines connecting the third link, the connection point between the third link and the triangular link and the connection point between the fifth link and the triangular link, the connection point between the third link and the foot structure and the connection point between the fifth link and the foot structure, and the fifth link itself constitute a parallelogram mechanism.

[0012] Furthermore, the foot structure is a triangular plate, with the first and second ends of the triangular plate connected to the third and fifth links respectively, and the third end of the triangular plate used to contact the ground.

[0013] Furthermore, the connector is an equilateral triangular plate, and the centroid of the equilateral triangular plate is rotatably connected to the vehicle body.

[0014] This application also provides an amphibious vehicle, including a vehicle body and mechanical feet of any of the above, with mechanical feet installed around the bottom of the vehicle body.

[0015] Furthermore, the four mechanical legs installed around the bottom of the aircraft body are synchronously driven by servo motors to make the four mechanical legs move synchronously.

[0016] Furthermore, the vehicle body has a streamlined shape similar to that of a pufferfish.

[0017] Furthermore, the top of the aircraft body is hollowed out.

[0018] Furthermore, a main thruster and an auxiliary thruster are installed around the amphibious vehicle body. The main thruster is used to control the propulsion of the amphibious vehicle, and the auxiliary thruster is used to adjust the attitude of the amphibious vehicle.

[0019] Furthermore, the angle between the auxiliary thruster's arrangement angle and the horizontal plane is 45° to 75°.

[0020] Furthermore, a circuit board is installed inside the aircraft body, and the circuit board is electrically connected to the servo motor.

[0021] Furthermore, sensors are installed inside the amphibious vehicle to detect its motion status. The circuit board is electrically connected to the sensors to control the operation of the servo motor based on the sensor detection information.

[0022] The beneficial effects of this application include:

[0023] This application provides a mechanical foot, including a connector for rotatably connecting to the vehicle body, two crank-connecting rod mechanisms rotatably connected to the same point of the connector, and two foot structures rotatably connected to different crank-connecting rod mechanisms. The rotation of the connector causes the two crank-connecting rod mechanisms to move asymmetrically, thereby causing the two foot structures to alternately lift or lower themselves. Through the structural cooperation between the connector and the crank-connecting rod mechanisms, relatively simple and efficient motion control is achieved, reducing unnecessary complexity and potential failure points, and making the movement of the foot structures more stable and reliable. It also avoids motion instability caused by gear wear or transmission problems.

[0024] This application also provides an amphibious vehicle, including a vehicle body and four mechanical legs mounted around the bottom of the vehicle body. Each mechanical leg always has one foot structure in contact with the ground, ensuring that there is a foot structure supporting the vehicle body at all times. This gives the vehicle high stability and reliability during movement, avoiding instability or tilting that may occur in complex terrain. Overall, the mechanical leg design gives the vehicle significant advantages in terms of simplified structure, improved movement stability, and adaptability, enabling it to better meet diverse application needs. Attached Figure Description

[0025] Figure 1 This application provides a three-dimensional structural schematic diagram of an amphibious vehicle.

[0026] Figure 2One of the structural schematic diagrams of a mechanical foot provided in this application;

[0027] Figure 3 This is the second schematic diagram of a mechanical foot provided in this application;

[0028] Figure 4 This is the third schematic diagram of a mechanical foot provided in this application;

[0029] Figure 5 The fourth schematic diagram of a mechanical foot provided in this application;

[0030] Figure 6 A schematic diagram of the structure of the amphibious vehicle body provided in this application;

[0031] Figure 7 A top view of an amphibious vehicle provided in this application;

[0032] Figure 8 A front view of an amphibious vehicle provided for this application.

[0033] Icons: 1-Vehicle body; 11-Dorsal fin; 12-Hardware compartment; 13-Lighting and camera mounting opening; 14-Mechanical leg mounting opening; 15-Thruster slot; 2-Mechanical leg; 21-Leg structure; 22-Connector; 23-Crank-connecting rod mechanism; 231-First connecting rod; 232-Second connecting rod; 233-Third connecting rod; 234-Fourth connecting rod; 24-Fifth connecting rod; 31-Main thruster; 32-Auxiliary thruster. Detailed Implementation

[0034] This application provides an amphibious vehicle, such as Figure 1 and Figure 2 As shown, the system includes a vehicle body 1 and four mechanical legs 2 mounted around the bottom of the vehicle body 1. Each mechanical leg 2 includes a connector 22 rotatably connected to the vehicle body 1, with the connection point between the connector 22 and the vehicle body 1 serving as the core pivot of each mechanical leg 2. Each mechanical leg 2 also includes two foot structures 21 rotatably connected to the connector 22 via different crank-connecting rod mechanisms 23. When the connector 22 is driven by an external force to rotate on a fixed axis, it will cause the two crank-connecting rod mechanisms 23 to move asymmetrically. This asynchronous movement ensures that the two foot structures 21 of each mechanical leg 2 alternately rise or fall, thus ensuring that each mechanical leg 2 always has one foot structure 21 in contact with the ground, providing stable support.

[0035] With this design, four mechanical legs 2 are located around the perimeter of the vehicle. One leg structure 21 in each mechanical leg 2 remains in contact with the ground during movement, ensuring that at any given time, one of the four corners of the vehicle body 1 is supported by a leg structure 21. This design gives the vehicle high stability and reliability during movement, avoiding instability or tilting that may occur in complex terrain. Especially in complex terrains such as soft mudflats and rugged ground, it significantly improves the vehicle's driving efficiency and adaptability.

[0036] Furthermore, the structural cooperation between the connector 22 and the crank-connecting rod mechanism 23 achieves relatively simple and efficient motion control, reducing unnecessary complexity and potential failure points, and enabling the foot structure 21 to move smoothly and efficiently. Each mechanical foot 2 can quickly and accurately complete alternating lifting and landing actions while ensuring stable support, effectively overcoming obstacles in complex terrain and improving the vehicle's obstacle-crossing ability. During this process, the asynchronous movement between the foot structures 21 ensures that when one foot structure 21 lifts, the other foot structure 21 lands quickly, ensuring that the vehicle can maintain stable movement in various terrains, thereby providing higher stability and reliability, and avoiding motion instability caused by gear wear or transmission problems.

[0037] Therefore, through the ingenious design of its mechanical legs, this amphibious vehicle not only improves stability and reliability but also enhances its overall mobility. Especially in complex terrain, it enables efficient and reliable obstacle crossing and navigation. It boasts significant advantages in simplifying structure, improving mobility stability and adaptability, and better meets diverse application needs. Through the coordinated operation of its four mechanical legs, the vehicle can freely switch between water and land, providing more efficient operational and navigation capabilities.

[0038] Furthermore, each crank-connecting rod mechanism 23 includes a first connecting rod 231, a second connecting rod 232, a third connecting rod 233, and a fourth connecting rod 234. One end of the first connecting rod 231 and the second connecting rod 232 is rotatably connected to the same point of the connecting member 22. The other ends of the first connecting rod 231 and the second connecting rod 232 are respectively rotatably connected to one end of the third connecting rod 233 and the fourth connecting rod 234. The other ends of the third connecting rod 233 and the fourth connecting rod 234 are rotatably connected to the same point of the vehicle body 1. The foot structure 21 is rotatably connected to the connection point of the first connecting rod 231 and the third connecting rod 233. The connection and rotational cooperation between these connecting rods form an interactive kinematic chain, which drives the alternating lifting and landing of the foot structure 21 by continuously changing the motion mode.

[0039] In specific implementation, the connection point between the connector 22 and the vehicle body 1 is defined as the first connection point; the connection points between the first link 231, the second link 232 and the connector 22 are the second connection points; the connection points between the first link 231, the third link 233 and the foot structure 21 are the third connection points; the connection point between the second link 232 and the fourth link 234 is the fourth connection point; and the connection points between the third link 233, the fourth link 234 and the vehicle body 1 are the fifth connection points. In this layout, the first and fifth connection points are fixed to the vehicle body 1, forming a stable support structure to ensure the stable operation of the entire crank-connecting rod mechanism 23. The connector 22 rotates around the first connection point, which can drive the second connection point on the connector 22 to rotate around the first connection point, thereby driving the first link 231 and the second link 232 to swing. At the same time, the cooperation of the third link 233 and the fourth link 234 can convert the rotation of the second connection point into the reciprocating swing of the third connection point around the fifth connection point, thereby pushing the corresponding foot structure 21 to rise or fall.

[0040] Furthermore, the fourth link 234 is a triangular link. The first end of the triangular link is rotatably connected to the second link 232 at the fourth connection point, and the second end of the triangular link is rotatably connected to the third link 233 and the vehicle body 1 at the fifth connection point. The third end of the triangular link is connected to the foot structure 21 via the fifth link 24. Specifically, the third end of the triangular link is rotatably connected to one end of the fifth link 24 at the sixth connection point, and the other end of the fifth link 24 is rotatably connected to the foot structure 21 at the seventh connection point. The foot structure 21 is a triangular plate. The first end of the triangular plate is rotatably connected to the first link 231 and the third link 233 at the third connection point, and the second end of the triangular plate is rotatably connected to the fifth link 24 at the seventh connection point. The third end of the triangular plate serves as the ground contact end, providing support and stability for the vehicle when the foot structure 21 lands. Furthermore, the point contact method reduces environmental disturbance and the stirring up of suspended sediment, making it more environmentally friendly.

[0041] Furthermore, to ensure that the foot structure 21 maintains a suitable angle and position during operation, the fifth link 24 is arranged parallel to and spaced apart from the third link 233, and the fifth link 24 and the third link 233 have the same length. Thus, the third link 233, the line connecting the fifth and sixth connection points, the line connecting the third and seventh connection points, and the fifth link 24 together constitute a parallelogram mechanism. This parallelogram mechanism effectively controls the movement trajectory and angle of the foot structure 21, ensuring that the foot structure 21 maintains a predetermined posture and position during walking, and guarantees that the foot structure 21 forms a reasonable contact angle with the ground upon landing, providing sufficient stability and support for the vehicle.

[0042] In this embodiment, the two crank-connecting rod mechanisms 23 of each mechanical foot 2 are located on both sides of the connecting member 22 along the length of the vehicle body 1. Figure 3 As shown, when the vehicle begins to take off, the front foot structure 21 lands on the ground, while the rear foot structure 21 rises forward and upward. Figure 4 and Figure 5 As shown, as the vehicle continues to move forward, the connecting member 22 rotates clockwise. The front crank-connecting rod mechanism 23 drives the front foot structure 21 to first lift backward and upward, and then move forward and downward, preparing to land, but at this time it has not yet made contact with the ground. At the same time, the rear crank-connecting rod mechanism 23 causes the rear foot structure 21 to move backward and downward, landing at the moment the front foot structure 21 leaves the ground, and continuing to move backward and downward to increase the contact area with the ground, thereby providing stable support.

[0043] Next, as the connector 22 continues to rotate clockwise, the front foot structure 21 moves further forward and downward, eventually landing, while the rear foot structure 21 rises forward and upward, returning to the starting position, completing one full cycle. This asymmetrical movement ensures that the two foot structures 21 of each mechanical foot 2 alternately rise and land, ensuring that one foot structure 21 in each mechanical foot 2 is always on the ground, thus providing continuous and stable support for the vehicle. Through this process, the vehicle maintains high stability, avoiding unstable tilting or loss of balance, and can smoothly and reliably navigate various complex terrains.

[0044] Furthermore, the connector 22 is an equilateral triangular plate, with its centroid rotatably connected to the vehicle body 1. That is, the first connection point is located at the centroid of the equilateral triangular plate, while the second connection point is located at any vertex of the equilateral triangular plate. Through precise geometric layout, the smooth rotation of the connector 22 on the vehicle body 1 and its efficient coordination with other structural components are ensured.

[0045] Specifically, by using the centroid of the equilateral triangle plate as the first connection point and connecting it to the vehicle body 1, the equilateral triangle plate can achieve stable rotational motion around its centroid. This allows the entire connecting component 22 to flexibly respond to the needs of the vehicle's movement and adjust the movement trajectory of the foot structure 21 without sacrificing stability. The second connection point is located at the vertex of the equilateral triangle plate. Through cooperation with the crank-connecting rod mechanism 23, effective collaboration between the connecting component 22 and the foot structure 21 is achieved. Through this geometric design, the movement of the connecting component 22 ensures that the foot structure 21 can perform precise gait control, thereby improving the vehicle's adaptability and stability on different terrains.

[0046] Furthermore, the four mechanical legs 2 installed around the bottom of the vehicle body 1 are synchronously driven by servo motors. For example, four synchronously rotating servo motors are installed inside the vehicle body 1, with the output shaft of each servo motor connected to the connecting parts 22 of different mechanical legs 2, so as to drive the four mechanical legs 2 to move in coordination; or, a single servo motor is installed inside the vehicle body 1, and the output shaft of the servo motor drives the connecting parts 22 of the four mechanical legs 2 simultaneously through a transmission mechanism, so as to drive the four mechanical legs 2 to move in coordination. The precise control of the servo motors ensures that each mechanical leg 2 can move in a coordinated manner according to a predetermined pace, ensuring that the vehicle can walk stably in complex terrain and maintain good operational performance. The movement of the four mechanical legs 2 is achieved through synchronous control. One foot structure 21 of each mechanical leg 2 always remains in contact with the ground for support, while the other mechanical leg 2 lifts up and moves forward, alternating forward, ensuring that at any time the vehicle has four foot structures 21 symmetrically on the ground, providing stable support.

[0047] In this embodiment, each mechanical leg 2 has a stride of 68.3 mm, and the servo motors used have a torque of 25 kg and a rotational speed of 0.13 seconds / 60° under 6V power supply, enabling the vehicle to move smoothly at a speed of 52.5 cm / s on flat ground. Each servo motor can drive a weight of approximately 5 kg, and four servo motors are used to drive different mechanical legs 2. The expected load-bearing capacity of the entire vehicle is 20 kg, allowing the vehicle to withstand a certain load and continue to move stably.

[0048] Furthermore, the vehicle body 1 is streamlined in the shape of a pufferfish, with a dorsal fin 11 located in the middle of the top of the vehicle body 1. The outer surface of the vehicle body 1 is smooth and flat, with seamless transitions at all points. This optimizes the distribution of fluid around the vehicle, reduces the friction and eddies between the fluid and the vehicle surface, and reduces fluid resistance during movement. As a result, the vehicle can achieve a higher speed with lower energy consumption, improving the vehicle's movement efficiency, especially when moving underwater.

[0049] It should be noted that after the initial modeling of the vehicle is completed, its shape will undergo fluid simulation analysis. Simulation technology can simulate the vehicle's motion in the underwater environment and analyze the hydrodynamic characteristics of various regions in real time. During this process, simulation software helps identify areas of concentrated fluid resistance in the vehicle's shape and provides optimization suggestions. To address these issues, the vehicle's shape can be continuously adjusted and optimized to minimize water resistance, ensuring the vehicle better conforms to fluid dynamics principles, thereby further reducing energy consumption and improving navigation performance.

[0050] Furthermore, the top of the vehicle body 1 is hollowed out. This design not only achieves the goal of weight reduction but also optimizes the overall performance of the vehicle. By hollowing out the top of the vehicle body 1 in areas without strong stress, the overall weight of the vehicle is reduced, manufacturing costs are lowered, while maintaining sufficient structural strength to ensure the stability of the vehicle under different operating conditions. The lightweight design makes the vehicle more agile during operation, enabling it to respond to control commands more efficiently and improving its maneuverability and adaptability in complex aquatic environments.

[0051] Furthermore, the open top structure plays a crucial role in the vehicle's hydrodynamic performance. During launch, internal air can be quickly expelled through the open top, preventing the formation of enclosed air chambers. Failure to effectively expel air can lead to unstable buoyancy in the water, affecting the vehicle's diving and floating performance. The open top design effectively prevents buoyancy instability, ensuring a more stable underwater performance and keeping hydrodynamic performance within a controllable range.

[0052] Furthermore, such as Figure 6 As shown, a hardware compartment 12 is provided inside the vehicle body 1, and lighting and camera mounting slots 13, mechanical leg mounting slots 14, and propeller slots 15 are provided on the surface of the vehicle body 1. These slots and slots not only improve the modular design capability of the vehicle, but also allow for flexible expansion of other additional functions according to different mission requirements. The lighting and camera mounting slot 13 provides the visual support required by the vehicle when performing missions. Through this slot, different types of lighting equipment or camera systems can be easily installed for nighttime operations or underwater shooting and monitoring. This design enables the vehicle to work efficiently in diverse environments, especially in low-light or visual navigation scenarios, ensuring that the vehicle can provide a clear field of vision and effective image capture capabilities. The mechanical leg mounting slot 14 is used to install the connector 22 and the crank-connecting rod mechanism 23, ensuring the precise movement and coordinated operation of the leg structure 21, thereby enabling the vehicle to walk efficiently in complex ground environments. The propeller slot 15 is used to install the propeller, enabling the vehicle to navigate in water.

[0053] Furthermore, a main thruster 31 and an auxiliary thruster 32 are equipped around the periphery of the vehicle body 1 to provide precise control and flexible maneuverability during underwater movement. The main thruster 31 is primarily responsible for the vehicle's propulsion function, ensuring that the vehicle can effectively move forward or backward underwater. The auxiliary thruster 32 is specifically designed to enable the vehicle's underwater snorkeling operations and adjust the vehicle's attitude when needed, thereby providing the vehicle with greater freedom and flexibility.

[0054] like Figure 7 and Figure 8 As shown, two main thrusters 31 are symmetrically installed on both sides of the vehicle body 1 along the width direction. The main thrusters 31 are of a high thrust type to ensure sufficient propulsion. When the two main thrusters 31 work synchronously, they can propel the vehicle forward or backward; when the two main thrusters 31 operate in opposite directions, the vehicle can turn left or right, increasing the vehicle's maneuverability between water and land.

[0055] In addition, two auxiliary thrusters 32 are arranged on each side of the vehicle body 1 along the width direction, for a total of four auxiliary thrusters 32 on both sides. The two auxiliary thrusters 32 on each side are arranged along the length direction of the vehicle, and the angle between the arrangement angle of each auxiliary thruster 32 and the horizontal plane is 45° to 75°. Preferably, the angle between the arrangement angle of each auxiliary thruster 32 and the horizontal plane is 60°. The four auxiliary thrusters 32 can work together to provide more precise motion control. When the four auxiliary thrusters 32 on both sides push in the same direction, the vehicle rises or falls, adjusting the vertical position of the vehicle; when the two auxiliary thrusters 32 on the front side and the two auxiliary thrusters 32 on the rear side push in opposite directions, the pitch attitude of the vehicle can be adjusted; when the two auxiliary thrusters 32 on the left side and the two auxiliary thrusters 32 on the right side push in opposite directions, the roll attitude of the vehicle can be adjusted. Furthermore, when the two auxiliary thrusters 32 on the left rear and right front sides are in the opposite direction to the two auxiliary thrusters 32 on the left front and right rear sides, the vehicle can achieve precise left and right translation, which greatly facilitates operation in narrow or complex environments.

[0056] Through the coordinated operation of multiple thrusters, the vehicle can achieve various modes of movement, including forward, backward, turning, and lateral movement, and can quickly switch between different modes. This multi-thruster layout and control method endows the vehicle with strong adaptability, especially in complex amphibious environments, enabling it to efficiently complete various tasks.

[0057] Furthermore, circuit boards and sensors are installed within the vehicle body 1 to achieve efficient control and real-time monitoring. Through electrical connections with the servos, thrusters, and sensors of the four mechanical legs 2, the circuit boards can dynamically adjust the operating states of the servos and thrusters based on information acquired by the sensors, thereby ensuring stable operation of the vehicle. The circuit boards are single-piece 10x10cm boards, effectively achieving system lightweighting and miniaturization, and enhancing the overall compactness of the vehicle, allowing it to integrate more control and processing functions within a limited space.

[0058] The circuit board employs a wide voltage input design, enabling the aircraft to adapt to power supplies of different voltages. This significantly improves the system's versatility and stability, ensuring stable operation under various working environments and power conditions. This design allows the aircraft to flexibly adapt to multiple voltage environments, reducing reliance on external power supplies and enhancing system reliability in different applications.

[0059] Sensors, including accelerometers, gyroscopes, and pressure sensors, provide the circuit board with real-time environmental and motion status data. By acquiring and fusing this data in real time, the circuit board can accurately obtain information about the vehicle's motion and surrounding environment, providing a more reliable basis for vehicle control. For example, accelerometers monitor changes in the vehicle's acceleration, gyroscopes provide attitude information, and pressure sensors measure underwater depth and pressure. This real-time feedback ensures the vehicle can adjust its state promptly to adapt to the constantly changing environment.

[0060] Furthermore, the circuit board is equipped with wireless programming and debugging technology, facilitating remote system updates and debugging. This technology greatly simplifies vehicle maintenance, enabling on-site system debugging and updates, saving time and improving efficiency. Through the wireless programming function, developers can remotely update the circuit board's software, ensuring the vehicle always runs the latest control strategies and functions.

[0061] To enhance the vehicle's maneuverability, the system is also equipped with a self-developed host computer system. Through this system, operators can intuitively view various parameters and status information of the vehicle, including battery level, sensor data, and the operating status of the servos and thrusters, thereby achieving efficient control and monitoring of the vehicle. Operators can control the vehicle in real time via a joystick; commands are processed by the host computer and transmitted to the vehicle via a wireless serial port, enabling remote control. This remote control system not only enhances operational flexibility but also makes operation of the vehicle more convenient in complex environments, improving mission execution efficiency and accuracy.

[0062] Through these integrated designs, the vehicle can operate precisely in complex environments, exhibiting high adaptability and flexibility, while simultaneously enhancing the stability and reliability of the control system. Furthermore, while improving maneuverability, the rational allocation of energy achieves energy conservation and environmental protection, ensuring its long-term operational capability. In addition, the high integration of circuit boards and sensors provides robust support for the vehicle, enabling it to complete various tasks in diverse terrestrial and aquatic environments, ensuring the system's high efficiency and durability.

[0063] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mechanical foot, characterized in that, It includes a connector for rotating with the main body of the aircraft, two crank-connecting rod mechanisms rotatably connected to the same point of the connector, and two foot structures rotatably connected to different crank-connecting rod mechanisms. The rotation of the connector causes the two crank-connecting rod mechanisms to move asymmetrically, thereby causing the two foot structures to rise and fall alternately.

2. The mechanical foot according to claim 1, characterized in that, Each crank-connecting rod mechanism includes a first and a second connecting rod rotatably connected to the same point of the connecting member, and a third and a fourth connecting rod rotatably connected to the other ends of the first and second connecting rods, respectively. The end of the third connecting rod away from the first connecting rod and the end of the fourth connecting rod away from the second connecting rod are rotatably connected to the same point of the vehicle body. The foot structure is rotatably connected to the connection point of the first and third connecting rods.

3. The mechanical foot according to claim 2, characterized in that, The fourth link is a triangular link. The first and second ends of the triangular link are rotatably connected to the second and third links, respectively. The third end of the triangular link is rotatably connected to the foot structure via the fifth link. The fifth link is parallel to the third link and spaced apart, so that the lines connecting the third link, the connection point of the third link and the triangular link and the connection point of the fifth link and the triangular link, the connection point of the third link and the foot structure and the connection point of the fifth link and the foot structure, and the fifth link itself constitute a parallelogram mechanism.

4. The mechanical foot according to claim 3, characterized in that, The foot structure is a triangular plate. The first and second ends of the triangular plate are connected to the third and fifth links, respectively. The third end of the triangular plate is used to contact the ground.

5. The mechanical foot according to any one of claims 1 to 4, characterized in that, The connector is an equilateral triangular plate, and the centroid of the equilateral triangular plate is rotatably connected to the main body of the aircraft.

6. An amphibious vehicle, characterized in that, It includes a vehicle body and the mechanical feet as described in any one of claims 1 to 5, with mechanical feet installed around the bottom of the vehicle body.

7. The amphibious vehicle according to claim 6, characterized in that, The four mechanical legs installed around the bottom of the aircraft are synchronously driven by servo motors to move the four mechanical legs in sync.

8. The amphibious vehicle according to claim 6 or 7, characterized in that, The vehicle body has a streamlined shape similar to that of a pufferfish, and the top of the vehicle body is hollowed out.

9. The amphibious vehicle according to claim 6 or 7, characterized in that, The amphibious vehicle is equipped with a main thruster and an auxiliary thruster. The main thruster is used to control the propulsion of the amphibious vehicle, and the auxiliary thruster is used to adjust the attitude of the amphibious vehicle.

10. The amphibious vehicle according to claim 9, characterized in that, The angle between the auxiliary thruster's arrangement angle and the horizontal plane is 45° to 75°.

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