CN210101943U

CN210101943U - Overturning-prevention water strider robot with self-adaptive adjustment of gravity center

Info

Publication number: CN210101943U
Application number: CN201920805681.7U
Authority: CN
Inventors: 黄豪彩; 盛超武; 吴刚; 吴建楠; 张晨韵; 刘勋; 吴怡平
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-02-21
Anticipated expiration: 2029-05-31

Abstract

The utility model discloses a resistance to toppling water strider robot of focus self-adaptation regulation belongs to surface of water robot technical field, including the main part, locate the oar of striking of main part both sides and evenly locate the supporting leg around the main part, still include: the lifting unit is arranged on the main body and drives the paddle to move up and down; the horizontal swinging unit is arranged on the lifting unit, and the paddle is arranged at the output end of the horizontal swinging unit; and the vertical swing unit is arranged on the main body and comprises a multi-link mechanism and a push rod motor for pushing the input end of the multi-link mechanism to swing up and down, the supporting legs are fixed at the output end of the multi-link mechanism, and the multi-link mechanism is provided with a hinge shaft connected with the main body. The supporting legs are controlled to move up and down through the vertical swing units, so that the floating centers of the supporting legs are controlled to move, when the robot bumps in the waves, the gravity center of the robot is lower than the floating centers of the supporting legs, and the overturn prevention capability of the robot is improved.

Description

Overturning-prevention water strider robot with self-adaptive adjustment of gravity center

Technical Field

The utility model relates to a surface of water robot technical field, specifically speaking relates to a resistance to overturning water strider robot of focus self-adaptation regulation.

Background

Strider is a small aquatic insect commonly found in lake water, ponds. The utility model has the advantages of its quality is light, possess special body structure, and the health can be divided into trunk, supporting leg and the leg of paddling. The water strider can stand on the water surface, slide rapidly and jump. The water strider has the advantages of strong maneuverability, high stability and small interference to the water surface, which draws the attention of many researchers at home and abroad.

The bionic water strider robot is based on the basic principle that water striders insects can float and slide on the water surface, simulates the hydrophobic characteristic and the motion of a water strider leg, and can independently and autonomously operate in special environments such as a remote water area and a narrow water area. With the development of micro electronic elements and micro machining, a camera can be carried to realize the detection and detection, so that the water strider robot becomes a detection robot with low cost, high efficiency and high concealment, and has high potential application value.

At present, two kinds of bionic water strider robots are mainly used in domestic and foreign research: one is a water strider robot developed based on water surface tension, in which the legs of the robot are treated with a hydrophobic material or a superhydrophobic material, and the robot is supported by the water surface tension. The other type is a water strider robot supported based on the buoyancy of the water body, the support leg of the robot is generally composed of a floating ball, and the buoyancy generated by the volume of the water body is discharged by the floating ball to support the robot.

The water strider robot based on the water surface tension support is generally small in size, light in weight and good in bionic effect, but is poor in load carrying capacity and difficult to use in practical application. The water strider robot based on buoyancy support is generally large in size, strong in load capacity and strong in practicability. At present, most of the paddling legs of the water strider robot based on buoyancy support use a four-bar mechanism, and a small motor provides power. However, the four-bar mechanism is not easy to transmit high-speed movement, which affects the paddling speed of the robot, and the adjustment of the paddling leg speed is not flexible enough. The paddling action of the paddling leg is basically controlled by two motors, one motor controls the paddling to enter the water body, the other motor controls the paddling to paddle the water body, and the paddling legs of the two motors are unfavorable for the control of the robot and the miniaturization of the robot. Meanwhile, most water strider robots do not consider the stability problem of the robots and are easy to overturn when facing the condition of wave jolt.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a barycenter self-adaptation regulation's anti-overturning strider robot, this robot meet the wave when jolting, through the centrobaric position of automatically regulated, make the focus of robot be less than the center of buoyancy of supporting leg, improved the ability of preventing overturning of robot.

In order to achieve the above object, the utility model provides a resistance to overturning water strider robot of focus self-adaptation regulation includes the main part, locates the paddle of main part both sides and evenly locates the supporting leg around the main part, still includes:

the lifting unit is arranged on the main body and drives the paddle to move up and down;

the horizontal swinging unit is arranged on the lifting unit, and the paddle is arranged at the output end of the horizontal swinging unit;

and the vertical swing unit is arranged on the main body and comprises a multi-link mechanism and a push rod motor for pushing an input rod of the multi-link mechanism to swing up and down, the supporting legs are fixed on an output rod of the multi-link mechanism, and the multi-link mechanism is provided with a hinge shaft connected with the main body.

In the technical scheme, the lifting unit and the horizontal swinging unit drive the paddling paddles to paddle water, so that the robot is controlled to advance on the water surface; the supporting legs are controlled to move up and down through the vertical swing units, so that the floating centers of the supporting legs are controlled to move, when the robot bumps in the waves, the gravity center of the robot is lower than the floating centers of the supporting legs, and the overturn prevention capability of the robot is improved.

The input end of the multi-link mechanism is controlled to move in the vertical direction by a push rod motor. In order to always bring the output rod of the multi-link mechanism into a vertical posture and thus the support leg of the robot into a horizontal posture, it is preferable that the multi-link mechanism includes two common-side parallel four-link mechanisms composed of seven links, and one link of the parallel four-link mechanism remote from the main body extends and is hinged to the input rod of the parallel four-link mechanism close to the main body through an eighth link.

Preferably, a rocker is provided on one link of the parallel four-link mechanism close to the main body, and the hinge shaft is provided on the rocker.

Preferably, the main body is provided with a motor seat for fixing the push rod motor, the output end of the push rod motor is a push rod, and the push rod is connected with the input rod of the multi-link mechanism.

Preferably, the support leg is an elliptical floating ball.

Preferably, the lifting unit and the horizontal swinging unit are respectively connected to two output ends of a double-shaft motor. The paddling leg is controlled by one motor, so that a robot control system is simplified, and the volumes of the lifting unit and the horizontal swinging unit are reduced.

Preferably, the lifting unit includes a vertical rack fixed to the main body and a gear provided at a first output end of the dual shaft motor and engaged with the vertical rack.

Preferably, the horizontal swinging unit comprises a vertical incomplete bevel gear with partial teeth, two horizontal bevel gears which are arranged up and down and can be meshed with the vertical incomplete bevel gear, and a transmission mechanism which is connected to the second output end of the double-shaft motor and is connected with the vertical bevel gear; two horizontal bevel gear pivot are fixed on same vertical line, pass through flexible coupling joint between the pivot, the oar of striking install the tip at low-order horizontal bevel gear pivot.

Preferably, the transmission mechanism is a gear transmission mechanism.

Preferably, the end part of the rotating shaft is provided with a rotating disc with a clamping groove, and the paddle is connected in the clamping groove in a gluing mode.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a barycenter self-adaptation regulation prevent toppling nature water strider robot is meetting the wave when jolting, through the centrobaric position of automatically regulated, makes the robot focus be less than the floating core of supporting leg, has improved the ability of preventing toppling of robot. The same motor is adopted to control the paddling, so that a robot control system is simplified, and the volumes of the lifting unit and the horizontal swinging unit are reduced.

Drawings

FIG. 1 is a schematic structural view of an anti-overturning water strider robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a base plate and a sealed cabin in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a substrate according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an expansion board according to an embodiment of the present invention;

fig. 5 is a schematic structural view of the lifting unit, the horizontal swinging unit and the paddling paddle in the embodiment of the present invention, wherein (1) and (2) are schematic structural views of different angles, respectively;

fig. 6 is a schematic structural diagram of a first connecting member according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a bottom plate in an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a slider in an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a horizontal swing unit in an embodiment of the present invention;

fig. 10 is a schematic structural view of a base in an embodiment of the present invention;

FIG. 11 is a schematic structural view of the vertical swing unit and the support leg according to the embodiment of the present invention;

fig. 12 is a schematic structural view of a second connecting member according to an embodiment of the present invention;

fig. 13 is a schematic structural view of a motor base according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a multi-link mechanism according to an embodiment of the present invention;

FIG. 15 is a schematic view of an initial state of the rowing paddle in an embodiment of the present invention;

FIG. 16 is a diagram illustrating a quarter cycle of the embodiment of the present invention when the rowing paddle is in operation;

FIG. 17 is a schematic view showing a two-quarter cycle state of a rowing paddle according to an embodiment of the present invention;

FIG. 18 is a schematic diagram of a three-quarter cycle state of a rowing paddle in an embodiment of the present invention;

fig. 19 is a schematic view of the state that the main body sinks into the water in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further described below with reference to the following embodiments and accompanying drawings.

Examples

Referring to fig. 1 to 19, the adaptive center-of-gravity adjustment anti-overturning water strider robot of the present embodiment includes: the main part 1, two oar 2 and four supporting legs 3 of paddling. Two paddles 2 and four support legs 3 are symmetrically distributed on both sides of the main body 1 as shown in fig. 1.

The main body 1 is composed of a base plate 11, a hermetic chamber 12, a lifting unit 13, a horizontal swing unit 14, and a vertical swing unit 15. As shown in fig. 2, the capsule 12 is bolted to the central position of the base plate 11. Two sealing rings 122 are mounted on a cover 121 of the sealed cabin 12 and are fixed on a cabin body 123 through bolts to perform waterproof sealing on the sealed cabin 12. The expansion plate 124 is mounted on the hatch 121 by hexagonal copper studs. As shown in fig. 4, the partition plate 1241 of the expansion plate 124 is installed on a slot in the middle of the two flanges 1242, and the two flanges 1242 can be fixed by hexagonal copper studs. The control circuit board 1243 is fixed on one side of the partition 1241 by bolts, and the power supply 1244 may be bound on the other side of the partition 1241 by a band or an adhesive tape. There is an angle sensor on the control circuit board 1243 to monitor the tilt angle of the whole robot. The connection lines of the control circuit board 1243 and the power supply 1244 can realize the control and energy transfer of the external device through the watertight plug-in 125 on the hatch 121.

Referring to fig. 5, the driving mechanism of the paddle 2 is a coupling mechanism consisting of a lifting unit 13 and a horizontal swinging unit 14. The lifting unit 13 controls the horizontal swinging unit 14 and the paddle 2 which are arranged on the lifting unit to enter and exit the water body on the vertical plane, and the horizontal swinging unit 14 controls the paddle 2 to rotate on the horizontal plane, so that the robot is provided with propulsive force.

The lifting unit 13 is fixed on both sides of the base plate 11 by a first connecting member 131 (shown in fig. 6), and the lifting unit 13 further includes a bottom plate 132 (shown in fig. 7), two sliding rods 133, a vertical rack 134, a slider 135 (shown in fig. 8), and a double-shaft motor 136. The two sliding rods 133 are two iron rods, which are installed in holes on the bottom plate 132 and can be fixed by glue. The vertical racks 134 are mounted on the sides of the base plate 132 by bolting. The slider 135 has U-shaped slide rails on both sides and is mounted on the slide bar 133 through the slide rails. The two-shaft motor 136 is mounted on the side of the sliding block 135 by bolts and is engaged with the vertical rack 134 through a first gear 1362 on a first output shaft 1361. The base plate 132 is coupled to the first coupling member 131 by bolts and is fixed to the base plate 11, and the base plate 132 has a row of a plurality of bolt holes for adjusting the height of the elevating unit 13.

For convenience of description of the following mechanism, the module of the vertical rack 134 is set to 0.8, the module of the first gear 1362 is set to 0.8, the number of teeth is set to 5, and the maximum displacement of the slider 135 driven by the dual-shaft motor 136 can be set to 75.4mm, i.e. the output shaft of the dual-shaft motor 136 rotates 6 times. The dual-shaft motor 136 transmits motion and force to the horizontal swing unit 14 through a second gear 1364 on a second output shaft 1363.

Referring to fig. 9, a base 1401 of the horizontal swing unit 14 is mounted on the slider 135 by bolts. Third gear 1402 and fourth gear 1403 are fixed on first rotating shaft 1404 and mounted on a shaft seat of base 1401 (shown in fig. 10), and third gear 1402 crosses an upper groove of base 1401 to be in meshed connection with second gear 1364 to receive motion and force transmitted by dual-shaft motor 136. The fifth gear 1405 and the vertical bevel gear 1406 are fixed on the second rotating shaft 1407 and are installed on the corresponding shaft seats of the base 1401. Fifth gear 1405 and fourth gear 1403 are connected by a toothing engagement.

The vertical bevel gear 1406 is a partial bevel gear with half the number of gears, and the first horizontal bevel gear 1408 is fixed to the third rotation shaft 1409 and is installed on the base 1401 at 90 ° from the vertical bevel gear 1406. A second horizontal bevel gear 1410 is fixed to the fourth shaft 1411 and is mounted on the base 1401 at 90 ° to the vertical bevel gear 1406, in parallel opposition to the second horizontal bevel gear 1408. The axes of the third rotating shaft 1409 and the fourth rotating shaft 1411 are on the same vertical line and are connected through a flexible coupling 1412. When the vertical bevel gear 1406 rotates, the toothed parts of the gears are in meshing connection with the first horizontal bevel gear 1408 and the second horizontal bevel gear 1410 respectively. The flexible coupling 1412 may mitigate the impact of the vertical bevel gear 1406 in exchanging engagement object transitions with the first horizontal bevel gear 1408 and the second horizontal bevel gear 1410.

The upper cover 1413 is attached to the base 1401 by screws, sealing the internal gears. The other side of the third shaft 1409 is connected to the shaft of a waterproof encoder 1415 by a rigid coupling 1414, and the encoder 1415 is bolted to the base 1401 and the top cover 1413. The encoder 1415 can detect the position of the third shaft 1409, indirectly monitor the position of the paddle 2, and transmit the position information to the control circuit board 1243, and the control circuit board 1243 controls the rotation direction and speed of the dual-shaft motor 136.

The other side of the fourth rotating shaft 1411 is connected to a fifth rotating shaft 1417 through a rigid coupling 1416, the fifth rotating shaft 1417 is threaded, and a rotating disc 1418 is fixed at the bottom of the fifth rotating shaft 1417 through bolt connection. The water-skiing slurry 2 is fixed in the clamping groove of the circular turntable 1418 by a glue joint method.

The modules of the second gear 1364, the third gear 1402, the fourth gear 1403, the fifth gear 1405, the vertical bevel gear 1406, the first horizontal bevel gear 1408 and the second horizontal bevel gear 1410 are set to 2, and the numbers of teeth are set to 5, 10, 5, 15, 5, 20 and 20, respectively. The vertical bevel gear 1406 is an incomplete gear, the original number of teeth is 10, and the vertical bevel gear is manufactured by cutting half of the teeth. The transmission ratio from the double-shaft motor 136 to the paddle 2 is 12: 1.

in this embodiment, the rest of the motor, the circuit board, the battery, the sealed cabin and other common components are generally made of metal, carbon fiber, resin, polymer composite material and the like. First gear 1362, second gear 1364, third gear 1402, fourth gear 1403, and fifth gear 1405 are all straight-toothed gears.

Referring to fig. 11, the support leg 3 of this embodiment is an ellipsoidal floating ball. The vertical swing units 15 are fixed at four corners of the base plate 11 at 30 ° from the robot advancing direction or the long side of the base plate 11 by second links 151 (shown in fig. 12). The vertical swing unit 15 is mainly composed of a motor base 152 (shown in fig. 13), a push rod motor 153, and a multi-link mechanism 154 (shown in fig. 14). The push rod motor 153 is vertically installed on the motor base 154 by bolts, and the motor base 152 is vertically connected to the second connecting member 151 by bolts and fixed on the base plate 11.

The multi-link mechanism 154 may be viewed as a tandem mechanism of two parallel four-link mechanisms. The first connecting rod 15401, the second connecting rod 15402, the third connecting rod 15403 and the fourth connecting rod 15404 form a first parallel four-bar linkage, and the rod heads are connected through a pin shaft. A second parallel four-bar linkage is formed by the third connecting bar 15403, the fifth connecting bar 15405, the sixth connecting bar 15406 and the seventh connecting bar 15407, and the rod heads are connected through a pin shaft. Link one 15401, link three 15403, and link six 15406 are equal in length. The corresponding sides of link two 15402, link four 15404, link five 15405 and link seven 15407 are equal in length. The other side of the five link 15405 is connected to the eight link 15408 through a pin, and the eight link 15408 is connected to the pins of the first link 15401 and the second link 15402 through a sleeve 15409. The shaft of link two 15402 passes through the slide of the rocker 15410. The shaft of the rocker 15410 is threadedly received in a bore in the arm of the motor mount 152, in which a bushing is received, and the shaft of the rocker 15410 is rotatable therein.

The degree of freedom of the linkage 154 is one, link one 15401 being the input rod and link six 15406 being the output rod. The first link 15401 is fixed to the push rod 1531 of the push rod motor 153 by a bolt. Bracket 15411 is bolted to link six 15406 and support leg 3 is bolted to bracket 15411. The long axis of the support leg 3 is at 30 ° to the multi-link mechanism 154, parallel to the direction of robot travel. The push rod motor 153 controls the multi-link mechanism 154 to drive the support leg 3 to ascend or descend by moving the push rod 1531, thereby controlling the robot body 1 to descend or ascend.

In the movement of the push rod 1531, the multi-link mechanism 154 keeps the output rod in the vertical state all the time, thereby ensuring that the support leg 3 is always in the initial horizontal posture. When the robot meets waves, when the angle sensor on the robot control circuit board 1243 monitors that the pitching inclination angle of the robot in the waves is too large, the robot push rod 1531 contracts, the supporting legs 3 ascend, and the main body 1 descends and sinks into the water. At the moment, the gravity center of the robot descends, the buoyancy of the robot can be additionally increased by the components such as the sealed cabin 12 and the like on the robot, and meanwhile, the gravity center position of the robot is lower than the floating center position of the supporting legs 3, so that the stability of the robot in resisting waves is facilitated. The multi-link mechanism 154 is used in the vertical swing unit 15 to increase the extension area of the robot on the water surface, to improve the stability of the robot, and to amplify the stroke of the push rod 1531 of the push rod motor 153, so that the main trunk 1 of the robot can smoothly sink into the water, and to ensure that the support legs are always in a horizontal posture.

Before the robot of this embodiment moves, the initial position of the robot is such that the push rod motor 153 pushes out the push rod 1531 to support the robot. The paddle 2 is located in the middle of the robot, perpendicular to the forward direction of the robot, and the toothed portion of the vertical bevel gear 1406 inside the horizontal swing unit 14 is just brought into contact with the first horizontal bevel gear 1408, and the slider 135 is located on the upper side of the bottom plate 132, as shown in fig. 15.

When the robot moves, the paddling action of the paddling paddle 2 can be divided into four parts in a paddling period:

the first gear 1362 of the first output shaft 1361 is engaged with the vertical rack 134 for movement, the slider 135 slides downward, and simultaneously, the second gear 1364 of the second output shaft 1363 is engaged with the third gear 1402 for movement. The toothed part of the vertical bevel gear 1406 inside the horizontal swinging unit 14 is engaged with the first horizontal bevel gear 1408, and the paddle 2 rotates with the first horizontal bevel gear 1408 and rotates toward the front end of the robot. The encoder 1415 monitors the rotational angle positions of the first horizontal bevel gear 1408 and the paddle 2. When the paddle 2 reaches one-fourth of the period, the two output shafts of the double-shaft motor 136 rotate 3 times, and the first horizontal bevel gear 1408 rotates 90 degrees. The paddle 2 has rotated 90 ° and reaches the front end of the robot, parallel to the direction of advance of the robot. The slide block 135 and the paddle 2 are descended by 37.7mm, and the bottom of the paddle 2 is contacted with the water surface, as shown in fig. 16;

second, when the paddle 2 exceeds one-fourth of the period, the toothed portion of the vertical bevel gear 1406 ends to engage with the first horizontal bevel gear 1408 and starts to engage with the second horizontal bevel gear 1410. The sliding block 135 and the paddle 2 continue to descend, the paddle 2 changes the steering direction, the front end of the robot rotates towards the middle position, and the water body is stirred to provide power for the robot. When the paddle 2 reaches two-quarters of the cycle, the two output shafts of the two-shaft motor 136 rotate a total of 6 turns. The second horizontal bevel gear 1410 has rotated 90 degrees and the paddle 2 has rotated 90 degrees towards the middle of the robot and reaches the middle of the robot, perpendicular to the direction of advance of the robot. The slide block 135 and the paddle 2 are lowered by 75.4mm and the bottom of the paddle 2 reaches the lowest water level, as shown in fig. 17. At the moment, the encoder 1415 monitors that the paddle 2 returns to the middle part, transmits the position information to the control circuit board 1243, the control circuit board 1243 controls the double-shaft motor 136 to rotate reversely, and the slide block 135 is ready to ascend;

and thirdly, when the paddle 2 exceeds two-quarter period, the double-shaft motor 136 rotates reversely. The toothed part of the vertical bevel gear 1406 starts to move in a meshing manner with the first horizontal bevel gear 1408, and the paddle 2 rotates from the middle of the robot to the rear end of the robot according to the original direction of rotation, and simultaneously, the paddle dials the water body to provide power for the robot. The slider 135 slides upward. When the paddle 2 reaches a three-quarter period, the two output shafts of the two-shaft motor 136 rotate in reverse for 3 turns. The paddle 2 reaches the rear end of the robot and is parallel to the advancing direction of the robot. The slide block 136 and the paddle 2 are lifted by 37.7mm, and the bottom of the paddle 2 reaches the water surface, as shown in fig. 18;

and fourthly, when the paddle 2 exceeds the three-quarter period, the toothed part of the vertical bevel gear 1406 is meshed with the second horizontal bevel gear 1410 for movement, the paddle 2 leaves the rear end of the robot and rotates towards the middle of the robot, the slide block 135 continues to slide upwards, and the bottom of the paddle 2 leaves the water surface. When the paddle 2 reaches one period, the two output shafts of the double-shaft motor 136 rotate in the reverse direction for 6 circles, the second horizontal bevel gear 1310 rotates for 90 degrees, and the paddle 2 reaches the middle of the robot and is perpendicular to the advancing direction of the robot. The slide 135 and the paddle 2 are raised 75.4mm and the robot reaches the initial position as shown in fig. 15. At this time, the encoder 1415 monitors that the paddle 2 returns to the middle position of the robot, and the control circuit board 1243 controls the rotation direction of the double-shaft motor 136 to change, so as to prepare for the next paddle period.

It should be noted that when the robot is designed to move the paddles 2 on the other side, the vertical bevel gear 1406 should first engage with the second horizontal bevel gear 1410, and the movement process is similar to that described above, so that the paddles 2 on both sides can generate the same direction of propulsion. When the double-shaft motors 136 on the paddles 2 on both sides of the robot work simultaneously, the robot can realize the advancing function. When the robot turns, the turning action can be finished by controlling the action of the paddle 2 on one side. When the robot meets waves, the angle sensor on the robot control circuit board 1243 monitors that the overturning inclination angle of the robot on the water surface is too large, after the current paddling period of the robot is finished, the robot double-shaft motor 136 stops rotating, the robot push rod 1531 contracts, the multi-link mechanism 154 drives the supporting leg 3 to lift up, and the robot main body 1 descends and sinks into the water, as shown in fig. 19. After a certain time, when the angle sensor monitors that the overturning inclination angle of the robot in the water is not large, the push rod motor 153 pushes out the push rod 1531 again, the multi-link mechanism 154 drives the support leg 3 to be put down, and the robot main body 1 floats out of the water surface to continue working.

The above-mentioned embodiment is right the technical scheme and the beneficial effect of the utility model have carried out the detailed description, it should be understood to be above only do the concrete embodiment of the utility model, and not be used for the restriction the utility model discloses, the fan is in any modification, supplementary and equivalence replacement etc. of doing in the principle scope of the utility model all should be contained within the protection scope of the utility model.

Claims

1. The utility model provides a tilting prevention nature water strider robot of focus self-adaptation regulation, includes the main part, locates the sculling oar and the even locating of main part both sides the supporting leg around the main part, its characterized in that still includes:

and the vertical swing unit is arranged on the main body and comprises a multi-link mechanism and a push rod motor for pushing an input rod of the multi-link mechanism to swing up and down, the supporting leg is fixed on an output rod of the multi-link mechanism, and a hinge shaft connected with the main body is arranged on the multi-link mechanism.

2. The anti-overturning water strider robot according to claim 1, wherein the multi-link mechanism comprises two common-sided parallel four-bar linkages consisting of seven links, and one side of the parallel four-bar linkage remote from the main body is extended and hinged to the parallel four-bar linkage input bar near the main body through an eighth link.

3. The anti-overturning water strider robot according to claim 2, wherein a rocker is provided on one link of the parallel four-bar linkage adjacent to the main body, and the hinge shaft is provided on the rocker.

4. The anti-overturning water strider robot as claimed in claim 1, wherein the main body is provided with a motor base for fixing the push rod motor, the output end of the push rod motor is a push rod, and the push rod is connected to the input rod of the multi-link mechanism.

5. The anti-toppling water strider robot according to claim 1, wherein the support leg is an elliptical floating ball.

6. The anti-overturning water strider robot according to claim 1, wherein the lifting unit and the horizontal swing unit are connected to two output terminals of a dual shaft motor, respectively.

7. The anti-overturning water strider robot according to claim 6, wherein the lifting unit comprises a vertical rack fixed to the main body and a gear provided at the first output end of the two-shaft motor and engaged with the vertical rack.

8. The overturning preventing water strider robot according to claim 6, wherein the horizontal swing unit comprises a vertical incomplete bevel gear having partial teeth, two horizontal bevel gears arranged up and down and engageable with the vertical incomplete bevel gear, and a transmission mechanism connected to the second output end of the two-shaft motor and connected to the vertical incomplete bevel gear; the two horizontal bevel gear rotating shafts are fixed on the same vertical line and connected through a flexible coupling, and the paddle is installed at the end part of the low-level horizontal bevel gear rotating shaft.

9. The anti-toppling water strider robot according to claim 8, wherein the transmission mechanism is a gear transmission mechanism.

10. The anti-overturning water strider robot according to claim 8, wherein a rotating disc with a slot is provided at an end of the rotating shaft, and the paddle is glued in the slot.