CN117944410B - Amphibious robot - Google Patents

Abstract

The invention discloses an amphibious robot, and relates to the technical field of robots. Including the main part, the main part rigid coupling has the observation camera, and the observation camera is from taking the glass cover, and the main part rigid coupling has the screw propulsion ware, and the main part rigid coupling has the first rotating assembly of longitudinal symmetry distribution, and first rotating assembly rigid coupling has the second rotating assembly, and first rotating assembly is used for controlling the second rotating assembly rotatory, and the second rotating assembly rigid coupling has first supporting leg, and the second rotating assembly is used for controlling first supporting leg rotation, and first supporting leg rotation type is connected with the second supporting leg. The first motor drives the wheels to move on the road surface, and the wheels move in the water by virtue of the screw propeller, so that the robot can rapidly travel in the water or on land.

Description

Amphibious robot

Technical Field

The invention relates to the technical field of robots, in particular to an amphibious robot.

Background

Along with the reduction of manufacturing cost, the birth of the low-power consumption control chip greatly promotes the improvement of the amphibious robot in the aspects of flexibility, complex terrain adaptability, endurance time, speed stability, man-machine interaction, information fusion and the like, so that the amphibious robot is more integrated and intelligent. The amphibious robot can be suitable for operation in various complex terrains and underwater environments, and has good movement performance. By carrying some navigation equipment, sensors, tools, manipulators and the like, the navigation system can be better applied to special environments and occasions such as mine detection, search and rescue, topographic mapping, underwater ecological environment monitoring and the like. Therefore, the amphibious robot has profound development space and application prospect.

Most of the prior art is a bionic amphibious robot or an amphibious robot aiming at complex environments, and is used for detecting, sampling and other tasks at a relatively low speed and relatively low efficiency, so that the robot can rapidly travel in water or on land, and is light and portable.

Based on the above, the amphibious robot with high efficiency is disclosed.

Disclosure of Invention

In order to overcome the defect of lower task execution efficiency in the prior art, the technical problems of the invention are as follows: provided is an amphibious robot with high efficiency.

The utility model provides an amphibious robot, including the main part, the main part rigid coupling has the observation camera, the observation camera is from taking the glass cover, the main part rigid coupling has the screw propulsion ware, the main part rigid coupling has the first rotating component of longitudinal symmetry distribution, first rotating component rigid coupling has the second rotating component, first rotating component is used for controlling the second rotating component rotatory, the second rotating component rigid coupling has first supporting leg, the second rotating component is used for controlling first supporting leg rotatory, first supporting leg swivelling joint has the second supporting leg, first supporting leg threaded connection has the fastening screw, the fastening screw is used for fixing the relative position of first supporting leg and second supporting leg, first motor is installed to the second supporting leg, the output shaft rigid coupling of first motor has the wheel.

In a preferred embodiment of the present invention, the robot further comprises a sensor group, wherein the sensor group is mounted on the main body, and the sensor group is fixedly connected with the robot.

In a preferred embodiment of the present invention, the present invention further comprises a baffle fixedly connected to the outer side of the adjacent second support leg, the wheel is slidably connected with a sliding member circumferentially distributed, and a first spring is connected between the sliding member and the wheel.

In a preferred embodiment of the invention, the end of the slider is angular to facilitate insertion into a soft road surface to increase the stability of the wheel and to reduce the resistance to water when the slider slides in water.

In a preferred embodiment of the invention, a certain interval exists between the sliding parts, which is beneficial to avoiding barriers such as stones on the road surface.

In a preferred embodiment of the present invention, the present invention further comprises a first fixing block, the first fixing block is fixedly connected to the adjacent wheel, the first fixing block is slidably connected with a first floating block, the first floating block penetrates through the side edge of the wheel, the first floating block is used for limiting the sliding of the sliding piece, and a second spring is connected between the first floating block and the first fixing block.

In a preferred embodiment of the invention, the device further comprises a longitudinally distributed elastic protection piece, the elastic protection piece is in a hollowed shape, the material is an elastic material, the longitudinally distributed elastic protection piece is connected with the main body in a sliding mode, a third spring which is symmetrically distributed is connected between the elastic protection piece and the main body, the main body is fixedly connected with a second fixing block, the main body is fixedly connected with the third fixing block, the second fixing block is positioned in front of the third fixing block, a limiting piece is connected between the second fixing block and the third fixing block in a sliding mode, the limiting piece is used for limiting the position of the elastic protection piece, the main body is fixedly connected with an inflation tube, compressed air is filled inside the inflation tube, a contact alarm is fixedly connected to the position, close to the second fixing block, inside the inflation tube, of one side, close to the contact alarm is slidably connected with a sealing piece, a fourth spring is connected between the sealing piece and the contact alarm, the other side, close to the contact alarm, of the inflation tube is slidably connected with a trigger piece, the trigger piece is in extrusion fit with the sealing piece, and the trigger piece is in extrusion fit with the limiting piece.

In a preferred embodiment of the present invention, the inflatable tube surrounds the bottom of the main body, which is beneficial to protecting and detecting the damage in the peripheral direction.

In a preferred embodiment of the present invention, the reel is rotatably connected between the second fixed block and the third fixed block, the trigger member limits rotation of the reel, the reel is fixedly connected with a four-claw anchor, the second fixed block is slidably connected with a second floating block, and the second floating block is clamped on a shaft of the reel.

In a preferred embodiment of the invention, the camera also comprises a second motor, wherein the second motor is fixedly connected to the main body at a position close to the observation camera, and a cleaning piece is fixedly connected to an output shaft of the second motor and is used for cleaning sundries on the surface of the observation camera.

Compared with the prior art, the invention has the following advantages: the wheel is driven to move on the road surface through the first motor, the screw propeller is relied on to move in the water, so that the robot can rapidly travel in the water or on land, has good motion performance, can efficiently complete tasks, can be matched with different tools to execute different tasks, is quite wide in application range, can be rotatably folded, can adjust the relative positions of the first supporting leg and the second supporting leg by adjusting the fastening screw, can play a role in reducing occupied space and adapting to the terrain environment, and is convenient to carry.

Through slider receive the rotatory centrifugal force effect of wheel and surface of water interact, play better steering action in the water, simultaneously the slider of interval circumference distribution on the road surface also can effectively avoid stone or the uneven influence on road surface, slider's tip is the edges and corners, be favorable to inserting soft road surface and increase the stability of wheel, slider is favorable to reducing when sliding in the water and receives the resistance of water, the slip of first floating block restriction slider is in order to stabilize the position of slider when the road surface, slider's slip of making a round trip can influence the travel of robot.

The gas tube encircles in the main part bottom, is favorable to protecting the main part, and the gas tube breaks and drives the sealing member and still can trigger the elastic protection piece and start, and the elastic protection piece sets up to the fretwork shape, and the material is elastic material, deformation when receiving the striking acts as cushioning effect, can effectively reduce the striking damage that receives, prevents the secondary injury, in water with the cooperation of second floating block trigger four claw anchor and reel, with robot position restriction in certain limit, make things convenient for operating personnel to look for, prevent that the robot from being taken away by rivers.

When the robot is used, the cleaning piece is driven to rotate in a reciprocating mode through the second motor, dirt and garbage on the glass cover of the observation camera are cleaned, and the robot is favorable for operators to observe external conditions better.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of the main body, sensor group, manipulator and other components of the present invention.

Fig. 3 is a schematic perspective view of the parts of the screw propeller, the baffle plate, the sliding part and the like.

Fig. 4 is a schematic perspective view of the baffle, the sliding member, the first spring and other components of the present invention.

Fig. 5 is a schematic perspective view of the first fixing block, the first floating block, the second spring and other parts of the present invention.

Fig. 6 is a schematic perspective view of the elastic protection member, the third spring, the second fixing block and other components of the present invention.

Fig. 7 is a schematic perspective view of the limiting member, the elastic protecting member, the triggering member and the like.

Fig. 8 is a schematic perspective view of the seal, fourth spring, contact alarm, and other components of the present invention.

Fig. 9 is a schematic perspective view of a reel, four-jaw anchor, second fixed block, etc. according to the present invention.

Fig. 10 is a schematic perspective view of the second fixing block, the second floating block, the reel and other parts of the present invention.

Fig. 11 is a schematic perspective view of the view camera, the second motor, the cleaning member and other components of the present invention.

Wherein the above figures include the following reference numerals: 101. the device comprises a main body, 102, a sensor group, 103, a manipulator, 104, an observation camera, 105, an auger, 106, a first rotating component, 107, a second rotating component, 108, a first supporting leg, 109, a second supporting leg, 110, a first motor, 111, wheels, 112, a fastening screw, 201, a baffle, 202, a sliding piece, 203, a first spring, 301, a first fixed block, 302, a first floating block, 303, a second spring, 401, an elastic protection piece, 402, a third spring, 403, a second fixed block, 404, a third fixed block, 405, a limiting piece, 406, an inflation tube, 407, a contact alarm, 408, a sealing piece, 409, a fourth spring, 410, a triggering piece, 501, a reel, 502, a four-jaw anchor, 503, a second floating block, 601, a second motor, 602 and a cleaning piece.

Detailed Description

It should be noted that in the various embodiments described, identical components are provided with identical reference numerals or identical component names, wherein the disclosure contained throughout the description can be transferred in a meaning to identical components having identical reference numerals or identical component names. The position specification, the upper, lower, lateral, etc. selected in the description are also referred to directly in the description and the figures shown and are transferred in the sense of a new position when the position is changed.

Example 1: an amphibious robot, as shown in fig. 1-3, comprises a main body 101, a sensor group 102 is mounted at the front end of the upper part of the main body 101, a manipulator 103 is fixedly connected at the rear end of the upper part of the sensor group 102, and the amphibious robot can be better applied to special environments and occasions such as mine detection, search and rescue, topographic mapping, underwater ecological environment monitoring and the like by mounting some navigation equipment, sensors, tools and the like. The front end of the main body 101 is fixedly connected with an observation camera 104, the front end of the observation camera 104 is provided with a glass cover, an operator can observe the external environment conveniently, the operation on the robot is facilitated, the rear part of the main body 101 is fixedly connected with a screw propeller 105, the screw propeller 105 provides the power for the robot to advance in water, the left side and the right side of the main body 101 are fixedly connected with first rotating assemblies 106 which are longitudinally distributed front and back, the first rotating assemblies 106 are fixedly connected with second rotating assemblies 107, the first rotating assemblies 106 are used for controlling the second rotating assemblies 107 to rotate, the second rotating assemblies 107 are fixedly connected with first supporting legs 108, the second rotating assemblies 107 are used for controlling the first supporting legs 108 to rotate, the lower parts of the first supporting legs 108 are rotatably connected with second supporting legs 109, the lower parts of the first supporting legs 108 are in threaded connection with fastening screws 112, the fastening screws 112 are used for fixing the relative positions of the first supporting legs 108 and the second supporting legs 109, the relative positions of the first supporting legs 108 and the second supporting legs 109 can play the roles of reducing occupied space and adapting to the terrain environment, the lower parts of the second supporting legs 109 are provided with first motor 109, and the first wheel 110 is fixedly connected with an output shaft 111.

As shown in fig. 2, the sensor group 102 is mounted at the front end of the upper portion of the main body 101, and the manipulator 103 is fixedly connected to the rear end of the upper portion of the sensor group 102, so that the sensor group can be better applied to special environments and occasions such as mine detection, search and rescue, topographic mapping, underwater ecological environment monitoring and the like by mounting some navigation devices, sensors, tools and the like.

As shown in fig. 4, the device further comprises a baffle 201, the baffle 201 is fixedly connected to the outer side of the adjacent second supporting leg 109, the baffle 201 is located above the corresponding wheel 111, the wheel 111 is slidably connected with a circumferentially distributed sliding part 202, the wheel 111 rotates to drive the sliding part 202 to rotate and slide outwards, the wheel 111 and the sliding part 202 have a steering function, the sliding part 202 is in extrusion fit with the baffle 201, the end part of the sliding part 202 is a corner, the flexible road surface is facilitated to be inserted, the stability of the wheel 111 is improved, the sliding part 202 is facilitated to reduce the resistance to water when sliding in water, a certain interval exists between the sliding parts 202, the road surface is facilitated to avoid barriers such as stones, and a first spring 203 is connected between the sliding part 202 and the wheel 111.

When the robot is required to perform tasks, firstly, the sensor group 102 and the manipulator 103 are mounted on the main body 101 in advance, the fastening screw 112 is adjusted, the first supporting leg 108 and the second supporting leg 109 are adjusted to proper positions according to the specific tasks and environments, the robot is placed on a road surface after the adjustment, then an operator controls the first motor 110 to start through the control module, the first motor 110 drives the wheels 111 to rotate to a task point, the observation camera 104 can observe the condition of the road surface or the water surface and feed back to the operator, the robot is contacted with the ground through the sliding piece 202 when the road surface advances, the end part of the sliding piece 202 is a corner, the insertion of the soft road surface is facilitated, the stability of the wheels 111 is increased, a certain interval exists between the sliding pieces 202, the avoidance of the obstacles such as stones on the road surface is facilitated, or the robot can stably advance on an uneven road surface, when the road surface enters the water surface, the first rotating assembly 106 is controlled to rotate outwards through the control module, the first supporting leg 108 and the second supporting leg 109 are controlled to rotate to the horizontal position, the second rotating assembly 107 is controlled to rotate, the front two first supporting legs 108 and the second supporting legs 109 rotate forwards, the rear two first supporting legs 108 and the second supporting legs 109 rotate backwards, the shape surrounded by the four wheels 111 is square when the robot is rotated to see from top to bottom, the robot can stably float on the water surface, then the screw propeller 105 is controlled to start through the control module, the robot can move in the water to advance, when the robot enters the road surface on the water surface, the first rotating assembly 106 and the second rotating assembly 107 are controlled to rotate reversely to reset, the first motor 110 is started to drive the wheels 111 to rotate, when the robot reaches a destination, the task is executed through the sensor group 102 and the manipulator 103 installed on the main body 101, the sensor group 102 is used for detecting the surrounding environment and serves as the function of eyes of the manipulator 103, according to the information collected by the sensor group 102, an operator can complete the task through specific implementation of the manipulator 103, according to different tasks, different tools or instruments can be installed on the main body 101 to complete the corresponding task, the task is returned to the original path, the fastening screw 112 is not required to be manually adjusted when the task is executed, the first supporting leg 108 and the second supporting leg 109 are rotated to a state close to each other, the fastening screw 112 is screwed, the second rotating assembly 107 is controlled to be rotated backwards, the space occupation of the robot can be minimized, the robot is convenient to carry, the robot can be suitable for operation in various complex terrains and water environments when required to be used, the robot can be advanced by means of the wheels 111 on the road surface, the screw propeller 105 is required to be advanced in the water, and the task can be efficiently completed.

Example 2: on the basis of embodiment 1, as shown in fig. 4 and 5, the device further comprises a first fixed block 301, wherein the first fixed block 301 is fixedly connected to the outer side of the adjacent wheel 111, the first fixed block 301 is slidably connected with a first floating block 302, the first floating block 302 is also slidably arranged on the side edge of the wheel 111, the first floating block 302 is used for limiting the sliding of the sliding piece 202, a second spring 303 is connected between the first floating block 302 and the first fixed block 301, the first floating block 302 moves upwards under the buoyancy effect when in water, the second spring 303 is compressed, and the first floating block 302 is automatically separated from the limitation of the sliding piece 202.

The steering mode of the robot on the road surface is that all the first steering components 106 are controlled to rotate clockwise by a certain angle from front to back, at this time, the center of gravity of the robot is deflected rightwards, the steering right is achieved in the advancing process, all the first steering components 106 are controlled to rotate anticlockwise from front to back when steering leftwards, the steering mode of the robot on the water surface is that when the robot enters the water surface, the wheels 111 are parallel and lower than the water surface, the first floating blocks 302 move upwards along the first fixed blocks 301 under the action of buoyancy, the second springs 303 compress, the sliding of the sliding parts 202 are not limited any more by the first floating blocks 302, when the wheels 111 are controlled to rotate through the first motor 110, the sliding parts 202 move outwards under the action of centrifugal force, the end parts of the sliding parts 202 are edges, the sliding parts 202 slide in the water are favorable for reducing the resistance of the self, the first spring 203 is compressed, the sliding member 202 is reset by the pressing action of the baffle 201 when contacting with the baffle 201, the first spring 203 is reset, thus the sliding member 202 far away from the baffle 201 has a larger action on water than the sliding member 202 near the baffle 201, because the action of the forces is mutual, the water also has a reaction force on the sliding member 202, the rotation directions of the four first motors 110 are controlled so that the reaction force directions of the water are consistent, the rotation torque of the robot in the water can be generated, the reaction force direction of the water is clockwise when the robot is seen from top to bottom, the robot rotates clockwise, and conversely, the robot rotates reversely, when the robot does not need to turn in the water, all the first springs 203 reset to drive the sliding piece 202 to reset, when the robot leaves the water surface, the second springs 303 reset to drive the first floating block 302 to reset, the first slider 302 re-constrains the corresponding slider 202.

As shown in fig. 6-8, the device further comprises an elastic protection member 401 longitudinally distributed in front and back, the elastic protection member 401 longitudinally distributed in front and back is slidably connected to the lower portion of the main body 101, the elastic protection member 401 is made of an elastic material, deforms when being impacted, and acts as a buffer, impact damage can be effectively reduced, a third spring 402 symmetrically distributed is connected between the elastic protection member 401 and the main body 101, the third spring 402 is in a compressed state, the front end of the lower portion of the main body 101 is fixedly connected with a second fixing block 403, the front end of the lower portion of the main body 101 is fixedly connected with a third fixing block 404, the second fixing block 403 is positioned in front of the third fixing block 404, a limiting member 405 is slidably connected between the second fixing block 403 and the upper portion of the third fixing block 404, the limiting member 405 is used for limiting the position of the elastic protection member 401, and the limiting member 405 moves to be separated from the limitation of the elastic protection member 401, the elastic protection piece 401 is ejected out under the action of the third spring 402 and protects the main body 101, the bottom of the main body 101 is fixedly connected with the air charging tube 406, compressed air is charged in the air charging tube 406, the compressed air leaks when the air charging tube 406 is broken, the triggering function is achieved, the air charging tube 406 surrounds the bottom of the main body 101, the protection and the detection of the damage in the peripheral direction are facilitated, the contact alarm 407 is fixedly connected in the front end of the air charging tube 406, the sealing piece 408 is connected to the left side of the front end of the inner portion of the air charging tube 406 in a sliding mode, the fourth spring 409 is connected between the sealing piece 408 and the contact alarm 407, the sealing piece 408 contacts the contact alarm 407 to trigger an alarm, the right side of the front end of the inner portion of the air charging tube 406 is connected with the triggering piece 410 in a sliding mode, the upper portion of the triggering piece 410 is in pressing fit with the sealing piece 408, and the middle portion of the triggering piece 410 is in pressing fit with the limiting piece 405.

When the robot is damaged by impact, if the main body 101 is damaged, the whole operation of the robot is likely to be problematic, so that tasks cannot be completed, even an operator may lose control over the robot, in order to cope with the situation that the robot is damaged, the inflation tube 406 can protect the periphery of the bottom of the main body 101, when the robot is severely damaged, the inflation tube 406 is broken, compressed air in the inflation tube 406 leaks, the fourth spring 409 which is originally in a stretched state resets to drive the sealing element 408 to reset, the sealing element 408 touches the contact alarm 407 to give an alarm, the operator is prompted that the main body 101 is damaged, meanwhile, the sealing element 408 extrudes the triggering element 410 to move downwards, the triggering element 410 extrudes the limiting element 405 to move backwards along the second fixing block 403 and the third fixing block 404, the side edge of the limiting element 405 is separated from the limitation of the elastic protecting element 401, the third spring 402 which is originally in a compressed state resets to drive the elastic protecting element 401 to move outwards, the protecting range of the elastic protecting element 401 is enlarged, and the robot is prevented from being secondarily damaged.

As shown in fig. 9 and 10, the device further comprises a reel 501, the reel 501 is rotatably connected between the second fixing block 403 and the third fixing block 404, the lower portion of the trigger piece 410 limits the rotation of the reel 501, the reel 501 is fixedly connected with a four-claw anchor 502, the four-claw anchor 502 can be clamped into a slit of the water bottom to limit the position of the robot, the middle part of the front end of the second fixing block 403 is slidably connected with a second floating block 503, the second floating block 503 is clamped on the shaft of the reel 501, the second floating block 503 automatically floats when in water, and the shaft rotation of the reel 501 is not limited any more, and gravity is reset when the reel is separated from the water surface.

If the inflatable tube 406 is broken due to damage in water, the second floating block 503 moves upwards under the buoyancy action when in water, is not clamped on the shaft of the reel 501, the second floating block 503 is used for detecting whether the robot is in water, the trigger piece 410 moves downwards, the rotation of the reel 501 is not limited, the four-claw anchor 502 drives the reel 501 to rotate under the gravity action, and the robot is sunk and limited in a certain range, so that the purpose is to facilitate the recovery of the robot by an operator, prevent the failure of a power system caused by damage to the robot, and prevent the failure of the power system due to the drifting around along with water flow.

As shown in fig. 11, the device further includes a second motor 601, the second motor 601 is fixedly connected to the front end of the main body 101, the second motor 601 is located at the left side of the observation camera 104, an output shaft of the second motor 601 is fixedly connected with a cleaning member 602, the cleaning member 602 contacts with a glass cover of the observation camera 104, the cleaning member 602 is used for cleaning sundries on the surface of the observation camera 104, and the second motor 601 controls the cleaning member 602 to reciprocally rotate to continuously clean the glass cover of the observation camera 104.

When the robot is executing the task, operating personnel observe external conditions through the front-mounted observation camera 104, and in consideration of that the glass cover of the observation camera 104 is possibly stained with mud or dust or wound with water grass no matter in water or on road surface, the operating personnel can influence the observation to external environment, in order to avoid the condition, the operating personnel can start the second motor 601 through the control module, and the second motor 601 drives the cleaning piece 602 to reciprocally rotate to clean the surface of the glass cover of the observation camera 104, so that the operating personnel can better observe the external conditions.

In the other technical features of the embodiment, those skilled in the art can flexibly select and use the other technical features according to actual situations so as to meet different specific actual requirements. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known algorithms, methods, or systems, etc., have not been described in detail in order to avoid obscuring the present invention, and are within the scope of the present invention as defined by the appended claims.

Claims (4)

1. The amphibious robot is characterized by comprising a main body (101), wherein an observation camera (104) is fixedly connected to the main body (101), a glass cover is arranged on the observation camera (104), a screw propeller (105) is fixedly connected to the main body (101), first rotating assemblies (106) which are longitudinally and symmetrically distributed are fixedly connected to the main body (101), second rotating assemblies (107) are fixedly connected to the first rotating assemblies (106), the first rotating assemblies (106) are used for controlling the second rotating assemblies (107) to rotate, first supporting legs (108) are fixedly connected to the second rotating assemblies (107) and are used for controlling the first supporting legs (108) to rotate, second supporting legs (109) are rotatably connected to the first supporting legs (108), fastening screws (112) are connected to the first supporting legs (108) in a threaded mode, first motors (110) are installed on the second supporting legs (109), and wheels (111) are fixedly connected to output shafts of the first motors (110);

the robot is characterized by further comprising a sensor group (102), wherein the sensor group (102) is arranged on the main body (101), and the sensor group (102) is fixedly connected with a manipulator (103);

The device also comprises a baffle (201), wherein the baffle (201) is fixedly connected to the outer side of the adjacent second supporting leg (109), the wheels (111) are connected with sliding parts (202) distributed circumferentially in a sliding manner, and a first spring (203) is connected between the sliding parts (202) and the wheels (111);

The edges of the sliding parts (202) are edges, so that the sliding parts can be inserted into soft road surfaces to improve the stability of the wheels (111), and the sliding parts (202) can be used for reducing the resistance of water when sliding in the water;

A certain interval exists between the sliding parts (202), so that obstacles such as stones on the road surface can be avoided;

The novel sliding type wheel comprises a wheel body, and is characterized by further comprising a first fixed block (301), wherein the first fixed block (301) is fixedly connected to the wheel (111), the first fixed block (301) is connected with a first floating block (302) in a sliding mode, the first floating block (302) penetrates through the side edge of the wheel (111), the first floating block (302) is used for limiting sliding of a sliding piece (202), and a second spring (303) is connected between the first floating block (302) and the first fixed block (301);

The device also comprises a protection piece (401) which is longitudinally distributed, the protection piece (401) which is longitudinally distributed is connected with the main body (101) in a sliding way, a third spring (402) which is symmetrically distributed is connected between the protection piece (401) and the main body (101), a second fixing block (403) is fixedly connected with the main body (101), a third fixing block (404) is fixedly connected with the main body (101), the second fixing block (403) is positioned in front of the third fixing block (404), a limiting piece (405) is connected between the second fixing block (403) and the third fixing block (404) in a sliding way, the limiting piece (405) is used for limiting the position of the protection piece (401), the main body (101) is fixedly connected with an air charging pipe (406), compressed air is filled inside the air charging pipe (406), a position, which is close to the second fixing block (403), inside the air charging pipe (406), is fixedly connected with a contact alarm (407), one side of the air charging pipe (406) is fixedly connected with a sealing piece (408), a fourth spring (409) is connected between the sealing piece (408) and the contact alarm (407), the inside the air charging pipe (406) is positioned inside the contact alarm (407) and is in a sliding way, the other side (408) is matched with the triggering piece (410), the trigger (410) and the limiter (405) are press fit.

2. An amphibious robot according to claim 1, characterised in that the inflatable tube (406) surrounds the bottom of the body (101) to facilitate protection and detection of damage in the peripheral direction.

3. An amphibious robot according to claim 2, further comprising a reel (501), wherein the reel (501) is rotatably connected between the second fixed block (403) and the third fixed block (404), the trigger member (410) limits rotation of the reel (501), the reel (501) is fixedly connected with the anchor (502), the second fixed block (403) is slidably connected with the second floating block (503), and the second floating block (503) is clamped to a shaft of the reel (501).

4. An amphibious robot according to claim 3, further comprising a second motor (601), the second motor (601) being fixedly connected to the main body (101) at a position close to the observation camera (104), a cleaning member (602) being fixedly connected to an output shaft of the second motor (601), the cleaning member (602) being used for cleaning sundries on the surface of the observation camera (104).