A polar multi-habitat robot crossing water, land and ice

Abstract

The present application relates to a kind of polar multi-habitat robots across water and land ice and snow, by composite drive mechanism, segmented fuselage, composite support mechanism, electronic cabin, solar panel five big parts composition.The energy utilization efficiency of the robot, obstacle avoidance ability, steering and autonomy are greatly improved compared with general multi-habitat robot.Polar multi-habitat robot has the ability to pass through ice, snow, water and land these four media and medium transition area.Polar multi-habitat robot has four basic movement modes, so that the robot has the ability to operate in polar region.In polar region extreme climate conditions, replace human to carry out scientific research, rescue and other tasks.

Description

TECHNICAL FIELD

[0001] The present application relates to a polar multi-habitat robot crossing water, land, ice and snow, and belongs to the technical field of robots. BACKGROUND

[0002] The polar region has extreme climate conditions and lacks basic resources for human survival and work. In addition, the polar region is mainly covered by ice, snow and water, and there is also a small amount of land surface. These complex and variable terrains increase the risk and complexity of polar exploration. At present, there is a lack of multi-habitat robots for polar exploration and scientific research to replace human work, and general multi-habitat robots are not suitable for polar conditions.

[0003] The polar region is one of the few regions on Earth that has not been fully explored. The region is rich in natural resources such as minerals, oil and natural gas. In addition, the ecological system of the polar region has an important influence on global climate and environmental change, so exploration of the polar region has broad significance. There are currently two ways to explore the polar region. One is through direct exploration of the polar region by scientific researchers. Humans face many disadvantages when exploring and researching in the polar region, including extreme climate conditions, isolation and transportation difficulties, high costs and resource consumption, life safety risks, and limited research time windows. The second is to explore the polar region through auxiliary tools such as robots. However, general multi-habitat robots cannot adapt to the harsh climate conditions and complex and variable terrain conditions of the polar region due to high energy consumption and poor ice surface passing ability. Therefore, there is an urgent need for a multi-habitat robot for the polar environment to improve efficiency, reduce risk, and provide more information and insight about the polar region for humans. In addition, the polar region has ice, snow, water and land media and media transition areas, and the ability to autonomously pass through this area is one of the important indicators of the obstacle crossing performance and autonomy of the polar multi-habitat robot.

[0004] At present, there are two kinds of snow robots with application numbers 202210188496.4 and 201811027828.0, which can work in the polar region and have high road adaptability. These two kinds of snow robots can only be placed on the snow by human beings, and neither of them has the ability to work underwater and transition in ice-water amphibious environment. Application number 201310614661.9 discloses a amphibious wheel-track composite robot mobile platform, which realizes propulsion on land through a wheel-track composite driving mechanism and realizes propulsion on water surface through a float tank and a propeller. However, this robot only has the ability to work on water surface and cannot dive underwater for work. Application number 201910264762.5 discloses a wheel-leg composite amphibious robot, which propels on land through wheels and propels underwater through impellers in supporting legs, but is not suitable for propelling on the ice and snow surface with low friction in the polar region, and the obstacle crossing ability of the supporting legs is insufficient to cross the ice layer and other amphibious transition environments. Application number 201310415352.9 discloses a polar robot based on wind-solar complementary energy. The robot makes full use of the climate conditions in the Antarctic and improves the endurance of the robot by absorbing wind energy and solar energy. In addition, the robot has a certain obstacle crossing ability, but lacks underwater movement ability. Application number 201911338658.2 discloses an emergency support robot for polar unmanned aerial vehicles, which belongs to the technical field of emergency support robots for polar unmanned aerial vehicles. The robot can serve as a launch, charging and recovery platform for flying unmanned aerial vehicles, and also has the ability to collect energy, but lacks obstacle crossing and multi-habitat ability. Application number 202010180964.4 discloses a variable multi-habitat robot and control method. The robot has multiple motion modes and can realize water, land and air triphibian, and can seamlessly switch between different working modes in complex working environments. However, its energy consumption is too large, and it can only switch to flight mode to cross obstacles when encountering large fluctuations, which makes the robot unsuitable for polar regions where energy is valued. Application number 202011093718.1 discloses a water, land and air multi-habitat robot. The robot has multiple motion modes and can realize water, land and air triphibian. However, its land obstacle crossing performance is poor and can only rely on flight mode to cross obstacles, which requires a large amount of energy, so the robot is not suitable for polar regions where energy is scarce.

[0005] The prior art also has the following disadvantages:

[0006] 1) To determine whether a robot is suitable for polar regions, the energy, obstacle crossing, control and autonomy performance need to be considered. The existing multi-environment robot land propulsion mechanism cannot be applied to the polar environment with harsh weather conditions and complex and variable terrain conditions, so most of the obstacle crossing and medium transition can only rely on the flight mechanism. But in the polar region where energy is extra important, long-time flight mode will consume a lot of energy. That is, a polar multi-environment robot has low energy consumption, high utilization rate, and the ability to pass through ice, snow, water and land and medium transition area.

[0007] 2) Most multi-environment robots have complex structure and redundancy problems, and each has a set of propulsion mechanism on land and underwater, which simply stacks several propulsion mechanisms together without simplifying the propulsion mechanism.

[0008] 3) Most multi-environment robots do not consider their own flow guiding nature, rely too much on flight mode when crossing obstacles and ice layer, and fail to save energy by utilizing the environmental characteristics of the polar region, ultimately leading to high energy consumption and low utilization efficiency.

[0009] 4) Most multi-environment robots pay more attention to the movement in water and ice environment, and lack consideration of the problems faced in water and ice transition environment.

[0010] 5) Some multi-environment robots have insufficient mobility when moving in water due to the limitations of the propeller posture. Some multi-environment robots only have one working range in water and underwater, and cannot realize flexible conversion between bottom and water surface work.

[0011] To overcome the above shortcomings, the present application provides a multi-environment robot capable of adapting to polar environment, wherein the composite propulsion mechanism enables the robot to work with high energy utilization efficiency, strong obstacle crossing ability, good control and autonomy. In addition, the robot has the ability to cross ice, snow, water and land and medium transition area. SUMMARY

[0012] In order to overcome the shortcomings of the existing research, the present application provides a polar multi-environment robot capable of coping with the harsh climate conditions and complex and variable water-land-ice-snow in polar regions, which has the ability to pass through ice, snow, water, land and four medium transition areas. The ability to cross ice layer is extremely important, in addition, the robot has higher energy utilization efficiency, obstacle crossing ability, control and autonomy than general multi-environment robots.

[0013] A polar multi-environment robot capable of crossing water-land-ice-snow, comprising a segmented body, a composite support mechanism installed at the front end of the segmented body, and a composite drive mechanism installed at the rear end of the segmented body and having the functions of support legs, rudder and ski.

[0014] The segmented body has a rotating mechanism. The rotating mechanism has the following characteristics: 1. The included angle between the front body and the rear body can be changed in real time according to the actual scene, so that the robot has strong obstacle crossing ability. 2. The rotating mechanism works together with other composite mechanisms to make the movement mode of the robot more abundant.

[0015] The composite driving mechanism comprises a first steering wheel connected with a first support frame capable of relative rotation, thereby realizing the rotation of the whole composite driving mechanism, a support rotating mechanism connected with the first support frame and capable of relative rotation, a fixed seat fixedly connected with the support rotating mechanism, a driving motor and a wheel-propeller composite mechanism fixedly installed on the fixed seat, and the driving motor is connected with the wheel-propeller composite mechanism through a second coupling, and one end of the first steering wheel is fixed on the segmented body.

[0016] The composite driving mechanism has the following characteristics: 1. A single motor drives the wheels and propellers to complete the transition of the four polar media, thereby simplifying the driving structure. 2. Multiple steering wheels are used to make the composite driving mechanism similar to a wheel-propeller leg, thereby enriching the movement mode and saving energy.

[0017] The composite support mechanism comprises a fourth steering wheel connected with a large arm through a screw, a large arm fixed with a fifth steering wheel through a screw, the fifth steering wheel, a small arm connected with the fifth steering wheel through a screw, a middle steering wheel fixed with the small arm through a clamping groove and a screw, a sixth steering wheel fixed with the middle steering wheel through a clamping groove and a screw, a tail rudder connected with the sixth steering wheel through a screw, and a passive wheel installed on the tail rudder, and the fourth steering wheel is fixed on the segmented body.

[0018] The composite support mechanism has the following characteristics: 1. The steering wheel, snowshoe, passive wheel and support leg are combined in one mechanism, thereby simplifying the support mechanism. 2. Multiple steering wheels are used to make the composite support mechanism similar to a steering wheel leg snowshoe, thereby enriching the movement mode and saving energy.

[0019] The first support frame is fixedly connected with a first fixed frame and a second steering wheel fixed with the first fixed frame, and the second steering wheel is connected with the support rotating mechanism through a first coupling.

[0020] The support rotating mechanism comprises a support shaft, a compression ring, a thrust bearing, a deep groove ball bearing, a bearing retainer, a fixed cylinder and a fixed end cover, and the support shaft is in interference fit with the compression ring of the thrust bearing and the inner ring of the deep groove ball bearing.

[0021] The wheel-propeller composite mechanism is composed of a transmission shaft, a transmission shaft cylinder, a sealing cylinder, an internal gear, a planetary gear as a power output wheel, an anti-skid wheel, a planetary carrier, a sun gear meshing with the planetary gear, a sun carrier, a rear magnetic guide cylinder groove, a fourth face gear, a third face gear, a rear magnetic disk, a permanent magnet, a front magnetic disk, a second face gear, a magnetic guide cylinder, a first face gear, a spline sleeve, and a propeller connected with the transmission shaft, wherein the internal gear, the sun gear, and the planetary gear form a reduction structure; the first face gear, the second face gear, the spline sleeve, the magnetic guide cylinder, the front magnetic disk, the permanent magnet, the rear magnetic disk, the third face gear, and the fourth face gear form a bistable clutch; one end of the transmission shaft cylinder is connected with the propeller through a screw, and the other end is connected with the first face gear through a concave-convex structure, and the transmission shaft cylinder transmits the rotation of the first face gear to the propeller.

[0022] The wheel-propeller composite structure has the following characteristics: 1. When the bistable clutch is used to switch the wheel and propeller driving, only a short power supply is needed to switch the driving, and the clutch can maintain a stable state by relying on the permanent magnet force; 2. The reduction mechanism makes the motor high speed used to drive the propeller and low speed used to drive the anti-skid wheel, and the motor speed is reasonably utilized.

[0023] The anti-skid wheel is composed of a wheel carrier with a notch, anti-skid rubber wrapped around the outer circle of the wheel carrier, and studs installed on the anti-skid rubber.

[0024] The anti-skid wheel has the following characteristics: 1. The notch of the anti-skid wheel carrier is used for specific scenarios such as crossing ice; 2. The studs on the anti-skid wheel rely on the segmented body weight to press into the ice surface, providing greater grip.

[0025] The shaft cover is fixed with the propeller through a screw, the shaft cover has a shaft shoulder, and the shaft shoulder has symmetrically arranged thrust bearings. The shaft sealing cover is connected with the shaft cover through a screw, the shaft end screw is in interference fit with the tight ring of the front and rear thrust bearings and in clearance fit with the loose ring of the front and rear thrust bearings, the front and rear thrust bearings are symmetrically distributed, the end surface of the tight ring of the front thrust bearing is in contact with the shaft end screw, and the end surface of the tight ring of the rear thrust bearing is in contact with the end surface of the transmission shaft.

[0026] One end of the sealing cylinder is in dynamic sealing contact with the transmission shaft cylinder, and the other end is connected with the sealing cylinder cover through a screw. The inner surface of the sealing cylinder is fixed with the outer surfaces of the magnetic guide cylinder and the internal gear through interference fit.

[0027] The spline sleeve rotates with the transmission shaft, the permanent magnet moves forward and backward on the spline sleeve through the spline groove, and rotates with the spline sleeve, the second face gear is fixed on the front magnetic disk, the third face gear is fixed on the rear magnetic disk, and the second face gear and the third face gear rotate with the front magnetic disk and the rear magnetic disk. The front magnetic disk and the rear magnetic disk are fixed together by screws, and the front magnetic cylinder groove and the rear magnetic cylinder groove are distributed with coils, when the permanent magnet leans to the right, the permanent magnet, the front magnetic disk, the rear magnetic disk and the magnetic cylinder form a second permanent magnet magnetic flux loop, when the permanent magnet leans to the left, the permanent magnet, the front magnetic disk, the rear magnetic disk and the magnetic cylinder form a first permanent magnet magnetic flux loop.

[0028] The segmented fuselage comprises a front fuselage and a rear fuselage, the front fuselage and the rear fuselage are connected through a rotating mechanism, the front fuselage is provided with a fairing for reducing the resistance of the robot in water, and the rotating mechanism comprises a tripod, a rotating base connected with the tripod through screws, a third steering engine connected with a rotating shaft through a third coupling, the rotating shaft fixed with a second support frame through welding, and the second support frame fixed with the rear fuselage through welding.

[0029] The segmented fuselage is provided with a solar panel and an electronic cabin,

[0030] The electronic cabin comprises a fairing shell and a sealed inner cabin, and the sealed inner cabin is composed of a power supply, a sensor, a control system, a water-tight seat, an antenna, a camera and a lighting lamp.

[0031] The multi-environment robot has four motion modes:

[0032] Crawling mode, by controlling the motion of the fourth steering engine, the large arm, the fifth steering engine, the small arm, the middle steering engine in the composite support mechanism, the first steering engine and the first support frame in the composite driving mechanism, and folding the tail rudder and fixing the second steering engine, the land crawling mode is realized, and the driving force is provided by the alternating swing of the front and rear four-limb mechanisms;

[0033] Ski mode, by controlling the fourth steering engine, the large arm, the fifth steering engine, the small arm, the middle steering engine, the sixth steering engine, the tail rudder in the composite support mechanism, the first steering engine, the first support frame, the second steering engine in the composite driving mechanism, and the rotation of the anti-skid wheel, the ski sliding mode is realized, and the driving force is provided by the rotation of the anti-skid wheel;

[0034] Wheel mode, by controlling the fourth steering engine, the large arm, the fifth steering engine, the small arm, the middle steering engine, the sixth steering engine, the tail rudder in the composite support mechanism, the first steering engine, the first support frame, the second steering engine in the composite driving mechanism, and the rotation of the anti-skid wheel, the land wheel mode is realized, and the driving force is provided by the rotation of the anti-skid wheel;

[0035] The propeller mode is realized by controlling the fourth steering engine in the composite support mechanism, the large arm, the fifth steering engine, the small arm, the middle steering engine, the sixth steering engine, the tail steering engine, the first steering engine, the first support frame, the second steering engine in the composite driving mechanism, and the rotation of the propeller, and the driving force is provided by the rotation of the propeller.

[0036] In the face of the four medium transition scenes of the polar polar robot, the polar robot may encounter ice layer conditions. There are the following methods from underwater to the ice surface across the ice layer.

[0037] 1. The operator puts the polar robot into the water from the research ship.

[0038] 2. The polar robot adopts the first stable state of the high-speed rotation of the propeller through the bistable clutch. The segmented body adopts the propeller mode. In the case of high-speed rotation of the propeller, the robot moves underwater towards the ice layer.

[0039] 3. When the camera observes that it is about to contact the ice layer, the robot control rudder rotation maintains the upward mode, starts to float upward until it floats out of the water. After the robot floats out of the water, the control rudder rotation maintains the forward mode and continues to move forward on the water surface until the fairing contacts the end surface of the ice layer.

[0040] 4. After contacting the ice layer, the rotating mechanism in the segmented body of the robot starts to rotate, so that the robot becomes a concave mode. In this stage, the composite propulsion mechanism always maintains propulsion.

[0041] 5. After the robot completes the bending mode, the robot as a whole moves along the ice fault towards the oblique upward direction due to the continuous propulsion of the composite propeller. When the bottom surface of the tail rudder of the composite support mechanism of the robot is close to parallel to the ice fault, the composite support mechanism of the robot is changed to the snowmobile mode, and the composite driving mechanism remains unchanged. Then control the rotating mechanism to restore the parallel mode of the front body and the rear body. The robot starts to climb the wall.

[0042] 6. With the propulsion of the composite propulsion mechanism, the composite support mechanism of the robot has completely emerged from the water. When the robot rises to the highest position, the composite support mechanism is rotated counterclockwise until the mechanism climbs onto the ice surface.

[0043] 7. Continue to rotate the composite support mechanism, and use the land support force and the thrust of the composite propulsion mechanism in the water to move the front body of the robot along the ice surface. The robot continues to move forward, as shown in Figure 19

[0044] 8. When the composite support mechanism has rotated a full circle back to its initial position, control the rotating mechanism to rotate to the convex mode of the robot. The composite support mechanism continues to rotate, and the composite driving mechanism continues to propel, as shown in Figure 20

[0045] ​​9. When the composite drive mechanism has completely left the water surface, the robot changes the original propeller propulsion into the anti-skid wheel propulsion by controlling the bistable clutch and the deceleration mechanism. After changing into the anti-skid wheel propulsion, the anti-skid wheel rotation speed is controlled at the minimum, at this time the first rudder in the composite drive mechanism is controlled to rotate counterclockwise until the anti-skid wheel contacts the ice surface. Because the anti-skid wheel rotates slowly, the gap in the anti-skid wheel frame structure will be stuck in the ice layer corner at a certain moment.

[0046] 10. When the anti-skid wheel is stuck in the ice layer corner, the support force and the propulsion force of the composite drive mechanism and the composite support mechanism when rotating make the robot climb onto the ice surface as a whole, and then the rotation mechanism is controlled to restore the front body and the rear body parallel mode.

[0047] After completing all the above steps, the robot has realized the transition of two media across the ice layer from underwater to the ice surface.

[0048] Method for the multi-habitat robot to cross the ice layer from the ice surface to underwater

[0049] 1. The multi-habitat robot stops at a position close to the ice surface fault, and changes into the wheeled mode to achieve the purpose of lowering the center of gravity.

[0050] 2. The anti-skid wheel keeps the minimum rotation speed to push the robot forward.

[0051] 3. When the robot advances to the position where the composite support structure has left the ice surface, the rotation mechanism starts to rotate to make the robot change into the upper convex mode. At this time, the composite support mechanism is simultaneously changed into the ski mode, and the composite drive mechanism remains unchanged.

[0052] 4. When the rudder surface of the composite support mechanism contacts the water surface, the rotation mechanism is controlled to rotate to make the robot change into the lower concave mode. The robot continues to advance downward relying on its own gravity and the thrust of the anti-skid wheel.

[0053] 5. When the anti-skid wheel approaches the ice layer corner, the ice layer corner will block the forward movement of the entire rear body downward. At this time, the first rudder of the composite drive mechanism needs to be rotated clockwise until the anti-skid wheel contacts the ice layer corner. Because the anti-skid wheel continues to rotate slowly, the gap in the anti-skid wheel frame will be stuck in the ice layer corner at a certain moment.

[0054] 6. The robot slides into the water as a whole by the thrust generated by the anti-skid wheel stuck in the corner and its own gravity.

[0055] 7. When the robot slides into the water as a whole, the rotation mechanism is controlled to rotate to restore the movement mode of the front body and the rear body parallel.

[0056] 8. The robot selects the propeller propulsion by the joint action of the bistable clutch and the deceleration mechanism in the composite drive mechanism, at this time the robot changes into the propeller mode as a whole.

[0057] After all the above steps are completed, the robot has realized the transition of two media across the ice layer from the ice surface to the underwater.

[0058] Compared with the prior art, the present application has the beneficial effects that:

[0059] The present application relates to a multi-environment robot suitable for polar conditions, which has greatly improved energy utilization efficiency, obstacle crossing ability, manipulation and autonomy compared with general multi-environment robots. The composite propulsion mechanism and the composite support mechanism of the polar multi-environment robot enable the robot to have four basic motion modes. The robot with multiple motion modes can adapt to the polar environment with complex and variable terrain conditions. The composite support mechanism of the robot takes advantage of the low friction and ice and snow geological environment in the polar region, and saves energy through the sliding mode.

[0060] The multi-environment robot overcomes the problems of complex structure and redundancy of most multi-environment robots, and shares a set of propulsion mechanisms on land and underwater, i.e. using one driving motor to pass through all media environments in the polar region. The robot realizes flexible selection of propeller drive or anti-skid wheel drive through a bistable clutch and a reduction mechanism, simplifies the propulsion mechanism and saves energy consumption. The multi-environment robot takes into account its own flow guiding property and the polar day climate, and uses a flow guide cover, a flow guide shell and a detachable solar panel, which greatly improves energy utilization efficiency. The multi-environment robot pays attention to the motion problem in the transition environment of ice, snow, water and land, and solves the problem of large energy consumption of general multi-environment robots in the transition multi-environment, i.e. crossing the ice layer and crossing the obstacle. The robot has the ability to pass through the four media of ice, snow, water and land and the medium transition area. When the multi-environment robot moves in water, the presence of multiple rudders in the composite drive mechanism makes the propeller have a more rich attitude underwater, has a smaller turning radius, and greatly improves the maneuverability and flexibility. Because the composite support mechanism of the multi-environment robot has multiple rudders, the robot can work back and forth on the water surface, underwater and the bottom of the water, greatly expanding the working range. The multi-environment robot can be used as a platform for carrying equipment to replace humans to carry out scientific research, rescue and other tasks in the polar extreme climate conditions. BRIEF DESCRIPTION OF DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0062] Figure 1Structure diagram of a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0063] Figure 2 Structure diagram of a composite driving mechanism in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0064] Figure 3 Structure diagram of a support rotating mechanism in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0065] Figure 4 Structure diagram of a wheel-propeller composite mechanism in a polar multi-habitat robot crossing water, land, ice and snow according to the present application (1);

[0066] Figure 5 Structure diagram of a wheel-propeller composite mechanism in a polar multi-habitat robot crossing water, land, ice and snow according to the present application (2);

[0067] Figure 6 Structure diagram of a magnetic flux coil in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0068] Figure 7 Structure diagram of an anti-skid wheel in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0069] Figure 8 Structure diagram of a segmented body in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0070] Figure 9 Structure diagram of a rotating mechanism in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0071] Figure 10 Structure diagram of a composite support mechanism in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0072] Figure 11 Structure diagram of a crawling mode in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0073] Figure 12 Structure diagram of an obstacle-crossing mode in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0074] Figure 13 Structure diagram of a sled mode in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0075] Figure 14 Structure diagram of a wheel mode in a polar multi-habitat robot crossing water, land, ice and snow according to the present application;

[0076] Figure 15This is a schematic diagram of the propeller mode of a polar amphibious robot that can traverse water, land, ice and snow according to the present invention.

[0077] Figure 16 This is a schematic diagram of the concave mode of a polar amphibious robot that can traverse water, land, ice, and snow according to the present invention;

[0078] Figure 17 This is a schematic diagram of the structure of a polar amphibious robot that can cross land, water, ice and snow in this invention, starting to climb a wall;

[0079] Figure 18 This is a schematic diagram of the structure of a polar amphibious robot that can climb to the highest position across water, land, ice and snow according to the present invention;

[0080] Figure 19 This is a schematic diagram of the structure of a polar amphibious robot that can travel obliquely upwards across water, land, ice and snow according to the present invention;

[0081] Figure 20 This is a schematic diagram of the upward-convex mode of a polar amphibious robot that can traverse water, land, ice, and snow according to the present invention.

[0082] Figure 21 This is a schematic diagram of the anti-skid wheel propulsion structure of a polar amphibious robot that can traverse water, land, ice, and snow according to the present invention;

[0083] Figure 22 This is a schematic diagram of the structure of a polar amphibious robot that can traverse land, water, ice, and snow, according to the present invention, at the end of its crossing.

[0084] In the diagram, 1-composite drive mechanism, 2-segmented fuselage, 3-composite support mechanism, 4-electronics bay, 5-solar panel, 6-first servo motor, 7-first support frame, 8-first fixed frame, 9-second servo motor, 10-first coupling, 11-support rotation mechanism, 12-fixed seat, 13-drive motor, 14-second coupling, 15-second fixed frame, 16-propeller composite mechanism, 17-support shaft, 18-pressure ring, 19-thrust bearing, 20-deep groove ball bearing, 21-bearing retaining ring, 2 2-Fixed cylinder, 23-Fixed end cap, 24-Shaft cap, 25-Shaft seal cap, 26-Shaft end screw, 27-Front thrust bearing, 28-Rear thrust bearing, 29-First retaining ring, 30-Front roller bearing, 31-First bushing, 32-Rear roller bearing, 33-Drive shaft, 34-Transmission shaft cylinder, 35-Second bushing, 36-Seal cylinder, 37-Second retaining ring, 38-Internal gear, 39-Planetary gear, 40-Seal cylinder cap, 41-Third retaining ring, 42-Anti-slip wheel, 43-Planetary roller bearing 44-Fourth retaining ring, 45-Fifth retaining ring, 46-Planetary carrier, 47-Sixth retaining ring, 48-Rear roller bearing, 49-Third bushing, 50-Wheel cover, 51-Fourth bushing, 52-Front roller bearing, 53-Sun gear, 54-Sun gear carrier, 55-Seventh retaining ring, 56-Rear magnetic cylinder slot, 57-Fourth face gear, 58-Third face gear, 59-Rear magnetic disk, 60-Permanent magnet, 61-Front magnetic disk, 62-Front magnetic cylinder slot, 63-Second face gear, 64-Magnetic cylinder, 65 - First gear, 66- Splined sleeve, 67- Propeller, 68- Wheel frame, 69- Anti-slip rubber, 70- Protruding nail, 71- Draft fairing, 72- Forward fuselage, 73- Rotating mechanism, 74- Rear fuselage, 75- Tripod, 76- Rotating base, 77- Third servo, 78- Third coupling, 79- Shaft, 80- Second support frame, 81- Fourth servo, 82- Main boom, 83- Fifth servo, 84- Forearm, 85- Center rudder, 86- Sixth servo, 87- Tail rudder, 89- Driven wheel. Detailed Implementation

[0085] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0086] like Figure 1 As shown, the present invention consists of five main parts: a composite drive mechanism 1, a segmented fuselage 2, a composite support mechanism 3, an electronics compartment 4, and a solar panel 5. Figure 2As shown, the composite drive mechanism 1 consists of a first servo motor 6, a first support frame 7, a first fixed frame 8, a second servo motor 9, a first coupling 10, a support rotation mechanism 11, a fixed base 12, a drive motor 13, a second coupling 14, a second fixed frame 15, and a propeller composite mechanism 16. The first servo motor 6 is fixed to the segmented fuselage and connected to the first support frame 7. The first servo motor 6 and the first support frame 7 can rotate relative to each other, thereby achieving rotation in the Y-axis direction of the composite drive mechanism 1. The first support frame 7 provides support for the support rotation mechanism 11 and is fixed to the support rotation mechanism 11 by screws. The first servo motor 6 and the first support frame 7 together act as legs. The first fixed frame 8 is used to fix the second servo motor 9 and is fixed to the first support frame 7. The second servo motor 9 transmits rotation to the support rotation mechanism 11 through the first coupling 10, thereby achieving rotation in the Z-axis direction of the propeller composite mechanism 16.

[0087] like Figure 3 As shown, the supporting rotation mechanism 11 consists of a support shaft 17, a pressure ring 18, a thrust bearing 19, a deep groove ball bearing 20, a bearing retaining ring 21, a fixed cylinder 22, and a fixed end cap 23. The support shaft 17 is interference-fitted with the tight ring of the thrust bearing 19 and the inner ring of the deep groove ball bearing 20. The shoulder of the support shaft 17 provides upward support for the thrust bearing 19. The support shaft 17 receives rotation from the second servo motor 9. The support shaft 17, the first support frame 7, and the fixed end cap 23 form a dynamic seal. The pressure ring 18 provides downward pressure to the thrust bearing 19. The loose ring of the thrust bearing 19 is interference-fitted with the fixed cylinder 22 and can withstand vertical loads. The outer ring of the deep groove ball bearing 20 is interference-fitted with the fixed cylinder 22 and can withstand horizontal loads. The thrust bearing 19 and the deep groove ball bearing 20 provide support and rotation. The bearing retaining ring 21 provides a limit for the inner ring of the deep groove ball bearing 20. The fixed cover provides a limit for the outer ring of the deep groove ball bearing 20. The bearing retaining ring 21, the fixed cylinder 22, and the fixed end cover 23 together provide a sealing and fixing function. The support shaft 17 in the support rotation mechanism 11 is fixed to the fixed seat 12 by welding. The drive motor 13 is fixed to the fixed seat 12, and the drive shaft of the drive motor 13 provides rotation to the propeller compound mechanism 16 through the second coupling 14. The second fixing frame 15 fixes the sealing cylinder 36 in the propeller compound mechanism 16 to the fixed seat 12, so that the sealing cylinder 36 is relatively stationary in the propeller compound mechanism 16.

[0088] Figure 4 The image shows the propeller-wheel compound mechanism 16. (As shown...) Figure 5As shown, the propeller-wheel composite mechanism 16 comprises a shaft cover 24, a shaft seal cover 25, a shaft end screw 26, a front thrust bearing 27, a rear thrust bearing 28, a first retaining ring 29, a front roller bearing 30, a first bushing 31, a rear roller bearing 32, a drive shaft 33, a transmission shaft sleeve 34, a second bushing 35, a sealing sleeve 36, a second retaining ring 37, an internal gear 38, a planetary gear 39, a sealing sleeve cover 40, a third retaining ring 41, an anti-slip wheel 42, a planetary roller bearing 43, a fourth retaining ring 44, and a fifth retaining ring. The system comprises: 45. Planetary carrier; 46. Sixth retaining ring; 47. Rear roller bearing; 48. Third bushing; 49. Wheel cover; 50. Fourth bushing; 51. Front roller bearing; 52. Sun gear; 53. Sun gear carrier; 54. Seventh retaining ring; 55. Rear magnetic cylinder slot; 56. Fourth face gear; 57. Third face gear; 58. Rear magnetic disk; 59. Permanent magnet; 60. Front magnetic disk; 61. Front magnetic cylinder slot; 62. Second face gear; 63. Magnetic cylinder; 64. First face gear; 65. Spline sleeve; 66. Propeller; and 67. The shaft cover 24 is fixed to the propeller 67 with screws. The shaft cover 24 has a shoulder with symmetrically arranged thrust bearings. The shaft seal cover 25 is connected to the shaft cover 24 with screws. The shaft end screw 26 can be screwed into the threaded hole on the drive shaft 33. The shaft end screw 26 has an interference fit with the tight ring of the front thrust bearing 27 and the rear thrust bearing 28, and a clearance fit with the loose ring of the front thrust bearing 27 and the rear thrust bearing 28. The front thrust bearings 27 and the rear thrust bearings 28 are symmetrically distributed. The loose ring of the front thrust bearings 27 and the rear thrust bearings 28 has an interference fit with the end cover. The end face of the loose ring of the front thrust bearings 27 and the rear thrust bearings 28 is in contact with the shaft shoulder surface. The end face of the tight ring of the front thrust bearing 27 is in contact with the shaft end screw 26, and the end face of the tight ring of the rear thrust bearing 28 is in contact with the end face of the drive shaft 33. The structure comprising shaft cover 24, shaft seal cover 25, shaft end screw 26, front and rear thrust bearings 28, rear thrust bearing 28, first retaining ring 29, front roller bearing 30, first bushing 31, rear roller bearing 32, and drive shaft 33 enables the axial thrust generated by the rotation of propeller 67 to be transmitted to the robot as a whole via drive shaft 33, thereby achieving forward and backward movement. Multiple shoulders, retaining rings, and bushings on drive shaft 33 serve to fix the bearings and spline sleeve 66. One end of transmission shaft cylinder 34 is connected to propeller 67 by screws, and the other end is connected to first gear 65 via a concave-convex structure, transmitting the rotation of first gear 65 to propeller 67. One end of sealing cylinder 36 is in dynamic sealing contact with transmission shaft cylinder 34, and the other end is connected to sealing cylinder cover 40 by screws. The inner surface of the sealing cylinder 36 is fixed to the outer surfaces of the magnetic guide cylinder 64 and the internal gear 38 by an interference fit. Furthermore, because the sealing cylinder 36 is fixed to the fixed base 12 by the second fixed bracket 15, the sealing cylinder 36, the sealing cylinder cover 40, the magnetic guide cylinder 64, and the internal gear 38 are fixed in the propeller-wheel compound mechanism 16. The internal gear 38, the sun gear 53, and the planetary gears 39 together form a reduction gear structure.

[0089] The sun gear 53 is the power input gear, fixed to the sun gear carrier 54 via an interference fit and a key. The sun gear 53 meshes with planet gears 39. Planet gears 39 are the power output gears, transmitting rotation between themselves and the planet carrier 46 via planetary roller bearings 43. Planet gears 39 simultaneously mesh with the sun gear 53 and the internal gear 38, and can rotate on their own axis and revolve around the sun. The internal gear 38 remains stationary. When the sun gear 53 rotates at high speed, the reduction mechanism transmits the rotation to the planet gears 39, which output a low speed, thus achieving speed reduction. The spline sleeve 66 is fixed to the drive shaft 33 via an interference fit and a key, and rotates together with the drive shaft 33. The fourth gear 57 is connected to the sun gear carrier 54 via a convex-concave structure, transmitting rotation to the sun gear carrier 54. The first gear 65, the second gear 63, the spline sleeve 66, the magnetic cylinder 64, the front magnetic disk 61, the permanent magnet 60, the rear magnetic disk 59, the third gear 58, and the fourth gear 57 form a bistable clutch. The spline sleeve 66 rotates with the drive shaft 33, and the permanent magnet 60 can move back and forth on the spline sleeve 66 through its keyway, rotating with the spline sleeve 66. The second gear 63 is fixed to the front magnetic disk 61, and the third gear 58 is fixed to the rear magnetic disk 59. The second gear 63 rotates together with the front and rear magnetic disks 61 and 59. The front and rear magnetic disks 61 and 59 are fixed to the permanent magnet 60 with screws, so the second and third gears 63 rotate together with the drive shaft 33. Coils are distributed in the front magnetic cylinder slot 62 and the rear magnetic cylinder slot 56. Figure 6 As shown, when the permanent magnet 60 is to the right, the permanent magnet 60, the front disk 61, the rear disk 59, and the magnetic cylinder 64 form a second permanent magnet flux loop. When the permanent magnet 60 is to the left, the permanent magnet 60, the front disk 61, the rear disk 59, and the magnetic cylinder 64 form a first permanent magnet flux loop. Because of the existence of the permanent magnet flux loop, the permanent magnet 60 is confined by the permanent magnetic force to one of the two permanent magnet flux loops, namely, a first stable state where the second gear 63 and the first gear 65 mesh, and a second stable state where the third gear 58 and the fourth gear 57 mesh. The switching between the two stable states relies on the forward and reverse energizing of the coils in the front magnetic cylinder slot 62 and the rear magnetic cylinder slot 56. When the coils are energized in the forward direction, the electromagnetic circuit is as follows: Figure 6 As shown, at this point, the electromagnetic force overcomes the permanent magnet force in the first circuit, and the electromagnetic force and the permanent magnet force in the second circuit attract the permanent magnet 60 to move to the right until the third gear 58 and the fourth gear 57 mesh together. At this point, the power is automatically cut off, reaching the second steady state. When the coil is energized in the reverse direction, the first steady state will be reached. In the first steady state, the drive shaft 33 transmits rotation to the propeller 67 through the clutch, and the propeller 67 operates at high speed. In the second steady state, the drive shaft 33 transmits rotation to the anti-slip wheel 42 through the clutch and reduction mechanism, and the anti-slip wheel 42 operates at low speed.

[0090] likeFigure 7 As shown, the anti-slip wheel 42 consists of a wheel frame 68, anti-slip rubber 69, and protruding studs 70. The wheel frame 68 is a specially designed structure with two notches. When traversing ice, the anti-slip wheel 42 rotates, and when it contacts the edge of the ice, it uses the notches to wedge the edge, providing support for the anti-slip wheel 42 to climb.

[0091] The anti-slip rubber 69 increases the friction of the anti-slip wheels 42 when rotating on the ice. Raised studs 70 are mounted on the surface of the anti-slip rubber 69; these studs can be pressed into the ice by the weight of the multi-robot, providing greater grip for the anti-slip wheels 42. The composite drive mechanism 1 provides the driving force for the legs, wheels, and paddles. The composite drive mechanism 1 has two degrees of freedom, namely rotation along the X and Y axes. This degree of freedom makes the composite drive mechanism 1 more flexible and allows for multiple motion modes.

[0092] like Figure 8 As shown, the segmented fuselage 2 consists of a fairing 71, a front fuselage 72, a rotating mechanism 73, and a rear fuselage 74. The fairing 71 has a guiding property, thereby reducing the robot's resistance underwater and saving energy. The fairing 71 has slots for placing cameras and lights. The fairing 71 is connected to the segmented fuselage 2 by screws and to the outer shell of the electronics compartment 4 by screws.

[0093] like Figure 9 As shown, the rotating mechanism 73 consists of a tripod 75, a rotating base 76, a third servo motor 77, a third coupling 78, a rotating shaft 79, and a second support frame 80. Two tripods 75 are symmetrically distributed on the upper and lower surfaces of the front fuselage 72. The bottom surfaces of the tripods 75 are fixedly connected to the front fuselage 72 with screws, and the sides of the tripods 75 are fixedly connected to the bottom surface of the rotating base 76 with screws, thus supporting the rotating base 76. The third servo motor 77 is fixed on the rotating base 76. The third servo motor 77 is connected to the rotating shaft 79 via the third coupling 78 to control the angle of the rotating shaft 79, thereby controlling the relative angle between the front fuselage 72 and the rear fuselage 74. A sliding bearing is radially fitted between the shaft hole of the rotating base 76 and the rotating shaft 79, enabling relative rotation between the two. The rotating shaft 79 is fixed to the second support frame 80 by welding. The second support frame 80 is fixed to the rear fuselage 74 by welding. The segmented fuselage 2 has one degree of freedom, namely rotation along the Y-axis. This degree of freedom allows the segmented fuselage to adjust the angle between its segments according to different terrains.

[0094] like Figure 10As shown, the composite support mechanism 3 consists of a fourth servo motor 81, a main arm 82, a fifth servo motor 83, a forearm 84, a center rudder 85, a sixth servo motor 86, a tail rudder 87, and a driven wheel 89. The fourth servo motor 81 is fixed to the segmented fuselage. The fourth servo motor 81 is connected to the main arm 82 by screws, allowing them to rotate relative to each other. The main arm 82 is fixed to the fifth servo motor 83 by screws. The fifth servo motor 83 is connected to the forearm 84 by screws, allowing them to rotate relative to each other. The forearm 84 is fixed to the center rudder 85 by a slot and screws. The center rudder 85 is fixed to the sixth servo motor 86 by a slot and screws. The sixth servo motor 86 is connected to the tail rudder 87 by screws, allowing them to rotate relative to each other. The tail rudder 87 has a raised end, resembling a sled. The composite support mechanism 3 functions as a support for the legs, rudder, and sled. The composite support mechanism 3 has three degrees of freedom: rotation along the X, Y, and Z axes.

[0095] like Figure 1 As shown. The electronic cabin 4 consists of a flow-guiding outer shell and a sealed inner cabin. The flow-guiding outer shell serves as a shock absorber and a flow guide. The sealed inner cabin provides protection and waterproof sealing. The sealed inner cabin consists of a power supply, sensors, a control system, a watertight base, an antenna, a camera, and lighting. The control system includes a main control module, a data acquisition module, a data storage module, a motion control module, and a communication module. Sensors include an attitude sensor, a water level sensor, and a GPS locator. The power supply provides power to the composite drive mechanism 1, the composite support mechanism 3, the rotation mechanism 73, and other modules within the cabin. The attitude sensor detects the attitude of the multi-purpose robot in real time. The water level sensor detects the depth of the multi-purpose robot underwater in real time. The GPS locator detects the position of the multi-purpose robot in real time. The main control module is the data processing and logic control center. The data acquisition module processes the information collected by the sensors. The data storage module stores the information collected by the sensors, which can be retrieved by the operator after the task is completed. The motion control module centrally controls the composite drive mechanism 1, the composite support mechanism 3, and the rotation mechanism 73 to complete various actions. The communication module uses Bluetooth wireless communication to transmit and receive data. The watertight base serves as the communication channel between the external mechanisms and the internal control system. The communication module enables data exchange between the amphibious robot and the computer via an antenna. Lighting provides illumination for the cameras, allowing the robot to operate at night and under ice. The cameras, as one of the robot's external perception windows, are also one of the bases for operators to control the amphibious robot in real time.

[0096] like Figure 1 As shown, solar panel 5 is fixed to the airflow guide shell with screws. When the amphibious robot performs operations on ice, solar panel 5 enables the robot to have a longer endurance. When the amphibious robot operates under ice, the operator needs to manually remove solar panel 5.

[0097] Option 1:

[0098] There are four movement modes that amphibious robots may encounter in polar environments.

[0099] The multi-purpose robot has four movement modes: 1. Crawling mode, such as... Figure 11 As shown. This mode is used to traverse uneven polar ice, snow, and land surfaces. The amphibious robot achieves its land crawling mode by controlling the movement of the fourth servo 81, large arm 82, fifth servo 83, forearm 84, and middle servo 85 in the composite support mechanism 3, and the first servo 6 and first support frame 7 in the composite drive mechanism 1, as well as retracting the tail rudder 87 and fixing the second servo 9. In this mode, the driving force is provided by the alternating swinging of the fore and hind limbs. In crawling mode, the anti-slip wheel 42 rotates at only the lowest speed to provide the necessary grip for crawling on ice. When the amphibious robot determines that the crawling mode cannot overcome the obstacle, it controls the rotation mechanism 73 in the segmented body 2 to adjust the bending angle of the segmented body, and controls the fifth servo 83 and tail rudder 87 in the composite support mechanism 3 to provide a greater elevation angle, thereby overcoming the obstacle. This obstacle-crossing mode is as follows: Figure 12 As shown. 2. Sled mode, as... Figure 13 As shown. This mode is used to traverse ice and snow in polar regions where the ground is flat and friction is low. The amphibious robot achieves sled-like gliding mode by controlling the fixation of the fourth servo 81, large arm 82, fifth servo 83, forearm 84, middle servo 85, sixth servo 86, and tail servo 87 in the composite support mechanism 3, and the first servo 6, first support frame 7, and second servo 9 in the composite drive mechanism 1, as well as the rotation of the anti-slip wheels 42. In this mode, the driving force is provided by the rotation of the anti-slip wheels 42. 3. Wheeled mode, such as Figure 14 As shown. This mode is used to traverse terrestrial media in polar regions where the ground is flat and friction is high. The amphibious robot achieves its land-based wheeled mode by controlling the fixation of the fourth servo 81, large arm 82, fifth servo 83, forearm 84, middle servo 85, sixth servo 86, and tail servo 87 in the composite support mechanism 3, and the first servo 6, first support frame 7, and second servo 9 in the composite drive mechanism 1. In this mode, the anti-slip wheels 42 provide the driving force. 4. Propeller mode, as shown... Figure 15As shown. This mode is used to traverse polar water. The amphibious robot achieves propeller mode by controlling the fixation of the fourth servo 81, large arm 82, fifth servo 83, forearm 84, middle servo 85, sixth servo 86, and tail servo 87 in the composite support mechanism 3, and the first servo 6, first support frame 7, and second servo 9 in the composite drive mechanism 1, as well as the rotation of the propeller 67. In this mode, the propeller 67 provides the driving force. Underwater, the fourth servo 81 in the composite support mechanism 3 controls the rotation of the middle servo 85 and tail servo 87 to achieve the overall surfacing and diving of the amphibious robot. The rotation of the second servo 9 in the composite drive mechanism 1 controls the thrust direction of the propeller 67 to achieve underwater turning and other actions. In the first three of the above four movement modes, the amphibious robot can control the rotation angle of the servo motors according to the actual environment, thereby raising the segmented chassis to adapt to various polar scenarios. The first three motion modes are for use in ice, snow, and land environments, while the fourth is for use in water. Therefore, switching between underwater and other media requires the combined action of the bistable clutch and reduction mechanism in the composite drive mechanism 1 to select between propeller 67 and anti-slip wheel 42. These are just four typical motion modes. Through the coordinated adjustment of multiple servos in the amphibious robot mechanism, various different motion modes can be combined to meet the operational requirements of the amphibious robot in polar environments.

[0100] Option 2:

[0101] 1. In the context of polar amphibious robots encountering ice layers during the transition between four polar media, the following methods can be used to cross ice layers from underwater to the ice surface.

[0102] 2. The operators lowered the polar amphibious robot into the water from the research vessel.

[0103] 3. The polar robot employs a first steady state via a bistable clutch, where propeller 67 rotates at high speed. The segmented fuselage uses propeller mode; with propeller 67 rotating at high speed, the robot moves underwater towards the ice layer. The motion pattern at this time is as follows: Figure 15 As shown.

[0104] 4. When the camera observes that the robot is about to touch the ice, it controls the rudder to rotate to maintain the upward movement mode and begins to rise until it surfaces. After the robot surfaces, it controls the rudder to rotate to maintain the forward movement mode and continues to move forward on the water until the guide fairing 71 touches the end face of the ice.

[0105] 5. Upon contact with the ice layer, the rotating mechanism 73 in the robot's segmented body begins to rotate, causing the robot to assume a concave position. During this stage, the compound propulsion mechanism continues to propel the robot, such as... Figure 16 As shown.

[0106] 6. After completing the bending mode, the robot, propelled by the continuous thrust of the compound thrusters, moves diagonally upwards along the ice fault. When the bottom surface of the tail rudder 87 of the robot's compound support mechanism 3 is nearly parallel to the ice fault, the robot's compound support mechanism 3 switches to sled mode, while the compound drive mechanism 1 remains unchanged. Then, the rotation mechanism 73 is controlled to restore the parallel alignment of the front fuselage 72 and the rear fuselage 74. The robot begins its climb. Figure 17 As shown.

[0107] 7. As the composite propulsion mechanism advances, the robot's composite support mechanism 3 is fully exposed above the water. When the robot reaches its highest position, the composite support mechanism 3 is rotated counterclockwise until it reaches the ice surface. Figure 18 As shown.

[0108] 8. Continue rotating the composite support mechanism 3, using the land support force and the thrust of the composite propulsion mechanism in the water to move the robot's front body 72 forward along the ice surface. The robot continues to move forward. Figure 19 As shown.

[0109] 9. When the composite support mechanism 3 has completed one revolution and returned to its initial position, control the rotation mechanism 73 to rotate until the robot enters the upward convex mode. The composite support mechanism 3 continues to rotate, and the composite drive mechanism 1 continues to advance, as... Figure 20 As shown.

[0110] 10. When the compound drive mechanism 1 is completely out of the water, the robot controls the bistable clutch and reduction mechanism to change the propulsion from the original propeller 67 to the anti-slip wheel 42. After switching to anti-slip wheel 42 propulsion, the rotation speed of the anti-slip wheel 42 is controlled to the minimum. At this time, the first servo motor 6 in the compound drive mechanism 1 is controlled to rotate counterclockwise until the anti-slip wheel 42 contacts the ice surface. Because the anti-slip wheel 42 is rotating slowly, the notch in the wheel frame 68 structure of the anti-slip wheel 42 will at some point get stuck on the edge of the ice layer, such as... Figure 21 As shown.

[0111] 11. After the anti-slip wheel 42 gets stuck on the edge of the ice, its supporting force and the propulsive force from the rotation of the composite drive mechanism 1 and the composite support mechanism 3 are used to make the robot climb onto the ice surface. Then, the rotation mechanism 73 is controlled to restore the parallel mode of the front body 72 and the rear body 74, as shown. Figure 22 As shown.

[0112] 12. After completing all the above steps, the robot has achieved the transition between two media, one underwater and one on the ice surface.

[0113] Option 3:

[0114] 1. A method for amphibious robots to traverse ice layers from above the ice to underwater.

[0115] 2. The amphibious robot stops near the ice fault and switches to wheel mode to lower its center of gravity.

[0116] 3. Anti-slip wheels 42 maintain a minimum rotation speed to propel the robot forward.

[0117] 4. When the robot advances to a point where the composite support structure has detached from the ice surface, the rotating mechanism 73 begins to rotate, causing the robot to assume an upward convex mode. At this time, the composite support mechanism 3 simultaneously transforms into a sled mode, while the composite drive mechanism 1 remains unchanged.

[0118] 5. When the rudder surface of the composite support mechanism 3 contacts the water surface, control the rotation mechanism 73 to rotate, causing the robot to enter a concave mode. Relying on its own weight and the thrust of the anti-slip wheels 42, it continues to move underwater.

[0119] 6. When the anti-slip wheel 42 approaches the edge of the ice layer, the edge of the ice layer will block the entire rear fuselage 74 from moving diagonally downwards. At this time, the first servo 6 of the compound drive mechanism 1 needs to rotate clockwise until the anti-slip wheel 42 contacts the edge of the ice layer. Because the anti-slip wheel 42 rotates continuously at a low speed, the notch of the anti-slip wheel 42 frame 68 will get stuck at the edge of the ice layer at a certain moment.

[0120] 7. The robot uses the anti-slip wheels 42 to grip the corners, generating thrust and its own weight, to make the whole thing slide into the water.

[0121] 8. After the robot slides into the water, the control rotation mechanism 73 rotates back to the parallel mode of the front body 72 and the rear body 74.

[0122] 9. The robot selects propeller 67 for propulsion through the combined action of the bistable clutch and reduction mechanism in the compound drive mechanism 1. At this time, the robot as a whole changes to propeller mode.

[0123] 10. After completing all the above steps, the robot has achieved the transition between two media, one on the ice surface and the other underwater.

[0124] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A polar ecobotic robot for crossing water-ice-snow-land, characterized in that: The application relates to a multi-environment robot, which comprises a segmented body, a composite support mechanism installed at the front end of the segmented body and a composite driving mechanism installed at the rear end of the segmented body and having the functions of support legs, rudders and skis. The composite driving mechanism comprises a first rudder connected with a relatively rotatable first support frame to realize the rotation of the whole composite driving mechanism, a support rotating mechanism connected with the first support frame, a fixed seat fixedly connected with the support rotating mechanism, a driving motor and a wheel-propeller composite mechanism fixedly installed on the fixed seat, and a second coupling connecting the driving motor with the wheel-propeller composite mechanism. The composite support mechanism comprises a fourth rudder connected with a large arm, a large arm fixed with a fifth rudder, the fifth rudder, a small arm connected with the fifth rudder, a middle rudder fixed with the small arm, a sixth rudder fixed with the middle rudder, a tail rudder connected with the sixth rudder, the tail rudder and a passive wheel installed on the tail rudder. The segmented body comprises a front body and a rear body, the front body and the rear body are connected through a rotating mechanism, the front body is provided with a fairing for reducing the resistance of the robot in water, and the rotating mechanism comprises a tripod, a rotating base connected with the tripod through screws, a third rudder connected with a rotating shaft through a coupling, the rotating shaft fixed with a second support frame through welding, and the second support frame fixed with the rear body through welding. The multi-environment robot has four motion modes. The robot can realize the land crawling mode by controlling the motions of the fourth rudder, the large arm, the fifth rudder, the small arm, the middle rudder in the composite support mechanism, the first rudder, the first support frame in the composite driving mechanism, and by folding the tail rudder and fixing the second rudder, and can provide the driving force by the alternating swing of the front and rear four-limb mechanisms. The robot can realize the ski sliding mode by controlling the motions of the fourth rudder, the large arm, the fifth rudder, the small arm, the middle rudder, the sixth rudder and the tail rudder in the composite support mechanism, the first rudder, the first support frame, the second rudder in the composite driving mechanism and the rotation of the anti-skid wheel, and can provide the driving force by the rotation of the anti-skid wheel. The robot can realize the land wheel mode by controlling the motions of the fourth rudder, the large arm, the fifth rudder, the small arm, the middle rudder, the sixth rudder and the tail rudder in the composite support mechanism, the first rudder, the first support frame, the second rudder in the composite driving mechanism and the rotation of the anti-skid wheel, and can provide the driving force by the rotation of the anti-skid wheel. The robot can realize the propeller mode by controlling the motions of the fourth rudder, the large arm, the fifth rudder, the small arm, the middle rudder, the sixth rudder and the tail rudder in the composite support mechanism, the first rudder, the first support frame, the second rudder in the composite driving mechanism and the rotation of the propeller, and can provide the driving force by the rotation of the propeller.

2. The polar ecodroid robot for traversing water, land and ice / snow according to claim 1, characterized in that: The first support frame is fixedly connected with a first fixed frame, the first fixed frame is connected with the second rudder, and the second rudder is connected with the support rotating mechanism through the first coupling.

3. The polar ecodroid robot for traversing water, land and ice / snow according to claim 2, characterized in that: The support rotating mechanism comprises a support shaft, a compression ring, a thrust bearing, a deep groove ball bearing, a bearing retainer, a fixed cylinder and a fixed end cover, and the support shaft is in interference fit with the compression ring of the thrust bearing and the inner ring of the deep groove ball bearing.

4. The polar ecodroid robot for traversing water, land and ice / snow according to claim 3, characterized in that: The wheel-propeller composite mechanism is composed of a shaft cover, a transmission shaft, a transmission shaft cylinder, a sealing cylinder, an internal gear, a planetary gear as a power output wheel, an anti-skid wheel, a planet carrier, a sun gear meshing with the planetary gear, a sun gear carrier, a rear magnetic guide cylinder groove, a fourth face gear, a third face gear, a rear magnetic disk, a permanent magnet, a front magnetic disk, a second face gear, a magnetic guide cylinder, a first face gear, a spline sleeve, and a propeller connected with the transmission shaft, wherein the internal gear, the sun gear, and the planetary gear form a reduction structure; the first face gear, the second face gear, the spline sleeve, the magnetic guide cylinder, the front magnetic disk, the permanent magnet, the rear magnetic disk, the third face gear, and the fourth face gear form a bistable clutch; one end of the transmission shaft cylinder is connected with the propeller through a screw, and the other end is connected with the first face gear through a concave-convex structure, and the transmission shaft cylinder transmits the rotation of the first face gear to the propeller.

5. The polar ecodroid robot for traversing water, land and ice / snow according to claim 4, characterized in that: The shaft cover is fixed with the propeller through a screw, the shaft cover has a shaft shoulder, the shaft shoulder is symmetrically provided with thrust bearings, the shaft sealing cover is connected with the shaft cover through a screw, the shaft end screw is in interference fit with the tight rings of the front and rear thrust bearings and in clearance fit with the loose rings of the front and rear thrust bearings, the front and rear thrust bearings are symmetrically distributed, the end surface of the tight ring of the front thrust bearing is in contact with the shaft end screw, and the end surface of the tight ring of the rear thrust bearing is in contact with the end surface of the transmission shaft.

6. The polar ecodroid robot for traversing water, land and ice / snow of claim 4, wherein: One end of the sealing cylinder is in dynamic sealing contact with the transmission shaft cylinder, and the other end is connected with a sealing cylinder cover through a screw, and the inner surface of the sealing cylinder is fixed with the outer surfaces of the magnetic guide cylinder and the internal gear through interference fit.

7. The polar ecodroid robot for traversing water, land and ice / snow of claim 4, wherein: The spline sleeve rotates with the transmission shaft, the permanent magnet can move forward and backward on the spline sleeve through the key grooves thereof and rotate with the spline sleeve, the second face gear is fixed on the front magnetic disk, the third face gear is fixed on the rear magnetic disk, the second face gear and the third face gear rotate with the front magnetic disk and the rear magnetic disk, the front magnetic disk and the rear magnetic disk are fixed with the permanent magnet through a screw, coils are distributed in the front and rear magnetic cylinder grooves, when the permanent magnet is on the right, the permanent magnet, the front magnetic disk, the rear magnetic disk, and the magnetic guide cylinder form a second permanent magnetic flux loop, and when the permanent magnet is on the left, the permanent magnet, the front magnetic disk, the rear magnetic disk, and the magnetic guide cylinder form a first permanent magnetic flux loop.

8. The polar ecodroid robot that traverses water, land and ice / snow according to claim 1, wherein: The segmented fuselage is internally provided with a solar panel and an electronic cabin.

9. The polar ecodroid robot that traverses water, land and ice / snow according to claim 8, characterized in that: The electronic cabin comprises a flow guide shell and a sealed inner cabin, and the sealed inner cabin is composed of a power supply, a sensor, a control system, a watertight seat, an antenna, a camera, and a lighting lamp, the control system comprises a main control module, a data acquisition module, a data storage module, a motion control module, and a communication module, and the sensor comprises an attitude sensor, a water level sensor, and a GPS positioning instrument.

10. The polar ecodroid robot for traversing water, land and ice / snow of claim 4, wherein: The anti-skid wheel is composed of a wheel carrier provided with a notch, anti-skid rubber wrapped outside the wheel carrier, and protruding nails mounted on the anti-skid rubber.

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