CN112937234A - Air-ground amphibious robot - Google Patents

Abstract

The invention belongs to the technical field of robots, and provides an air-ground amphibious robot which can fly back and forth, left and right, and up and down quickly in the air, and can hover in the air and rotate 360 degrees continuously at a fixed point; the device can roll back and forth on the ground, turn left and right, and continuously rotate 360 degrees on the spot. The combined driving motor, the gravity center moving module and the lift force module are used for controlling the robot during air flight, and the combined driving motor, the gravity center moving module and the lift force module are used for controlling the robot during ground rolling. In addition, the camera can obtain environment image information and can be used for avoiding obstacles, and the obstacle avoiding capability and the working performance of the robot in a complex environment are greatly improved.

Description

Air-ground amphibious robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an air-ground amphibious robot.

Background

At present, some tasks that the robot has danger, even the manual work can't accomplish to the human body can be carried out to the robot, if carry out the task in narrow and small space, polluted environment, hazardous environment, still possess than advantages such as human cost low, the incorruptibility is high, do not have tired sense. The existing robot is mostly a quadruped robot or a tracked robot, is large in size, is not beneficial to carrying, is poor in steering capacity, and is weak in capacity of adapting to complex narrow environments. There is also a kind of spherical robot, which is an independent moving body with a spherical shape or an approximately spherical shape as a housing shape, and the rolling motion is the main moving mode of the spherical robot. The spherical robot utilizes the spherical shell as a walking device of the robot, and the driving mechanism and the control component are contained in the spherical shell, so that the spherical robot has the advantages of compact structure, flexible movement, no turnover in the rolling process and the like. Therefore, the spherical robot has very wide application prospect in the fields of national defense, industry, planetary detection and the like.

The spherical robot provides the moving force by means of friction between the shell and the ground when moving, so that the climbing and obstacle crossing capabilities of the spherical robot are greatly reduced compared with wheel type and crawler type robots. For example, patent application with application number CN102020000371181 provides a spherical robot, and solves the problems of poor protective capability and poor trafficability of the existing spherical robot. The protection capability and the trafficability are increased by increasing the friction force of the surface spherical shell, but the spherical robot given by the scheme has no obstacle surmounting capability.

The air-ground amphibious robot can fly quickly in the air, can flexibly move on the ground, has good rapidity, concealment and obstacle-crossing capability, greatly widens the application scenes, and has important application requirements in a large number of military and civil fields. Most of the existing schemes work in the aspect of integrating an airplane and an automobile, such as designing fixed wing wings to be folded to increase the trafficability of the fixed wing wings when the fixed wing wings move on the ground. Or a combination of a multi-rotor aircraft and a wheeled vehicle chassis to achieve land-air motion. The folding scheme of the fixed wings needs running takeoff and landing, and the automobile chassis is completely dead-weight in flight due to the combination mode of the multiple rotors and the automobile chassis, so that the time is too short.

For example, a single-duct land-air cross-domain robot and a control method thereof are provided in patent application with application number CN201911392068.8, torque control quantities of an X axis, a Y axis and a Z axis are obtained by setting a control moment gyro group of an attitude balancing system, and attitude adjustment is performed on a robot body through the torque control quantities; the leg connecting rods and the upper leg joints of the wheel foot devices are controlled by the two wheel foot steering engines, so that the flexibility and the stability of the wheel foot system are improved; and correspondingly adjusting the wheel foot system, the ducted fan system and the flight control system according to the judgment of the environment identification system on the advancing environment, so that the robot enters different advancing modes. According to the scheme, the flight mode is complex to control, the stability is poor, the structure is complex and heavy, the ground wheel foot type is increased in trafficability, but the defects of heavy weight and high power consumption are caused, in addition, the functions of aerial flight and ground movement are also simply superposed, and the overall performance is poor.

Further, as patent application with application number CN201811409108, a three-dimensional cruise method and a three-dimensional cruise system for bridge detection are provided, and the technical scheme is as follows: the flying and climbing amphibious robot is adopted and comprises a flying module and a climbing module, an adsorption device is arranged on the climbing module, a main control module of the flying and climbing amphibious robot is connected with a GPS positioning module, and the flying and climbing amphibious robot is provided with a bridge detection device. The not enough of this scheme is that the module of crawling moves slowly and inefficacy easily, and the screw of the module of flying when crawling receives the influence of wind and leads to the robot damage on very easily hitting the operation line, and the flight is also simple stack with the function of crawling in addition, and the wholeness can be limited.

Disclosure of Invention

The invention provides an air-ground amphibious robot, aiming at solving the defects of complex structure, large weight and power consumption, short flight and motion time, poor flight and motion stability and the like in the prior art, wherein the amphibious robot can fly back and forth, left and right and up and down quickly in the air, and can hover in the air and continuously rotate at a fixed point by 360 degrees; the aircraft can roll back and forth on the ground, turn left and right, and continuously rotate 360 degrees on the spot, thereby realizing the functions of rapid and stable flight in the air and flexible motion on the ground. In order to achieve the purpose, the invention adopts the following specific technical scheme:

an air-ground amphibious robot comprising: the device comprises an ellipsoidal shell, and a center frame, a center rotating shaft, a driving motor, a moving arm module and a lift force module which are arranged in the shell;

the two ends of the central rotating shaft are fixedly connected with the shell, the rotating center line of the central rotating shaft is superposed with the long axis of the shell, and the central rotating shaft is rotatably connected with the central frame through a bearing;

the lifting force module is fixed on a moving arm module which can extend out of the shell, and the moving arm module is connected with the center frame in a sliding or rotating way;

the driving motor is fixed on the center frame and drives the center rotating shaft to rotate so as to drive the shell to roll.

Preferably, the shell takes the central ring as a symmetrical center, two sides of the shell are respectively and symmetrically connected with the circular rings along the long axis direction, and the other sides of the symmetrically distributed circular rings are respectively connected with hemispheres with tangent planes; the tangent plane of the hemisphere is parallel to the plane of the short axis of the shell.

Preferably, the movable side window board is provided with at the tangent plane of the hemisphere of symmetric distribution, and the side window board passes through the window board spring and the rotation axis is connected with the hemisphere for can outwards open when the side window board atress, draw in under the effect of window board spring when not the atress.

Preferably, the length extension direction of the moving arm module is parallel to the central rotating shaft and comprises a first moving arm and a second moving arm which are positioned on the bottom surface of the central frame; the first moving arm and the second moving arm are arranged in parallel and side by side and move along opposite directions, and the side window plates on two sides are pushed open to extend out of the shell.

Preferably, two window plate groups are symmetrically arranged on the circumference of the long axis of the shell, and the window plate groups are opened outwards when stressed.

Preferably, the rotation axis of the motion arm module is perpendicular to the central rotation axis, and comprises a first motion arm, a second motion arm, a third motion arm and a fourth motion arm which are positioned on the bottom surface of the central frame; the first moving arm and the second moving arm are arranged in a superposed mode, and the rotating axes of the first moving arm and the second moving arm are opposite; the third moving arm and the fourth moving arm which are overlapped are arranged side by side at the same time; the rotating axes of the third moving arm and the fourth moving arm are opposite; the first moving arm and the second moving arm rotate outwards towards the shell around respective rotating shafts to push the window plate group open; the third moving arm and the fourth moving arm rotate around the opposite direction to push away the window plate group on the other side.

Preferably, the louver group comprises small louvers lapping on the first moving arm and the third moving arm and large louvers lapping on the second moving arm and the fourth moving arm, and the louver group is closed along with the recovery of the moving arm module.

Preferably, the lift module comprises: the lift motor is fixed on the first moving arm and the second moving arm respectively, a moving shaft of the lift motor is connected with the rotor, and the lift motor drives the rotor to rotate to generate lift.

Preferably, the moving arm module is provided with a propeller retracting module for retracting the rotor.

Preferably, the robot further comprises a center of gravity moving module for driving the robot to turn left and right, and the center of gravity moving module is fixed on the bottom surface of the center frame.

Preferably, the center of gravity shifting module includes: the steering engine, the rudder base, the swing shaft, the swing arm, the battery base and the battery are arranged on the steering engine base; the steering wheel seat is connected on the centre frame, and the steering wheel links to each other with the steering wheel seat, and the steering wheel output shaft is connected with the rocking shaft, and the rocking shaft links to each other with rocking arm, and rocking arm is connected with the battery holder, and the battery is laid on the battery holder, and the steering wheel drives rocking shaft, battery holder and battery and swings together, and then changes the focus position of focus removal module and drives the robot and turn about.

Preferably, the device also comprises a transmission module used for connecting the central rotating shaft and the driving motor; the transmission module includes: the first gear is connected with the driving motor, and the second gear is connected with the central rotating shaft, so that the driving motor drives the transmission module to drive the central rotating shaft to rotate.

Preferably, the mobile terminal further comprises a camera module, a motion driving module, a control module and a motion arm driving motor, wherein the camera module is arranged above the center frame, and the camera module acquires environmental information through a transparent ring; the control module is combined with the motion driving module to control the shell to complete a motion instruction; the motion arm driving motor drives the motion arm module to extend out of the shell.

The invention can obtain the following technical effects:

1. the robot provided by the invention can fly back and forth, left and right, up and down quickly in the air, and can hover in the air and rotate 360 degrees continuously at a fixed point.

2. The robot provided by the invention can roll back and forth and turn left and right on the ground and can rotate continuously for 360 degrees on site.

3. High working efficiency, compact structure, and good stability and flexibility during flying and rolling.

4. The method can obtain environment image information, can also be used for avoiding obstacles, and greatly improves the obstacle avoiding capability of the amphibious robot and the working performance in a complex environment.

Drawings

Fig. 1 is a schematic overall structure diagram of an air-ground amphibious robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the overall three-dimensional structure of one embodiment of the present invention;

FIG. 3 is a schematic structural view of a housing structure of one embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a transmission module of one embodiment of the present invention;

FIG. 5 is a schematic diagram of the structure of the center of gravity shifting module according to one embodiment of the present invention;

FIG. 6 is a schematic diagram of the structure of the moving arm module and the lift module of one embodiment of the present invention;

fig. 7 is a schematic structural view of a moving arm module and a housing according to another embodiment of the present invention.

Reference numerals:

housing 1, center ring 11, ring 12, hemisphere 13, side window plate 131, window plate spring 132, rotary shaft 133, window plate group 14, small window plate 141, large window plate 142, and,

A center frame 2, a center rotating shaft 3,

A driving motor 4,

Moving arm module 5, first moving arm 51, second moving arm 52, third moving arm 53, fourth moving arm 54,

Lift module 6, lift motor 61, rotor 62,

A transmission module 7, a first gear 71, a second gear 72,

Gravity center moving module 8, steering engine 81, steering engine seat 82, swing shaft 83, swing arm 84, battery seat 85, battery 86,

The device comprises a paddle retracting module 9, a camera module 10, a driving module 110, a control module 120 and a moving arm driving motor 130.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.

The invention aims to provide an air-ground amphibious robot which is high in working efficiency, compact in structure, good in stability and flexibility during flying and rolling, has obstacle avoidance capability and can work in a complex environment. The air-ground amphibious robot provided by the invention will be described in detail through specific embodiments.

Fig. 1 shows the overall structure of the present invention, which comprises an ellipsoidal housing 1 with two planar ends in the long axis direction, and a central frame 2, a central rotating shaft 3, a driving motor 4, a moving arm module 5 and a lift module 6 which are arranged inside the housing 1; two ends of a central rotating shaft 3 are fixedly connected with the shell 1, the rotating center line of the central rotating shaft is superposed with the long axis of the shell 1, and the central rotating shaft 3 is rotatably connected with the central frame 2 through a bearing; the lift force module 6 is fixed on a moving arm module 5 which can extend out of the shell 1, and the moving arm module 5 is connected with the central frame 2 in a sliding or rotating way; the driving motor 4 is fixed on the central frame 2 and drives the central rotating shaft 3 to rotate so as to drive the shell 1 to roll;

as shown in fig. 1, the central rotary shaft 3 is fixed to the inside of the housing 1 with the long axis direction of the housing 1 as the axial direction of the central rotary shaft 3; the centre frame 2 is provided with a bearing adapted to the central rotation axis 3, and is connected to the central rotation axis 3 via the bearing while being rotatable around it.

A driving motor 4 is placed in a space defined by the center frame 2 and the center rotating shaft 3, the driving motor 4 is fixedly connected with the center frame 2, and meanwhile, the driving motor 4 is connected with the center rotating shaft 3 through a transmission module 7, so that the robot can roll back and forth under the driving of the driving motor 4.

In a preferred embodiment of the present invention, as shown in fig. 4, the driving motor 4 is connected to a first gear 71, the first gear 71 is engaged with a second gear 72, the second gear 72 is connected to the central rotating shaft 3, and the transmission module 7 drives the central rotating shaft 3 to rotate under the driving of the driving motor 4.

With continued reference to fig. 1, a center of gravity shifting module 8 is fixed to the bottom surface of the center frame 2, and the robot is controlled to turn left and right by changing the center of gravity shifting module 8.

The motion arm module 5 is connected with the bottom surface of the central frame 2, the lift force module 6 is fixed on the bottom surface of the motion arm module 5, the lift force module 6 can extend out of the shell 1 along with the motion arm module 5, and the generated lift force is used for controlling the robot to lift. The overall structure is as shown in fig. 2.

In a preferred embodiment of the present invention, as shown in fig. 3, the housing 1 is an ellipsoidal housing with two planar ends in the major axis direction, the center of the central ring 11 is located at the minor axis, and the central ring 11 is used as the symmetric center to sequentially and symmetrically connect the circular ring 12 and the hemisphere 13 in the major axis direction; the tangent plane of the hemisphere 13 is parallel to the plane of the short axis, and the movable side window plate 131 is disposed on the tangent plane, and the side window plate 131 is connected to the hemisphere 13 through the window plate spring 132 and the rotating shaft 133, so that the moving arm module 5 can push the side window plate 131 to open outwards, and the side window plate 131 can be closed under the action of the window plate spring 132 when not stressed.

In another preferred embodiment of the present invention, as shown in fig. 7, the housing 1 is provided with the window plate set 14 at a position corresponding to the first moving arm 51, the second moving arm 52, the third moving arm 53 and the fourth moving arm 54, one end of the window plate set 14 is rotatably connected to the housing 1, and the other end thereof is lapped on the corresponding moving arm, so that the window plate set 14 can be opened and closed by force.

In a preferred embodiment of the present invention, as shown in fig. 6, the moving arm module 5 includes a first moving arm 51 and a second moving arm 52 which are arranged side by side and extend parallel to the central rotating shaft 3, the lift module 6 is fixed on the bottom surfaces of the first moving arm 51 and the second moving arm 52, a rack is arranged on the surface of the outer side of the first moving arm 51 and the second moving arm 52, and a gear pair matched with the rack is arranged on the central frame 2, so that the first moving arm 51 and the second moving arm 52 can move along the guide rail on the central frame 2 along the rack and gear pair under the driving of the moving arm driving motor 130 to realize relative linear motion along the long axis direction, push the corresponding side window plate 131 to extend out of the housing 1, and simultaneously the lift module 6 also extends out of the housing 1.

In another preferred embodiment of the present invention, with continued reference to fig. 7, the first moving arm 51 is disposed in superposition with the second moving arm 52, with the rotation axes thereof being opposite; the third moving arm 53 and the fourth moving arm 54 are arranged in a superposed manner, the rotating axes are opposite, and the first moving arm 51 and the third moving arm 53 are arranged in parallel;

when the first moving arm 51 and the second moving arm 52 extend, the first moving arm and the second moving arm rotate 120 degrees around the respective rotating shafts towards the outside of the shell 1, and the side window plate group 14 is pushed away; the third moving arm 53 and the fourth moving arm 54 rotate in opposite directions to push away the louver group 14 on the other side;

when the movable arm is contracted, the movable arm corresponding to the small window plate 141 retracts firstly, and the small window plate 141 lapped on the movable arm is closed along with the retraction; the moving arm corresponding to the large window plate 142 is retracted, and the large window plate 142 lapped on the moving arm is closed along with the retracting of the moving arm module 5.

The rotor 62 is connected to the motion shaft of lift motor 61, and rotor 62 is rotatory under lift motor 61's drive and is produced the lift, makes the robot can go up and down.

The first moving arm 51 and the second moving arm 52 are provided with a oar-retracting module 9 for retracting the rotor 62. Specifically, when the robot lands on the ground and the rotor 62 rotates slowly outside the housing 1, the mover in the pitch module 9 extends out and pushes against the lower part of the blade of the rotor 62 to stop one side of the blade, and the other side of the blade is closed under the action of inertia and friction force.

In a preferred embodiment of the present invention, the center of gravity shifting module 8 includes: steering wheel 81, steering wheel seat 82, rocking shaft 83, rocking arm 84, battery holder 85 and battery 86, see fig. 5, steering wheel seat 82 is connected on centre frame 2, steering wheel 81 links to each other with steering wheel seat 82, the output shaft of steering wheel 81 is connected with rocking shaft 83, rocking shaft 83 links to each other with rocking arm 84, rocking arm 84 is connected with battery holder 85, battery 86 is laid on battery holder 85, steering wheel 81 drives rocking shaft 83, battery holder 85 and battery 86 and swings together, and then change the focus position of focus removal module 8 and drive the robot and turn left and right.

In a preferred embodiment of the present invention, the camera modules 10 are symmetrically fixed on the center frame 2, and correspond to the position of the ring 12 made of transparent material, so that the environment can be imaged through the ring 12 and transmitted to the control module 120, the control module 120 identifies obstacles in the environment after operation and then avoids obstacles, and the image of the camera modules 10 can also be transmitted back to ground control personnel or ground stations through the control module 120; control instructions of operators or ground stations are received and sent to the control module 120, and the driving module 110 sends driving signals to the driving motor 4, the steering engine 81, the moving arm driving motor 130 and the lifting motor 61 to enable the robot to execute corresponding instruction actions.

In another embodiment of the invention, the moving arm module 5 drives the lift force module 6 to move to the outside of the shell 1, and when the driving motor 4 is combined with the lift force module 6 and the gravity center moving module 8 to act on the robot, the robot can be controlled to rotate continuously in a manner of being vertical to the ground by 360 degrees in situ, so that the flexibility and the concealment of the movement are greatly increased.

In another embodiment of the invention, the moving arm module 5 drives the lift module 6 to move out of the housing 1, when the robot is in flight mode;

the lift force module 6 and the gravity center moving module 8 jointly control the rolling channel and fly in the left and right directions;

the lift force module 6 and the driving motor 4 jointly control the pitching channel and fly in the front-back direction;

the lift force module 6 and the gravity center moving module 8 jointly control the course channel;

the lift module 6 controls the flying height.

In another embodiment of the invention, when the robot is changed from the ground rolling mode to the air flight mode, the lift module 6 can be moved from the inside of the shell 1 to the outside of the shell 1 through the moving arm module 5, and at this time, the driving motor 4 can control the amphibious robot to freely fly forwards and backwards, leftwards and rightwards and upwards and downwards in the air by combining with the lift module 6 and the gravity center moving module 8, and can also control the amphibious robot to vertically take off and land, hover in the air and continuously rotate in the air by 360 degrees.

In another embodiment of the invention, when the robot changes from the flight mode to the ground rolling mode, the robot first falls vertically to the ground, the rotor 62 is collected by the paddle collecting module 9, the lift module 6 is collected into the housing 1 by the moving arm module 5, and the control module 120 controls the driving motor 4 and the steering engine 81 to drive the robot to roll back and forth and turn left and right by combining with the driving module 110, or moves the lift module 6 out of the housing 1 and controls the amphibious robot to rotate continuously in situ by 360 degrees by combining with the gravity center moving module 8.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (13)

1. An air-ground amphibious robot, comprising: the device comprises an ellipsoidal shell (1), and a central frame (2), a central rotating shaft (3), a driving motor (4), a moving arm module (5) and a lift force module (6) which are arranged in the shell (1);

the two ends of the central rotating shaft (3) are fixedly connected with the shell (1), the rotating center line of the central rotating shaft is superposed with the long shaft of the shell (1), and the central rotating shaft (3) is rotatably connected with the central frame (2) through a bearing;

the lifting force module (6) is fixed on the moving arm module (5) which can extend out of the shell (1), and the moving arm module (5) is connected with the center frame (2) in a sliding or rotating way;

the driving motor (4) is fixed on the central frame (2) and drives the central rotating shaft (3) to rotate so as to drive the shell (1) to roll.

2. An air-ground amphibious robot according to claim 1, wherein said shell (1) is symmetrical about a central ring (11), and both sides of said shell are symmetrically connected to a ring (12) along the long axis direction, and the other side of said symmetrically distributed rings (12) is connected to a hemisphere (13) with a tangent plane; the tangent plane of the hemisphere (13) is parallel to the plane where the short axis of the shell (1) is located.

3. An air-ground amphibious robot according to claim 2, wherein a movable side window plate (131) is provided on said tangent plane of said symmetrically distributed hemisphere (13), said side window plate (131) is connected to said hemisphere (13) through a window plate spring (132) and a rotating shaft (133), so that said side window plate (131) can be opened outwards when stressed, and can be closed under the action of said window plate spring (132) when not stressed.

4. An air-ground amphibious robot according to claim 3, wherein said motion arm module (5) has a length extending direction parallel to said central rotation axis (3), comprising a first motion arm (51) and a second motion arm (52) located at the bottom of said central frame (2); the first moving arm (51) and the second moving arm (52) are arranged in parallel and side by side, and move in opposite directions to push the side window plates (131) at two sides away to extend out of the shell (1).

5. An air-ground amphibious robot according to claim 2, wherein two groups of window plate sets (14) are symmetrically arranged on the circumference of the long axis of the shell (1), and the window plate sets (14) are opened outwards when being stressed.

6. An air-ground amphibious robot according to claim 5, wherein the rotation axis of said motion arm module (5) is perpendicular to said central rotation axis (3), comprising a first motion arm (51), a second motion arm (52), a third motion arm (53) and a fourth motion arm (54) located at the bottom of said central frame (2); the first moving arm (51) and the second moving arm (52) are arranged in a superposed mode, and the rotating axes of the first moving arm and the second moving arm are opposite; simultaneously arranged side by side with the third moving arm (53) and the fourth moving arm (54) arranged in superposition; the rotation axes of the third moving arm (53) and the fourth moving arm (54) are opposite; the first moving arm (51) and the second moving arm (52) rotate around respective rotating shafts towards the outside of the shell (1) to push the window plate group (14) away; the third moving arm (53) and the fourth moving arm (54) rotate around opposite directions to push away the window plate group (14) on the other side.

7. An air-ground amphibious robot according to claim 6, wherein said window plate set (14) comprises small window plates (141) lapping on said first moving arm (51) and said third moving arm (53) and large window plates (142) lapping on said second moving arm (52) and said fourth moving arm (54), said window plate set (14) being closed as said moving arm module (5) is retrieved.

8. An air-ground amphibious robot according to claim 1, characterised in that said lift module (6) comprises: lift motor (61) and rotor (62), lift motor (61) are fixed respectively first motion arm (51) with on second motion arm (52), rotor (62) are connected to the motion hub connection of lift motor (61), and lift motor (61) drive rotor (62) rotatory production lift.

9. An air-ground amphibious robot according to claim 4 or 6, characterised in that a feathering module (9) is arranged on said motion arm module (5) for furling said rotor (62).

10. An air-ground amphibious robot according to claim 1, further comprising a center of gravity shifting module (8) for driving the robot to turn left and right, wherein the center of gravity shifting module (8) is fixed on the bottom surface of the center frame (2).

11. An air-ground amphibious robot according to claim 10, characterized in that said centre of gravity shifting module (8) comprises: the device comprises a steering engine (81), a steering engine seat (82), a swing shaft (83), a swing arm (84), a battery seat (85) and a battery (86); the robot steering mechanism is characterized in that a steering engine base (82) is connected to a center frame (2), a steering engine (81) is connected with the steering engine base (82), an output shaft of the steering engine (81) is connected with a swing shaft (83), the swing shaft (83) is connected with a swing arm (84), the swing arm (84) is connected with a battery holder (85), a battery (86) is arranged on the battery holder (85), the steering engine (81) drives the swing shaft (83), the battery holder (85) and the battery (86) to swing together, and then the gravity center position of a gravity center moving module (8) is changed to drive the robot to turn left and right.

12. An air-ground amphibious robot according to claim 1, further comprising a transmission module (7) for connecting said central rotation shaft (3) and said drive motor (4); the transmission module (7) comprises: the gear transmission mechanism comprises a first gear (71) and a second gear (72) which are meshed with each other, wherein the first gear (71) is connected with the driving motor (4), and the second gear (72) is connected with the central rotating shaft (3) so that the driving motor (4) drives the transmission module (7) to drive the central rotating shaft (3) to rotate.

13. An air-ground amphibious robot according to claim 1, further comprising a camera module (10), a driving module (110), a control module (120) and a moving arm driving motor (130) arranged above said centre frame (2), said camera module (10) acquiring environmental information through said transparent ring (12); the control module (120) is combined with the driving module (110) to control the shell (1) to complete a motion command; the moving arm driving motor (130) drives the moving arm module (5) to extend out of the shell (1).

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