CN113291111A

CN113291111A - Wheel-fin-paddle composite amphibious robot

Info

Publication number: CN113291111A
Application number: CN202110609652.5A
Authority: CN
Inventors: 党睿娜; 苏波; 王志瑞; 许�鹏; 刘宇飞; 邱天奇; 汪建兵; 郭亮; 赵洪雷
Original assignee: China North Vehicle Research Institute
Current assignee: China North Vehicle Research Institute
Priority date: 2021-06-01
Filing date: 2021-06-01
Publication date: 2021-08-24

Abstract

The invention discloses a wheel-fin-paddle composite amphibious robot, which comprises: the device comprises a rack assembly, a paddle assembly, a fin wheel assembly and driving assemblies which correspond to the paddle assembly and the fin wheel assembly one to one; more than one pair of paddle components are symmetrically arranged on the two transverse sides of the longitudinal middle part of the rack component through the driving component; more than one pair of fin wheel assemblies are respectively arranged at the two longitudinal ends of the rack assembly, wherein each pair of fin wheel assemblies are arranged at the two transverse sides of the rack assembly through a driving assembly; the driving assembly can drive the blade assembly to swing or the wheel fin assembly to move; the amphibious robot can realize high-speed movement on land and flexible movement in water, and is used for solving the problem that the existing amphibious robot cannot be applied to high-speed movement on land and flexible movement in water.

Description

Wheel-fin-paddle composite amphibious robot

Technical Field

The invention relates to the technical field of amphibious robots, in particular to a wheel-fin-paddle composite type amphibious robot.

Background

The working environment of the amphibious robot is generally relatively complex, higher requirements are provided for the robot, and the amphibious robot has the propulsion performance on land and under water, can adapt to soft media such as an amphibious transition environment and the like, and particularly tests the working capacity of a propulsion system of the robot. The existing amphibious robot mostly adopts C-shaped legs, the traveling of the robot in water and on the land is realized by controlling the motion time sequences of different legs, but the robot has low propulsion efficiency and low traveling speed on the land, can not be conveniently adjusted to lift and turn under water, and has low traveling speed in water, so that the application scene of the robot is limited, and the robot can not meet the requirements of high mobility on the land and can flexibly lift, turn and stably move in water.

Disclosure of Invention

In view of the above, the invention provides a wheel-fin-paddle composite amphibious robot, which can realize high-speed movement on land and flexible movement in water and is used for solving the problem that the existing amphibious robot cannot be applied to high-speed movement on land and flexible movement in water.

The technical scheme of the invention is as follows: a finned-wheel composite amphibious robot comprising: the device comprises a rack assembly, a paddle assembly, a fin wheel assembly and driving assemblies which correspond to the paddle assembly and the fin wheel assembly one to one; more than one pair of paddle components are symmetrically arranged on the two transverse sides of the longitudinal middle part of the rack component through the driving component; more than one pair of fin wheel assemblies are respectively arranged at the two longitudinal ends of the rack assembly, wherein each pair of fin wheel assemblies are arranged at the two transverse sides of the rack assembly through a driving assembly; the driving assembly can drive the blade assembly to swing or the wheel fin assembly to move.

Preferably, the skeg assembly comprises: wheel, fin, connecting sleeve and fin mounting panel, the wheel center is coaxial to be equipped with connecting sleeve, and connecting sleeve surface opposite side radially installs the fin, and the fin passes through the fin mounting panel to be fixed on the wheel.

Preferably, the wheel comprises: the main wheel is a thin plate-shaped disc, more than three lightening holes are uniformly formed in the main wheel along the circumferential direction, and spokes are formed between adjacent lightening holes; the fin is fixedly arranged on the disc surface on one axial side of the main wheel, the widening wheel is arranged on the disc surface on the other axial side of the main wheel through a fastener, the widening wheel is annular, the outer diameter of the widening wheel is the same as that of the main wheel, and the axial thickness of the widening wheel is larger than that of the main wheel.

Preferably, the fin is a rectangular thin plate, and one corner of the fin is provided with a notch for clearance fit of the fin and the connecting sleeve.

Preferably, the paddle assembly comprises: a strip-shaped blade and a blade connecting piece which vertically installs the blade at the end part of the driving component.

Preferably, the paddle is integrally in the shape of an elongated fan and is made of a carbon fiber plate with the thickness of 1mm, the paddle is provided with a straight edge and a bevel edge which are arranged on opposite sides and an arc-shaped part which is connected to the ends of the straight edge and the bevel edge, and the straight edge is parallel to the side face of the wheel fin assembly; a set gap is formed between the straight edge and the wheel fin component; the length of the paddle is larger than the distance between the mounting position of the paddle component and the mounting position of the wheel fin component.

Preferably, the drive assembly comprises: the device comprises a driving shaft and a motor, wherein two ends of the driving shaft are respectively provided with a blade connecting piece and the motor; one end of the driving shaft is set to be a square driving part shaft end, and the connecting sleeve comprises: the cylindrical sleeve main part and the sleeve flange of coaxial arrangement in sleeve main part axial one end, the sleeve flange passes through fastener and the coaxial fixed connection of main wheel, and the sleeve main part other end is equipped with sleeve square hole along the axial, the cooperation in drive division axle head and sleeve square hole shaft hole.

Preferably, the paddle is mounted on a driving shaft of the driving assembly through a paddle connector, the other end of the driving shaft is used as a motor shaft matching section, a variable length section is arranged between the motor shaft matching section and the driving part shaft section, and the axial length of the variable length section is adjustable; the length of the variable-length section of the driving shaft corresponding to the wheel fin assembly is greater than that of the variable-length section of the driving shaft corresponding to the blade assembly;

a slot is formed in the outer surface of the motor shaft matching section along a bus, and the end part of the slot is opened and is used for being matched with a key on an output shaft of the motor; the main part of paddle connecting piece is for connecting the basal portion, be provided with drive shaft connecting portion on the connection basal portion, one side of drive shaft connecting portion is provided with the rib, and the opposite side sets up the otic placode, the drive shaft section is the tetragonal axis, drive shaft connecting portion has connecting piece tetragonal hole for fixed connection drive shaft section, the paddle is connected with the connection basal portion, and its length direction is perpendicular with the axial of drive shaft section.

Preferably, the rack assembly comprises: the curb plate, the end plate, the connecting plate covers apron and the drag reduction plate of setting in the end plate outside on curb plate, end plate and connecting plate, two curb plate parallel arrangement, connect through the end plate between the both ends of two curb plates, still set up more than two sets of connecting plates between two curb plates, every group has two, and the both ends overlap joint of every connecting plate is fixed at the edge of curb plate, installs two drive assembly between two connecting plates of every group.

Preferably, the two ends of the side plate are respectively provided with an end sleeve, the middle part of the side plate is provided with a middle sleeve, a driving shaft for driving the wheel fin assembly is arranged in the end sleeve, and a driving shaft for driving the blade assembly is arranged in the middle sleeve; the axial length of the middle sleeve is greater than that of the end sleeves; wherein, the outside of curb plate is provided with more than one recess along the robot direction of height.

Has the advantages that:

1. the propulsion device of the amphibious robot comprises four wheel-fin composite driving assemblies arranged in front and at the back, and a bionic paddle assembly pushed underwater in the middle, wherein each part has one degree of freedom, the application of the single degree of freedom reduces the complexity of a control algorithm, improves the efficiency of a control system, and increases the motion performance of the whole robot; the mode of walking on land is basically consistent with the motion of the vehicle, the ground moving speed of the robot can be improved and the noise can be reduced through the wheels, and meanwhile, the control of motion modes such as straight running, turning, backing and the like can be realized; meanwhile, the robot adopts the design idea of structural and functional integration, and each component can be conveniently installed, replaced and maintained, so that the use cost is reduced, and the reliability and maintainability of the whole robot are improved.

2. The fin is added on the side surface of the wheel, and the angle of the wheel is adjusted underwater, so that the buoyancy and the thrust applied to the robot are changed, and various underwater swimming actions of the amphibious robot are completed.

3. The specific design of the wheels in the amphibious robot can effectively reduce the weight of the structure and effectively increase the contact area between the structure and the ground.

4. The amphibious robot provided by the invention is used as a vector propeller under water through the swinging of the paddle, and the land movement and the underwater movement are not interfered with each other.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an isometric view of the overall structure of the present invention;

FIG. 3 is a schematic diagram of the skeg assembly of the present invention;

FIG. 4 is a schematic view of the main wheel of the present invention;

FIG. 5 is a schematic view of the construction of the widening wheel according to the present invention;

FIG. 6 is a schematic diagram of the structure of the fin of the present invention;

FIG. 7 is an enlarged view taken at A in FIG. 1;

FIG. 8 is a schematic view of the construction of the connecting sleeve of the present invention;

FIG. 9 is a schematic view of the engagement of the paddle assembly and the drive assembly of the present invention;

FIG. 10 is a schematic view of the blade of the present invention;

FIG. 11 is a schematic view of the blade attachment of the present invention;

FIG. 12 is a partial schematic structural view of a blade attachment according to the present invention;

FIG. 13 is a schematic view of the construction of the drive shaft of the present invention;

FIG. 14 is a schematic view of the construction of the frame assembly of the present invention;

FIG. 15 is a schematic structural view of an intermediate sleeve of the present invention;

fig. 16 is a schematic structural view of a connecting plate according to the present invention.

Wherein, 10, frame assembly, 101, side plate, 1011, end sleeve, 1012, middle sleeve, 1013, groove, 102, end plate, 103, connection plate, 104, drag reduction plate, 105, cover plate, 106, handle, 20, blade assembly, 201, blade, 2011, blade straight edge, 2012, blade arc, 2013, bevel edge, 202, blade connector, 2021, connection base, 2022, reinforcement, 2023, rectangular cavity, 2024, drive shaft connector, 2025, connector square hole, 2026, slit, 2027, ear plate, 30, wheel fin assembly, 301, wheel, 3011, main wheel, 3012, widening wheel, 302, fin, 3021, notch, 303, connection sleeve, 3031, sleeve body, 3032, sleeve flange, 3033, sleeve square hole, 304, fin mounting plate, 40, drive assembly, 401, drive shaft, 4011, motor shaft mating section, 4012, variable length shaft section, 4013, drive shaft section, 4014, 402. motor, 403 bearing seal assembly.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The embodiment provides a wheel-fin-paddle composite amphibious robot which can move at a high speed on land and flexibly move in water and is used for solving the problem that the existing amphibious robot cannot be applied to high-speed movement on land and flexible movement in water.

As shown in fig. 1, the amphibious robot includes: frame assembly 10, paddle assembly 20, skeg assembly 30, and drive assembly 40; the overall shape of the rack assembly 10 is cuboid, more than one pair of paddle assemblies 20 are symmetrically arranged at the two transverse sides of the longitudinal middle part of the rack assembly 10 through the driving assembly 40, and here, the driving assembly 40 drives the paddle assemblies 20 to swing to drive the rack assembly 10 to flexibly move in water; more than one pair of wheel fin assemblies 30 are respectively installed at the two longitudinal ends of the frame assembly 10, wherein each pair of wheel fin assemblies 30 are installed at the two transverse sides of the frame assembly 10 through driving assemblies 40, and here, the driving assemblies 40 drive the wheel fin assemblies 30 to act to drive the frame assembly 10 to rapidly move on the land.

In the present embodiment, as shown in fig. 3, the fin unit 30 includes: the wheel comprises a wheel 301, a fin 302, a connecting sleeve 303 and a fin mounting plate 304, wherein the connecting sleeve 303 is coaxially arranged in the center of the wheel 301, the fin 302 is radially mounted on the opposite side of the outer surface of the connecting sleeve 303, and the fin 302 is fixed on the wheel 301 through the fin mounting plate 304 (in an angle iron shape); when the driving component 40 drives the fin component 30 to rotate, the fin 302 can drive the robot to realize actions of ascending, descending, emergency braking and the like along with the rotation of the wheel 301.

In this embodiment, as shown in fig. 4 and 5, the wheel 301 includes: the main wheel 3011 and widen the wheel 3012, the said main wheel 3011 is a disc of sheet shape, there are more than three lightening holes evenly along the circumference on it, form the spoke between the adjacent lightening hole, such arrangement can lighten the weight effectively while guaranteeing the strength of the wheel, the said fin 302 is fixedly mounted on disc surface of one axial side of main wheel 3011, the said widening wheel 3012 is mounted on disc surface of another axial side of main wheel 3011 through the fastener, the said widening wheel 3012 is the circular ring, can increase the contact area with ground of the wheel 301 effectively, make the robot suitable for walking on the soft, muddy road surface more; the outer diameter of the widening wheel 3012 is the same as that of the main wheel 3011, and the axial thickness of the widening wheel 3012 is greater than that of the main wheel 3011.

In this embodiment, as shown in fig. 6 and 7, the fin 302 is a rectangular thin plate, and a corner of the fin 302 is provided with a notch 3021, and the notch 3021 can allow a sufficient redundant gap to be formed between the fin 302 and the connection sleeve 303 to accommodate manufacturing errors of the component and ensure that the fin 302 and the connection sleeve 303 are firmly connected.

In the present embodiment, as shown in fig. 9, the blade assembly 20 includes: a long strip-shaped paddle 201 and a paddle connector 202 for vertically mounting the paddle 201 at the end of the driving component 40; the paddle 201 is made of flexible materials, and is beneficial to reducing resistance in the swinging process.

In this embodiment, as shown in fig. 10, the paddle 201 is integrally in the shape of a long fan, the paddle 201 is made of a carbon fiber plate with a thickness of 1mm, the paddle 201 has a straight edge 2011 and a bevel edge 2013 arranged on opposite sides, and an arc-shaped portion 2012 connected to the ends of the straight edge 2011 and the side of the wheel fin assembly 30 are parallel; as shown in fig. 1, a set gap is formed between the straight edge 2011 and the fin 302 of the skeg assembly 30, so that the movement of the paddle 201 is not interfered by the fin 302; meanwhile, in order to ensure that the paddle 201 generates sufficient propelling force, the length of the paddle 201 exceeds the distance between the installation position of the paddle assembly 20 and the installation position of the skeg assembly 30, and the length of the paddle 201 is preferably 300 mm.

In this embodiment, as shown in fig. 9, the driving assembly 40 includes: the driving shaft 401 and the motor 402, wherein the blade connector 202 and the motor 402 are respectively arranged at two ends of the driving shaft 401; as shown in fig. 13, one end of the driving shaft 401 is provided with a square driving portion shaft end 4013, and as shown in fig. 8, the coupling sleeve 303 includes: the driving shaft comprises a cylindrical sleeve main body 3031 and a sleeve flange 3032 which is coaxially arranged at one axial end of the sleeve main body 3031, wherein the sleeve flange 3032 is coaxially and fixedly connected with the main wheel 3011 through a fastener, a sleeve square hole 3033 is axially arranged at the other end of the sleeve main body 3031, and a driving part shaft end 4013 of the driving shaft 401 is matched with the shaft hole of the sleeve square hole 3033.

In the present embodiment, as shown in fig. 11 and 12, the paddle 201 is mounted on the driving shaft 401 of the driving assembly 40 through the paddle connector 202, as shown in fig. 13, the other end of the driving shaft 401 is used as a motor shaft matching section 4011, and a variable length section 4012 is between the motor shaft matching section 4011 and the driving section shaft section 4013, the axial length of the variable length section 4012 can be changed according to the size of the component to be driven by the driving shaft 401, while the size and structure of the motor shaft matching section 4011 and the driving section shaft section 4013 are kept unchanged, so that the processing of the component is facilitated, and the processing cost can be reduced; wherein the length of the variable length 4012 of the drive shaft 401 corresponding to the fin assembly 30 is greater than the length of the variable length 4012 of the drive shaft 401 corresponding to the blade assembly 20;

a slot 4014 is formed in the outer surface of the motor shaft matching section 4011 along a bus, and the end of the slot 4014 is open, i.e., is a straight-through key slot, so that the motor shaft matching section can be conveniently matched with a key on an output shaft of the motor 402; as shown in fig. 11, the main body of the blade attachment 202 is an attachment base 2021, the attachment base 2021 is provided with a drive shaft attachment portion 2024, one side of the drive shaft attachment portion 2024 is provided with a reinforcement portion 2022, the other side is provided with an ear plate 2027, the drive section shaft segment 4013 is a square shaft, the drive shaft attachment portion 2024 is provided with an attachment member square hole 2025 for fixedly attaching the drive section shaft segment 4013, and the blade 201 is attached to the attachment base 2021, and the length direction of the blade 201 is perpendicular to the axial direction of the drive section shaft segment 4013.

In this embodiment, as shown in fig. 11-13, the ear plate 2027 is divided into two parts, a slit 2026 communicating with the connector square hole 2025 is provided between the two parts, when the driving portion shaft section 4013 is butted with the connector square hole 2025, the slit 2026 is adapted to open and deform, so that the driving portion shaft section 4013 can smoothly enter the connector square hole 2025, and meanwhile, two parts of the ear plate 2027 are provided with through threaded holes for inserting screws to fasten the two parts of the ear plate 2027, thereby reducing the connector square hole 2025; the height of the reinforcement portion 2022 is smaller than the height of the drive shaft connection portion 2024, and the reinforcement portion 2022 has a through rectangular cavity 2023 therein, so that the weight of the blade attachment 202 can be reduced while ensuring the strength thereof and the contact area with the blade 201.

In this embodiment, as shown in fig. 14, the rack assembly 10 includes: curb plate 101, end plate 102 and connecting plate 103, two curb plate 101 parallel arrangement, connect through end plate 102 between the both ends of two curb plates 101, still set up two sets of above connecting plate 103 between two curb plates 101, every connecting plate 103 of group is including two connecting plates 103 that set up from top to bottom, and the both ends overlap joint of every connecting plate 103 is fixed at the edge of curb plate 101, installs two drive assembly 40 between two connecting plates 103 of every group, as shown in fig. 16, the both ends of connecting plate 103 are provided with a plurality of screw holes that are used for fixed motor 402, and the motor 402 of horizontal both sides of being convenient for sets up mutually oppositely, conveniently drives fin subassembly 30 or the paddle subassembly 20 of both sides simultaneously, curb plate 101, end plate 102 and connecting plate 103 are preferred to be made by 7075 aluminium alloy.

In this embodiment, the two ends of the side plate 101 are respectively provided with an end sleeve 1011, the middle part of the side plate is provided with a middle sleeve 1012, the driving shaft 401 for driving the wheel fin assembly 30 is arranged in the end sleeve 1011, and the driving shaft 401 for driving the blade assembly 20 is arranged in the middle sleeve 1012; as shown in fig. 15, the axial length of the intermediate sleeve 1012 is greater than the axial length of the end sleeve 1011, which ensures effective support of the blade assembly 20 and avoids interference of movement between the blade assembly 20 and the skeg assembly 30; the end sleeve 1011 is preferably integrally or separately provided with the side plate 101, and the middle sleeve 1012 is preferably detachably connected with the side plate 101; in addition, in order to facilitate the heat dissipation of the robot, the outer side of the side plate 101 is provided with more than one groove 1013 along the height direction of the robot, which can effectively increase the heat dissipation area.

In this embodiment, the driving assembly 40 further includes: a bearing seal assembly 403, the bearing seal assembly 403 being comprised of bearings and seals, the bearing seal assembly 403 being received in the end sleeve 1011 or the intermediate sleeve 1012 (as shown in FIG. 15) for effecting a seal between the drive assembly 40 and the intermediate sleeve 1012 or the end sleeve 1011; preferably, a double-stage framework oil seal is used as a rotary dynamic sealing scheme at the joint of the driving shaft 401, the end sleeve 1011 and the middle sleeve 1012, and lubricating oil is poured into a cavity formed between two framework oil seal sealing rings, so that the problems of lubrication and temperature reduction of the rotary shaft are solved.

In this embodiment, as shown in fig. 2, the frame assembly 10 further includes a cover plate 105 covering the side plate 101, the end plate 102 and the connecting plate 103, and a resistance reducing plate 104 disposed outside the end plate 102, where the resistance reducing plate 104 is in a circular arc shape; preferably, the cover plate 105 and the drag reduction plate 104 are integrally formed, so that gaps on the surface of the robot can be further reduced, the resistance of the robot in water is reduced, the impact load is allowed to be more uniformly distributed, and the possibility that the robot platform collides with an obstacle in land operation is reduced; the cover plate 105 and the resistance-reducing plate 104 are made of carbon fiber plates.

In this embodiment, in order to ensure the sealing performance of the robot, a sealant is filled between the cover plate 105 and the drag reduction plate 104 and between the side plate 101 and the end plate 102, and preferably 706 silicone rubber is used as a sealing medium; the silica gel is equivalent to rubber after sealed and solidified, and has good performances of shock resistance, water resistance, dust resistance and supercooling and overheating prevention.

In this embodiment, the self weight of the whole robot is not more than 10kg, and at the same time, the robot can carry a load of 2kg, the frame assembly 10 is provided with the handle 106, and a strap can be mounted on the frame assembly 10 when necessary, so that the robot is very convenient for a user to carry.

When the amphibious robot is used, the land motion is realized through the compound driving of the front wheel fin assembly and the rear wheel fin assembly, the underwater swimming is realized through the middle paddle assembly 20, the mutual interference is not generated between the two propulsion modes, the land walking mode is basically consistent with the vehicle motion, the ground moving speed of the robot can be improved through the wheels 301, and the noise is reduced; meanwhile, the control of movement modes such as straight movement, turning movement, backing movement and the like can be realized, the fins 302 are additionally arranged on the side surfaces of the wheels 301, the angle of the fins 302 of the robot is changed by adjusting the angle of the wheels 301 under water, and further the buoyancy and the thrust applied to the robot are changed, so that various underwater swimming actions of the amphibious robot are completed; in addition, the robot adopts the design idea of structural function integration, and each module can be conveniently installed, replaced and maintained, thereby being beneficial to reducing the use cost and improving the reliability and maintainability of the whole robot.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A finned-wheel composite amphibious robot is characterized by comprising: the device comprises a rack assembly (10), a blade assembly (20), a wheel fin assembly (30) and driving assemblies (40) which correspond to the blade assembly (20) and the wheel fin assembly (30) one by one; more than one pair of paddle components (20) are symmetrically arranged on the two transverse sides of the longitudinal middle part of the rack component (10) through a driving component (40); more than one pair of wheel fin assemblies (30) are respectively arranged at the longitudinal two ends of the rack assembly (10), wherein each pair of wheel fin assemblies (30) are arranged at the two transverse sides of the rack assembly (10) through a driving assembly (40); the driving assembly (40) can drive the blade assembly (20) to swing or the wheel fin assembly (30) to move.

2. The wheel-fin-and-paddle composite type amphibious robot according to claim 1, wherein the wheel-fin assembly (30) comprises: wheel (301), fin (302), connecting sleeve (303) and fin mounting panel (304), wheel (301) center coaxial is equipped with connecting sleeve (303), and fin (302) are installed along radial to connecting sleeve (303) surface offside, and fin (302) are fixed on wheel (301) through fin mounting panel (304).

3. Wheel-fin-and-paddle composite amphibious robot according to claim 2, characterized in that the wheels (301) comprise: the main wheel (3011) and widen the wheel (3012), the said main wheel (3011) is the disc of lamellar shape, there are more than three lightening holes evenly along the circumference on it, form the spoke between the adjacent lightening hole; the fin (302) is fixedly installed on the disk surface of one axial side of the main wheel (3011), the widening wheel (3012) is installed on the disk surface of the other axial side of the main wheel (3011) through a fastener, the widening wheel (3012) is annular, the outer diameter of the widening wheel is the same as that of the main wheel (3011), and the axial thickness of the widening wheel (3012) is larger than that of the main wheel (3011).

4. The wheel-fin-paddle composite amphibious robot according to claim 2, characterized in that the fins (302) are rectangular sheets, one corner of which is provided with a notch (3021) for clearance fit of the fins (302) with the connecting sleeve (303).

5. The wheel-fin-and-paddle composite amphibious robot of claim 2, wherein the blade assembly (20) comprises: the paddle comprises an elongated paddle (201) and a paddle connector (202) for vertically mounting the paddle (201) at the end of the drive assembly (40).

6. The wheel-fin-paddle composite type amphibious robot according to claim 5, wherein the paddle (201) is integrally in an elongated fan shape and is made of a carbon fiber plate with the thickness of 1mm, the paddle (201) is provided with a straight edge (2011) and a bevel edge (2013) which are arranged on opposite sides, and an arc-shaped portion (2012) which is connected to the ends of the straight edge (2011) and the bevel edge, and the straight edge (2011) is parallel to the side face of the wheel-fin assembly (30); a set gap is formed between the straight edge (2011) and the wheel fin component (30); the length of the paddle (201) is larger than the distance between the mounting position of the paddle component (20) and the mounting position of the wheel fin component (30).

7. Wheel-fin-and-paddle composite amphibious robot according to claim 5, characterised in that the drive assembly (40) comprises: the device comprises a driving shaft (401) and a motor (402), wherein the two ends of the driving shaft (401) are respectively provided with a blade connector (202) and the motor (402); one end of the drive shaft (401) is provided with a square drive part shaft end (4013), and the connection sleeve (303) includes: the driving mechanism comprises a cylindrical sleeve main body (3031) and a sleeve flange (3032) coaxially installed at one axial end of the sleeve main body (3031), the sleeve flange (3032) is coaxially and fixedly connected with a main wheel (3011) through a fastener, a sleeve square hole (3033) is axially arranged at the other end of the sleeve main body (3031), and a shaft end (4013) of the driving portion is matched with a shaft hole of the sleeve square hole (3033).

8. The amphibious robot of claim 7, of the fin-wheel-paddle composite type, wherein the paddle (201) is mounted on a driving shaft (401) of a driving assembly (40) through a paddle connector (202), the other end of the driving shaft (401) is used as a motor shaft matching section (4011), a length-variable section (4012) is arranged between the motor shaft matching section (4011) and a driving section shaft section (4013), and the length of the length-variable section (4012) in the axial direction is adjustable; the length of the variable length section (4012) of the driving shaft (401) corresponding to the wheel fin assembly (30) is larger than that of the variable length section (4012) of the driving shaft (401) corresponding to the blade assembly (20);

a slot (4014) is formed in the outer surface of the motor shaft matching section (4011) along a bus, and the end of the slot (4014) is open and is used for being matched with a key on an output shaft of the motor (402); the main part of paddle connector (202) is connection base (2021), be provided with drive shaft connecting portion (2024) on connection base (2021), one side of drive shaft connecting portion (2024) is provided with rib (2022), and the opposite side sets up otic placode (2027), drive portion shaft section (4013) is the square shaft, drive shaft connecting portion (2024) have connecting piece square hole (2025) for fixed connection drive portion shaft section (4013), paddle (201) are connected with connection base (2021), and its length direction is perpendicular with the axial of drive portion shaft section (4013).

9. Wheel-fin-and-paddle composite amphibious robot according to any of claims 1-8, characterized in that the frame assembly (10) comprises: curb plate (101), end plate (102), connecting plate (103), cover at curb plate (101), apron (105) and resistance-reducing plate (104) of setting in end plate (102) outside on end plate (102) and connecting plate (103), two curb plate (101) parallel arrangement, connect through end plate (102) between the both ends of two curb plate (101), still set up more than two sets of connecting plate (103) between two curb plate (101), every group has two, the both ends overlap joint of every connecting plate (103) is fixed at the edge of curb plate (101), install two drive assembly (40) between two connecting plates (103) of every group.

10. The wheel-fin-paddle composite amphibious robot according to claim 9, wherein the side plates (101) are provided with end sleeves (1011) at both ends and a middle sleeve (1012) at the middle respectively, a drive shaft (401) for driving the wheel-fin assembly (30) is provided in the end sleeves (1011), and a drive shaft (401) for driving the blade assembly (20) is provided in the middle sleeve (1012); the axial length of the intermediate sleeve (1012) is greater than the axial length of the end sleeve (1011); wherein, the outer side of the side plate (101) is provided with more than one groove (1013) along the height direction of the robot.