阅读说明：本技术 一种轮鳍配合的多地形水陆两栖机器人 (Wheel-fin-matched multi-terrain amphibious robot ) 是由 胡桥 李士杰 曾杨彬 童保成 张堂佳 于 2021-08-27 设计创作，主要内容包括：本发明公开了一种轮鳍配合的多地形水陆两栖机器人,轮驱动模块安装在底板四个端角,柔性鳍面及鳍面驱动单元设置在底板两侧的轮驱动模块之间。轮驱动模块主要实现机器人的陆上运动,柔性鳍面主要实现机器人的水下运动,同时,两者可以通过相互配合动作,实现机器人在台阶、坡道、水陆交界、水泥地、沙石地、草地等多种地形下的灵活运动。本发明的轮鳍配合的多地形水陆两栖机器人结构简单紧凑、成本低、可靠性高、环境适应能力强、机动性好、稳定性高等突出优点。(The invention discloses a wheel-fin-matched multi-terrain amphibious robot. The wheel drive module mainly realizes the land motion of robot, and flexible fin face mainly realizes the underwater motion of robot, and simultaneously, both can be through the action of mutually supporting, realize the nimble motion of robot under multiple topography such as step, ramp, land and water juncture, cement ground, sand and stone ground, meadow. The multi-terrain amphibious robot with the wheel fins matched has the outstanding advantages of simple and compact structure, low cost, high reliability, strong environment adaptability, good maneuverability, high stability and the like.)

1. The multi-terrain amphibious robot with the wheel fins matched is characterized by comprising a bottom plate (61), fin surface driving units (1) are arranged on two sides of a long edge of the bottom plate (61) respectively, a flexible fin surface (3) is connected to an extending end of each fin surface driving unit (1), and the flexible fin surface (3) is used for realizing underwater movement of the multi-terrain amphibious robot; the bottom plates (61) on the two sides of the fin surface driving unit (1) are respectively provided with a wheel driving module (2), and the wheel driving modules (2) are used for realizing land motion of the multi-terrain amphibious robot; the front end, the rear end and the lower side of the bottom plate (61) are respectively provided with a sensor; the fin surface driving unit (1), the wheel driving module (2) and the sensor are respectively connected with an electronic cabin module (5) and a power supply (8) which are arranged on the bottom plate (61).

2. The wheel-fin-matched multi-terrain amphibious robot according to claim 1, wherein the fin surface driving units (1) comprise multiple groups, and are arranged between the wheel driving modules (2) on two sides of the long side of the base plate (61) at intervals.

3. A multi-terrain amphibious robot with wheel fin matching according to claim 1 or 2, characterized in that the fin driving unit (1) comprises a swing driving element (111), the output end of the swing driving element (111) is connected with one end of a swing arm (121), the other end of the swing arm (121) is connected with the flexible fin (3) through a fin clamping piece (122), and the swing arm (121) and the fin clamping piece (122) share three-directional degrees of freedom.

4. The fin-wheel-fitted multi-terrain amphibious robot according to claim 3, wherein the swing arm (121) comprises a swing arm elastic plate (1212), one end of the swing arm elastic plate (1212) is connected with the fin surface clamping member (122) through a clamping member rotating shaft (1221), and the other end of the swing arm elastic plate (1212) is connected with the swing driving element (111) through a swing arm rotating shaft (1211).

5. The multi-terrain amphibious robot with wheel fin matched according to claim 3, wherein the fin surface clamping piece (122) is Y-shaped, a clamping piece through hole (1222) is formed in the opening side of the fin surface clamping piece, the fin surface clamping piece is connected with one end of the elastic fin strip (13) through the clamping piece through hole (1222), and the other end of the elastic fin strip (13) is correspondingly connected with the fin surface through hole (31) in the flexible fin surface (3).

6. The skeg-matched multi-terrain amphibious robot according to claim 1, wherein the wheel driving module (2) comprises a rotary driving element (22), the rotary driving element (22) is arranged on the lower surface of the front end and the rear end of the base plate (61), and the rotary driving element (22) is connected with the driving wheel (21).

7. The skeg-matched multi-terrain amphibious robot according to claim 1, wherein the flexible skeg surface (3) is in a deployed shape of a skeg surface with or without a circular arc guide section.

8. The fin-wheeled multi-terrain amphibious robot according to claim 1, wherein the sensors comprise a vision sensor (71), an amphibious distance measuring sensor (72) and a water depth sensor (73), the vision sensor (71) and the amphibious distance measuring sensor (72) are respectively arranged at two ends of the base plate (61), the amphibious distance measuring sensor (72) is arranged at intervals in a vertical direction, and the water depth sensor (73) is arranged on the lower side of the base plate (61).

9. The multi-terrain amphibious robot with wheel-fin matching according to claim 1, wherein the electronic cabin module (5) comprises an electronic cabin (52) with a cylindrical closed structure, a control board (511), an underwater acoustic communication element (512) and a land communication element (513) are arranged in the electronic cabin (52), and the underwater acoustic communication element (512) and the land communication element (513) are connected with the control board (511) respectively.

10. The fin-wheeled multi-terrain amphibious robot according to claim 1, wherein a groove is formed in the middle of the base plate (61), the electronic cabin module (5) is arranged in the groove, a towing hook (62) is arranged on one side of the base plate (61), and a shell (4) is arranged on the base plate (61).

Technical Field

The invention belongs to the technical field of amphibious robots, and particularly relates to a multi-terrain amphibious robot with wheel fins matched.

Background

With the vigorous development of modern scientific technology, the demand of fields such as offshore resource exploration and development, waterfront search and rescue, material transportation, military investigation and the like on amphibious robots capable of adapting to various complex environments and task demands is increasingly obvious, but the demands are bound by actual complex problems such as underwater ocean current turbulence, vegetation cluster, vertical and horizontal land gully, changeable landform, spreading of silt at the boundary between the land and the water, rugged terrain and the like.

The traditional amphibious robot mostly adopts wheel type, crawler type and other propulsion modes, has good environment adaptability and strong obstacle crossing capability, but has the defects of complex structure, low efficiency, insufficient maneuvering capability and the like, and is particularly easy to wind in vegetation-bushy water areas, and in addition, the robot is difficult to maintain self stability in water areas with turbulent waves. In addition, the leg type, ball type, wheel leg type, wheel paddle type and other propulsion types have many advantages, but it is still difficult to achieve better balance among the environmental adaptability, maneuverability and stability of the robot. At present, the amphibious robot based on the biological inspiration principle is in a hot spot direction, among a plurality of bionic objects, a bionic propulsion method based on the wave-motion propulsion principle provides a better idea for solving the problems, the bionic wave-motion propulsion method mainly realizes the motion of the robot through the sine-wave-like wave-motion propulsion principle of a flexible fin surface, and the motion mode has the remarkable characteristic of high low-speed stability. At present, research results based on the wave fin type propulsion principle generally adopt a propulsion mode of combining a plurality of groups of flexible fin surfaces, and are difficult to get rid of the characteristic low-speed characteristic of the wave type propulsion mode essentially.

In conclusion, the existing amphibious robot generally has the problems of complex structure, insufficient environment adaptability, limited maneuverability, poor stability and the like, so that the designed amphibious robot with strong environment adaptability, high maneuverability and excellent stability has important significance in the fields of resource exploration and development, waterfront search and rescue, material transportation, military investigation and the like.

Disclosure of Invention

The invention aims to solve the technical problem of providing a multi-terrain amphibious robot with wheel fins matched, which has strong environment adaptability, good maneuverability and high stability and aims at overcoming the defects in the prior art.

The invention adopts the following technical scheme:

a multi-terrain amphibious robot with wheel fins matched comprises a bottom plate, wherein fin surface driving units are respectively arranged on two sides of a long edge of the bottom plate, extending ends of the fin surface driving units are connected with flexible fin surfaces, and the flexible fin surfaces are used for realizing underwater movement of the multi-terrain amphibious robot; wheel driving modules are respectively arranged on the bottom plates on the two sides of the fin surface driving unit and used for realizing land motion of the multi-terrain amphibious robot; the front end, the rear end and the lower side of the bottom plate are respectively provided with a sensor; the fin surface driving unit, the wheel driving module and the sensor are respectively connected with an electronic cabin module and a power supply which are arranged on the bottom plate.

Specifically, the fin surface driving unit comprises a plurality of groups, and the fin surface driving units are arranged between the wheel driving modules on the two sides of the long edge of the bottom plate at intervals.

Further, fin face drive unit includes swing drive element, and swing drive element's output is connected with the one end of swing arm, and the other end of swing arm passes through the fin face holder to be connected with flexible fin face, the swing arm and the total degree of freedom of three directions of fin face holder.

Further, the swing arm includes the swing arm elastic plate, and the one end of swing arm elastic plate is passed through the holder rotation axis and is connected with the fin face holder, and the other end of swing arm elastic plate passes through the swing arm rotation axis and is connected with swing driving element.

Furthermore, the fin face clamping piece is Y type, and the opening side is provided with the clamping piece through-hole, is connected with the one end of elasticity fin through the clamping piece through-hole, and the other end of elasticity fin corresponds with the fin face through-hole on the flexible fin face and is connected.

Specifically, the wheel drive module includes a rotary drive element disposed on the lower surfaces of the front and rear ends of the base plate, the rotary drive element being connected to the drive wheel.

Specifically, the flexible fin surface is in an unfolded shape of the fin surface with or without an arc guide section.

Specifically, the sensor includes vision sensor, land and water distance measuring sensor and depth of water sensor, and vision sensor and land and water distance measuring sensor set up the both ends at the bottom plate respectively, and land and water distance measuring sensor adopts vertical interval arrangement, and the depth of water sensor sets up the downside at the bottom plate.

Specifically, the electronic cabin module comprises an electronic cabin with a cylindrical closed structure, a control panel, an underwater acoustic communication element and a land communication element are respectively arranged in the electronic cabin, and the underwater acoustic communication element and the land communication element are respectively connected with the control panel.

Specifically, the middle of the bottom plate is provided with a groove, the electronic cabin module is arranged in the groove, one side of the bottom plate is provided with a towing hook, and the bottom plate is provided with a shell.

Compared with the prior art, the invention has at least the following beneficial effects:

according to the multi-terrain amphibious robot with the wheel fin matched, land running is achieved through the driving wheel, underwater traveling is mainly achieved through the flexible fin surface, meanwhile, movement in various complex environments such as land-water transition, stepping and climbing can be achieved through the matched movement of the driving wheel and the flexible fin surface, and particularly when the robot runs in complex and easily-trapped terrain environments such as soft sand beach, rugged stone block and the like, the driving wheel can stably run under the matched action of the flexible fin surface; possess many topography simultaneously and independently discern the function, the robot is provided with depth of water sensor, vision sensor, land and water distance measuring sensor, and the robot can accomplish the discernment to multiple environment to the comprehensive judgement of each sensor detected signal.

Furthermore, the fin surface driving units comprise a plurality of groups of fin surface driving units which are used as direct driving elements of the flexible fin surface, the swing driving elements in the fin surface driving units can generate swing motion, parameters such as amplitude, frequency and offset of the swing motion generated by each fin surface driving unit can be independently controlled through a control board, and through coordination control among the fin surface driving units, the flexible fin surface generates various motion waveforms, and different motion waveforms generate different forms of propulsive force, so that the robot has multiple motion modes and the maneuvering capability of the robot is realized; in addition, the fin surface driving units are arranged between the wheel driving modules on the two sides of the long edge of the bottom plate at intervals, mutual influence between the flexible fin surface and the driving wheels is avoided, and meanwhile, when the robot moves underwater, the flexible fin surface can be in contact with large-area forward incoming flow, so that larger propelling force is provided, and the overall dynamic stability of the robot is guaranteed.

Furthermore, the swing driving element is connected with one end of the swing arm, the other end of the swing arm is connected with the flexible fin surface through the fin surface clamping piece, the swing arm transmits the swing driving force output by the swing driving element to the fin surface clamping piece, the fin surface clamping piece can rotate relative to the swing arm, and the fin surface clamping piece converts the plane swing motion of the swing arm into the plane swing and space rotation composite motion, so that the driving force of the swing driving element is transmitted to the flexible fin surface; the swing arm and the fin surface clamping piece have three degrees of freedom: the swing driving element is provided with a swing freedom degree of the swing arm relative to the swing driving element, a bending freedom degree of the swing arm, and a rotation freedom degree of the fin surface clamping piece relative to the swing arm.

Furthermore, the swing arm is used as a main driving part for the flexible fin surface to perform wave motion, the swing arm elastic plate can adapt to certain bending deformation, the distance between adjacent fin surface driving units can be periodically changed in the wave motion process of the flexible fin surface, the flexible fin surface between the adjacent connecting part of the flexible fin surface clamping piece and the fin surface clamping piece can generate larger internal stress, and the bending freedom degree of the swing arm elastic plate can enable the swing arm to generate certain self-adapting effect on the pulling of the flexible fin surface in the swing process, so that the energy loss caused by the internal stress of the flexible fin surface is reduced; one end of the swing arm elastic plate is connected with the fin surface clamping piece through a clamping piece rotating shaft, the fin surface clamping piece can freely rotate around the clamping piece rotating shaft relative to the swing arm elastic plate, and the tangential direction of the flexible fin surface at the connection part of the flexible fin surface clamping piece is continuously changed when the flexible fin surface moves in a fluctuating mode, so that the rotating degree of the fin surface clamping piece relative to the swing arm can enable the swing arm to generate a certain self-adaptive effect to conform to the fluctuating motion of the flexible fin surface, and the continuity and the flexibility of the flexible fin surface fluctuating motion are better; the other end of the swing arm elastic plate is fixedly connected with the output end of the swing driving element through a swing arm rotating shaft and used for transmitting the swing driving force generated by the swing driving element.

Furthermore, the fin face clamping piece is Y type, and two elasticity fin lines set up respectively inside fin face clamping piece opening side, and fin face clamping piece opening side is provided with the clamping piece through-hole, is connected through the through-hole of corresponding position on clamping piece through-hole and the elasticity fin line, and the through-hole of corresponding position on the elasticity fin line corresponds with the fin face through-hole on the flexible fin face and is connected, bonds through the mode of cementing between elasticity fin line and the flexible fin face to it is fixed between flexible fin face and the fin face clamping piece.

Furthermore, the rotary driving element is arranged on the lower surfaces of the front end and the rear end of the bottom plate, one end of the rotary driving element is connected with a driving wheel, the driving wheel has a larger diameter, the bottom plate can be lifted, the robot has stronger obstacle crossing capability, and meanwhile, the span between the driving wheels can be increased by the arrangement mode, so that the stability of the robot is improved.

Furthermore, the flexible fin surface is unfolded to be in a shape of a fin surface with an arc guide section or a fin surface without the arc guide section, the fin surface without the arc guide section is in a fan shape, a plurality of groups of fin surface through holes are arranged at intervals close to the inner arc side, and after the inner arc of the fin surface is stretched to be a straight line, the spatial curved surface shape of the flexible fin surface can be obtained, so that the flexible fin surface can be installed on a corresponding fin surface driving unit; compared with the fin surface without the arc guide section, the fin surface with the arc guide section is additionally provided with one guide section along the radial direction on the two fan-shaped sides of the fin surface, the guide section can be connected to a bottom plate of the robot, the arrangement of the guide section can limit the degree of freedom of the end part of the flexible fin surface, and the flexible fin surface has higher rigidity under the condition that the end part of the flexible fin surface is stressed in the process of driving on land, so that the robot has better land motion performance.

Furthermore, the vision sensor, the land and water distance measuring sensor and the water depth sensor are respectively connected to the control panel through cables, and the robot can judge the state of the robot, such as the environments of underwater, land and water junction, steps, ramps and the like, through the analysis of the real-time sensing data of the sensors by the control panel, so that the robot can make correct maneuvering actions.

Furthermore, the electronic cabin module adopts a cylinder closed structure, water flow is placed to enter, a control panel and an underwater acoustic communication element and a land communication element which are respectively connected with the control panel through cables are arranged in the electronic cabin module, the robot can have an beyond-the-horizon communication function in an amphibious environment through the underwater acoustic communication element and the land communication element, so that remote control and real-time state detection of the robot can be realized, the control panel has the functions of receiving and processing information from a sensor and the communication element, processing data and controlling the motion state of a fin surface driving unit and a wheel driving module.

Furthermore, the middle part of the bottom plate is provided with a groove for placing the electronic cabin module, so that the robot has a compact structure, the weight of the robot is reduced, and the motion efficiency of the robot is improved; the towing hook at the tail of the robot can be used for towing materials and is suitable for tasks such as material conveying, rescue and the like; the shell is streamline and coats all static parts relative to the bottom plate except the flexible fin surface and the driving wheel, so that the water flow resistance is reduced, and the motion efficiency of the robot is improved.

In conclusion, the invention has the outstanding advantages of simple and compact structure, low cost, high reliability, strong environment adaptability, good maneuverability, high stability and the like.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

Fig. 1 is a schematic perspective view of a multi-terrain amphibious robot with wheel fins matched.

Fig. 2 is a schematic view of a three-dimensional structure of a multi-terrain amphibious robot with fins and wheels fitted after a housing is removed.

Fig. 3 is a schematic bottom perspective view of the multi-terrain amphibious robot with wheel fins matched.

Fig. 4 is a schematic perspective view of a flexible fin surface driving unit.

Fig. 5 is a schematic perspective view of the working principle of the fin surface driving swing arm.

Fig. 6 is a schematic view of two exemplary flexible fin surface deployments.

FIG. 7 is a schematic cross-sectional perspective view of an electronics compartment module;

fig. 8 is a schematic view of the step-by-step process of the multi-terrain amphibious robot with wheel fins matched.

Wherein: 1. a fin surface drive unit; 111. a swing driving element; 112. a fixed mount; 121. swinging arms; 1211. a swing arm rotating shaft; 1212. a swing arm elastic plate; 122. a fin face clamp; 1221. a holder rotating shaft; 1222. a clamp through hole; 13. an elastic fin line; 2. a wheel drive module; 21. a drive wheel; 22. a rotary drive element; 3. a flexible fin surface; 31. a fin surface via; 4. a housing; 5. an electronics compartment module; 511. a control panel; 512. an underwater acoustic communication element; 513. a terrestrial communication element; 52. an electronic compartment; 61. a base plate; 62. a towing hook; 71. a vision sensor; 72. an amphibious distance measuring sensor; 73. a water depth sensor; 8. a power source; 91. a first wireless ranging signal; 92. a second wireless ranging signal.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.

The invention provides a wheel-fin-matched multi-terrain amphibious robot which comprises a bottom plate 61, a shell 4, a flexible fin surface 3, a fin surface driving unit 1, a wheel driving module 2, a power supply 8, the shell 4, an electronic cabin module 5, a vision sensor 71, an amphibious distance measuring sensor 72 and a water depth sensor 73.

The housing 4 is arranged on the bottom plate 61 and can cover all parts which are static relative to the bottom plate 61;

the wheel driving modules 2 comprise four wheels and are respectively arranged at the four end corners of the bottom plate 61, and the wheel driving modules 2 are used for realizing land motion of the multi-terrain amphibious robot;

the electronic cabin module 5, the power supply 8, the vision sensor 71, the land and water distance measuring sensor 72 and the water depth sensor 73 are respectively arranged on the bottom plate 61, the power supply 8 is arranged on the front side and the rear side of the bottom plate 61, the electronic cabin module 5 is arranged between the two power supplies 8, a control panel 511 is arranged inside the electronic cabin module 5, the vision sensor 71 and the land and water distance measuring sensor 72 are respectively arranged on the front end and the rear end of the bottom plate 61, the water depth sensor 73 is arranged on the lower side of the bottom plate 61, and the vision sensor 71, the land and water distance measuring sensor 72, the water depth sensor 73, the wheel driving module 2 and the fin surface driving unit 1 are respectively connected with the electronic cabin module 5 and the power supply 8 through cables;

the fin surface driving units 1 are arranged on the left side and the right side of the bottom plate 61, the flexible fin surfaces 3 are connected with the extending ends of the fin surface driving units 1, the flexible fin surfaces 3 and the fin surface driving units 1 are located among the four wheel driving modules 2, and the flexible fin surfaces 3 are used for realizing underwater movement of the multi-terrain amphibious robot; meanwhile, the wheel driving module 2 and the fin surface driving unit 1 can be matched with each other to act, so that the robot can flexibly move on various terrains such as steps, ramps, water and land boundaries, cement lands, sand and stone lands and grasslands.

Referring to fig. 1, 2, 4 and 5, a bottom plate 61 is rectangular, four corners of the lower surface of the bottom plate 61 are respectively provided with a wheel drive module 2, and a plurality of groups of fin surface drive units 1 are respectively arranged between the wheel drive modules 2 on two sides of the long side of the bottom plate 61 at intervals;

the fin surface driving unit 1 comprises a swing driving element 111, a fixing frame 112, a swing arm 121, a fin surface clamping piece 122 and an elastic fin line 13, wherein the swing driving element 111 is respectively connected with a power supply 8 and a control board 511 through cables.

The fixing frame 112 fixes the swing driving element 111 on the bottom plate 61, one end of the swing arm 121 is fixed at the output end of the swing driving element 111, the other end of the swing arm is matched with the fin surface clamping piece 122, the fin surface clamping piece 122 is Y-shaped, a clamping piece through hole 1222 is formed in the opening side of the fin surface clamping piece, and the fin surface clamping piece 122 and the elastic fin strip 13 are fixed through the clamping piece through hole 1222 and a through hole in the corresponding position of the elastic fin strip 13.

It should be noted that seven groups of fin surface driving units 1 are arranged at equal intervals on one side in the embodiment, and fourteen groups are used in total, the remaining number of fin surface driving units 1 is still suitable for the invention, and the number of the fin surface driving units 1 on one side is not less than five, and the arrangement manner is arranged at intervals, but the arrangement at equal intervals is not required.

Referring to fig. 4 and 5, in the present embodiment, the swing arm 121 and the fin surface clamping member 122 have three degrees of freedom:

first, the swing arm 121 is swingable about a swing arm rotation shaft 1211 coinciding with the output axis of the swing drive element 111 in order to transmit the swing motion of the swing drive element 111 to the swing arm 121;

secondly, the middle part of the swing arm 121 is composed of a thin plate-shaped swing arm elastic plate 1212 with certain elasticity, the swing arm elastic plate 1212 has sufficient rigidity and strength along the swing direction, but is easy to bend along the thin wall direction, because the inner side of the flexible fin surface 3 generates periodically-changing internal stress when the flexible fin surface 3 fluctuates, by arranging the swing arm elastic plate 1212 with certain elasticity, the swing arm 121 can bend in the corresponding direction when the internal stress of the inner side of the flexible fin surface 3 is large, so that the unloading effect is realized, and the effect of damaging the swing driving element 111 due to the overlarge peak internal stress of the flexible fin surface 3 is reduced;

third, the fin surface clamp 122 can generate a rotation motion relative to the swing arm 121, and the rotation axis thereof is the clamp rotation axis 1221, so as to improve the flexibility and the continuity of the wave shape of the flexible fin surface 3 during the wave motion.

Referring to fig. 6, in the present embodiment, the flexible fin surface 3 is expanded into a circular arc segment shape, and a plurality of sets of fin surface through holes 31 are uniformly distributed along the circumferential direction at intervals.

The unfolded shape of the flexible fin surface 3 is divided into two types:

a first fin surface (a) with a circular arc guide section; a second type of fin surface (b) without a guide section.

The purpose of guide segment is when the undulant motion of flexible fin face 3, maintains the tension of 3 tip on flexible fin face, improves the rigidity of 3 tip on flexible fin face, avoids taking place to paralyze soft phenomenon because of 3 tip rigidity deficiencies on flexible fin face 3 when contact ground. The elastic fins 13 are fixed to the flexible fin surface 3 by means of adhesion, and it is necessary to ensure that the through holes of each elastic fin 13 are aligned with the fin surface through holes 31.

In particular, the undulating motion of the flexible fin surface 3 has a variety of controllable modes: wave number adjustment of the fluctuation motion of the flexible fin surface 3 is realized by controlling the phase difference of the swing driving element 111; the frequency adjustment of the fluctuation motion of the flexible fin surface 3 is realized by controlling the speed of the swing driving element 111; the amplitude adjustment of the fluctuation motion of the flexible fin surface 3 is realized by controlling the swing amplitude of the swing driving element 111; by controlling the center of oscillation of the oscillation driving element 111, offset adjustment of the undulating motion of the flexible fin surface 3 is achieved.

Referring to fig. 3, in the present embodiment, the wheel driving module 2 includes a rotary driving element 22 and a driving wheel 21, the rotary driving element 22 is fixed on the lower surface of the bottom plate 61, the spokes of the driving wheel 21 are hollow structures, so as to reduce the weight of the robot, and the rim of the driving wheel 21 is provided with patterns to increase the friction force with the ground. The multi-terrain amphibious robot can move in a straight line, turn and the like by controlling the speed, the differential speed and other parameters of the driving wheels 21, and the rotary driving element 22 is respectively connected with the power supply 8 and the control panel 511 through cables.

It should be noted that the size of the driving wheel 21 is related to the actually required obstacle crossing height and the length of the elastic fin 13, and the larger the diameter of the driving wheel 21 is, the higher the multi-terrain amphibious robot can cross the obstacle is, and the longer the elastic fin 13 is within a certain length range, the higher the multi-terrain amphibious robot can cross the obstacle is.

Referring to fig. 1 to 3, the front and rear sides of the bottom plate 61 are respectively provided with the power supply 8, and the middle of the bottom plate 61 is provided with a hole slot for installing the electronic cabin module 5. The rear edge of the bottom plate 61 is provided with a towing hook 62 which has the functions of towing and transporting materials and the like. The multi-terrain amphibious robot with the wheel fin matched is externally provided with a shell 4, and the shell 4 covers all parts which are static relative to the bottom plate 61 except necessary related functional parts of related sensing equipment, a towing hook 62 and other functional parts.

Referring to fig. 7, in the present embodiment, the electronic compartment module 5 includes a control panel 511, an underwater acoustic communication element 512, a land communication element 513 and an electronic compartment 52.

The electronic cabin 52 is internally provided with a control panel 511, an underwater acoustic communication element 512 and a land communication element 513, the electronic cabin 52 is of a cylindrical closed structure and prevents water from entering, and the underwater acoustic communication element 512 and the land communication element 513 are respectively connected with the control panel 511 through cables.

Referring to fig. 2 to 3, in the present embodiment, a vision sensor 71 and two land-water distance measuring sensors 72 are respectively disposed at the front and rear edges of the bottom plate 61, and the land-water distance measuring sensors 72 are vertically spaced for information acquisition and obstacle identification. The front edge of the electronic compartment 52 is provided with a downward-directed amphibious robot bottom distance sensor 72 for multi-terrain amphibious robot bottom distance identification. The rear edge of the electronic cabin 52 is provided with a water depth sensor 73 for identifying the water depth of the robot.

Specifically, the multi-terrain amphibious robot with the wheel fins matched with the wheel fins can automatically identify various terrain environments, such as underwater environments, land-water junctions, walls/steps on the land and the like, and the maneuvering and stable running of the robot under various terrain environments can be realized by utilizing the matching action of the driving wheels 21 and the flexible fin surfaces 3.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 8 (a) to (i), in the present embodiment, taking the process of the multi-terrain amphibious robot crossing a typical step obstacle as an example, the curved arrow in the figure indicates the rotation of the driving wheel 21, the length of which indicates the speed, and the thickness of which indicates the torque; the straight arrow indicates the swing of the fin surface drive unit 1, and the length thereof indicates the swing angle and the magnitude of the moment.

Referring to fig. 8 (a) to (b), in the present embodiment, first, two amphibious ranging sensors 72, which are vertically spaced at the front end of the multi-terrain amphibious robot, identify a step obstacle through a first wireless ranging signal 91 and a second wireless ranging signal 92, and when the first wireless ranging signal 91 detects that an obstacle exists in front and the second wireless ranging signal 92 does not detect that an obstacle exists in front, it indicates that a traversable obstacle exists in front, and the robot then performs a deceleration action.

Referring to fig. 8 (b) to (c), in the present embodiment, when the signal value detected by the first wireless distance measurement signal 91 is smaller than a certain value, it indicates that the robot approaches or even contacts a step, the robot driving wheel 21 increases the torque immediately, meanwhile, the fin surface driving unit 1 starts to swing down, the swing angle and the torque of the fin surface driving unit 1 increase from back to front, and the robot performs a head-up action.

Referring to fig. 8 (d) to (f), in the present embodiment, during the continuous swinging of the fin surface driving unit 1 of the robot, the driving wheel 21 always rotates at a low speed and a high torque until the land/water distance measuring sensor 72 facing the bottom of the robot detects that the distance from the bottom of the robot to the ground is greater than a certain value, the robot determines that the driving wheel 21 located at the front has stepped up, the torque of the driving wheel 21 of the robot is reduced, the speed is unchanged, and simultaneously, the fin surface driving unit is completely swung up and is separated from the ground.

Referring to fig. 8 (g) to (h), in this embodiment, after the front driving wheel 21 goes over the step, the robot determines that the rear driving wheel 21 approaches or contacts the step after a time of about one robot body length is calculated by the internal clock of the control board according to the speed of the driving wheel 21, the robot increases the torque immediately by the driving wheel 21, and simultaneously, the fin surface driving unit 1 starts to swing down, the swing angle and the torque of the fin surface driving unit 1 increase sequentially from front to back, and the robot performs the tail lifting operation.

Referring to fig. 8 (h) to (i), in the present embodiment, when the land-water distance measuring sensor 72 facing the bottom of the robot detects that the distance from the bottom of the robot to the ground returns to a certain range, which indicates that the driving wheel 21 at the rear of the robot has stepped up, the torque of the driving wheel 21 is reduced, the rotation speed is increased, and at the same time, the fin surface driving unit 1 is completely swung up and separated from the ground, and the robot returns to the flat ground motion state, so that the process of crossing a typical step obstacle by the robot is completed.

In the embodiment, besides crossing the above typical step obstacles, the robot can also realize autonomous identification of the robot land-water transition area and robot land-water mode conversion through a water depth sensor 73 and a land-water distance measuring sensor 72 towards the bottom of the robot.

It should be noted that the location arrangements of the vision sensor 71, the surface and water distance sensor 72, the water depth sensor 73, the power supply 8, the control panel 511 and the communication element 512/513 in this embodiment do not represent the only case, and other embodiments with different arrangements and different combinations of the same function are considered as the protection scope of the present invention.

In conclusion, the multi-terrain amphibious robot with the wheel fin matched with the wheel fin realizes land running through the driving wheel, underwater traveling is mainly realized through the flexible fin surface, meanwhile, the driving wheel and the flexible fin surface are matched to move, so that the motions of various complex environments such as land-water transition, step-crossing, climbing and the like can be realized, and particularly, when the robot runs in complex and easily-trapped terrain environments such as soft sand beach, rugged rocky land and the like, the driving wheel can realize stable running under the matching action of the flexible fin surface; the robot has a multi-terrain autonomous recognition function, is provided with a water depth sensor, a vision sensor and a land and water distance measuring sensor, and can finish recognition of various environments by comprehensively judging detection signals of the sensors; the device has the outstanding advantages of simple and compact structure, low cost, high reliability, strong environment adaptability, good maneuverability, high stability and the like.

The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.