A leg-ski desert robot

Abstract

The application provides a leg-ski type desert robot, which can realize switching between foot end contact and ski plate contact, so that the robot has two advancing modes, i.e. hoof step advancing and ski plate sliding advancing. The robot comprises a head, a body connected with the head, a wind and sand prevention mechanism arranged on the body, and a leg-ski mixed leg arranged on the body. The leg-ski mixed leg comprises a hip joint part fixedly connected with the body, a thigh joint part rotatably connected with the hip joint part, a lower leg joint part rotatably connected with the thigh joint part, a thigh part fixedly connected with the lower leg joint part, a lower leg part rotatably connected with the thigh part, and a leg-ski switching mechanism. The leg-ski switching mechanism comprises a ski plate and an electric push rod. One end of the electric push rod is hinged to the middle part of the lower leg part, and the other end of the electric push rod is hinged to the front end of the ski plate. The rear end of the ski plate is hinged to the tail end of the lower leg part.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a leg-skid type desert robot. BACKGROUND

[0002] Through desert scientific investigation, the geology and geomorphology, plant and animal species and distribution of the desert can be obtained, which provides direct evidence for revealing the changes of desert geology and geomorphology, soil, vegetation, climate and water system, and has far-reaching significance for studying the development process and law of desertification in agricultural, pastoral and national economic areas and human activity areas around the desert.

[0003] At present, with the rapid development of science and technology, the related technology of desert scientific investigation is gradually mature, and some high-tech desert scientific investigation equipment is emerging, including desert robots. Most of the existing desert robots adopt wheel type and track type. The wheel type desert robot has high moving speed, but it is not suitable for relatively soft sand surface and relatively rugged terrain. The terrain adaptability of the track type desert robot is improved compared with the wheel type robot, but the adaptability is not high when facing very complex terrain. At the same time, the track type desert robot needs to be driven by power throughout the journey, and cannot advance without power on the downhill stage like the wheel type desert robot, so the energy saving rate is not high. At the same time, the current desert robot has few measures to prevent wind and sand, and the adaptability to windy and sandy weather is relatively weak. Therefore, there is an urgent need for a desert robot with high adaptability to desert environment and terrain, high energy saving rate and wind and sand prevention. SUMMARY

[0004] To solve the above technical problems, the present application provides a four-legged robot for putting and supervising.

[0005] The present application adopts the following technical scheme:

[0006] A leg-skid type desert robot, comprising a head, a body connected with the head, a wind and sand prevention mechanism arranged on the body, and a foot-skid hybrid leg arranged on the body, the foot-skid hybrid leg comprising a hip joint part fixedly connected with the body, a thigh joint part rotatably connected with the hip joint part, a shank joint part rotatably connected with the thigh joint part, a thigh part fixedly connected with the shank joint part, a shank part rotatably connected with the thigh part, and a leg-skid switching mechanism, the leg-skid switching mechanism comprising a skid plate and an electric push rod, one end of the electric push rod is hinged to the middle part of the shank part, and the other end is hinged to the front end of the skid plate, and the rear end of the skid plate is hinged to the tail end of the shank part.

[0007] Preferably, the hip joint part comprises a hip motor, the foot sled hybrid leg comprises a left front leg, a left rear leg, a right front leg and a right rear leg, wherein the left front leg and the left rear leg are symmetrically distributed with the right front leg and the right rear leg respectively, the left front leg and the right front leg are front knee and rear elbow distributed with the left rear leg and the right rear leg respectively, the hip joint part of the left front leg and the right front leg are fixedly connected with the rear surface of the front hip motor fixing plate on the fuselage through the front connecting surface of the hip motor, and the hip joint part of the left rear leg and the right rear leg are fixedly connected with the front surface of the rear hip motor fixing plate on the fuselage through the front connecting surface of the hip motor.

[0008] Preferably, the thigh joint part comprises a thigh motor connecting piece, a thigh motor and a heat dissipation fan, and the three are fixedly connected, the thigh joint part is fixedly connected with the output disc surface of the hip motor through the side connecting surface of the thigh motor connecting piece, so that the thigh joint part can relatively rotate relative to the hip motor.

[0009] Preferably, the lower leg joint part comprises a lower leg motor connecting piece and a lower leg motor fixedly connected with the lower leg motor connecting piece, the lower leg joint part is fixedly connected with the output disc surface of the thigh motor through the rear connecting surface of the lower leg motor connecting piece, so that the lower leg joint part can relatively rotate relative to the thigh motor.

[0010] Preferably, the thigh part comprises a thigh inner shell and a thigh outer shell fixedly connected with the thigh inner shell, the thigh inner shell is fixedly connected with the front connecting surface of the lower leg motor through the rear connecting surface, so that the thigh part is fixedly connected on the lower leg motor.

[0011] Preferably, the lower leg part comprises a drive crank, a connecting rod, a lower leg and a foot hoof, the drive crank is fixedly connected with the output disc surface of the lower leg motor through the connecting surface, so that the crank can relatively rotate relative to the lower leg motor, the thigh inner shell and the thigh outer shell are respectively articulated with the lower leg, the front end of the connecting rod is articulated with the drive crank, and the rear end is articulated with the top end of the lower leg, the foot hoof is camel foot sole-shaped and fixedly connected at the end of the lower leg.

[0012] Preferably, the leg sled switching mechanism comprises a sled plate and an electric push rod, one end of the electric push rod is articulated with the middle part of the lower leg, and the other end is articulated with the front end of the sled plate, and the rear end of the sled plate is articulated with the tail end of the lower leg.

[0013] Preferably, the fuselage includes an upper cover plate, a lower base plate, a front hip joint motor fixing plate, a rear hip joint motor fixing plate, a fuselage frame, side shells, and a windproof and sandproof mechanism fixing frame. The upper cover plate is connected to the upper end face of the fuselage frame, the lower base plate is connected to the lower end face, the front hip joint motor fixing plate is connected to the front end face, the rear hip joint motor fixing plate is connected to the rear end face, a side shell is connected to each of the left and right outer sides, and a windproof and sandproof mechanism fixing frame is connected to each of the left and right inner sides. The middle part of the side shell has a left rectangular groove and a right rectangular groove symmetrically opened.

[0014] Preferably, the sand-proof plate has an upper side, a lower side, and a middle plane. A solar panel is provided on the outer side of the middle plane of the sand-proof plate. Rollers are installed on the lower side of the sand-proof plate. It also includes an upper left electric push rod, a lower left electric push rod, an upper right electric push rod, and a lower right electric push rod. One end of the upper left electric push rod and the lower left electric push rod are respectively hinged to the sand-proof mechanism fixing frame, and the other end passes through the left rectangular groove of the side shell and is respectively hinged to the sand-proof plate. One end of the upper right electric push rod and the lower right electric push rod are respectively hinged to the sand-proof mechanism fixing frame, and the other end passes through the right rectangular groove of the side shell and is respectively hinged to the upper right hinge hole and the lower right hinge hole of the sand-proof plate.

[0015] Preferably, the fuselage is equipped with a five-element meteorological sensor, a lidar, a control and analysis module, and a rechargeable power supply; the head is equipped with a depth camera; the control and analysis module includes a motion control module, a power management module, a meteorological analysis module, and a positioning and navigation module; the motion control module includes a walking control module, a leg sled switching control module, and a windproof sandboard position adjustment module; the power management module is electrically connected to the rechargeable power supply; the meteorological analysis module is connected to the five-element meteorological sensor signal; and the positioning and navigation module is connected to the lidar and the depth camera signal.

[0016] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0017] This invention discloses a sled-type desert robot equipped with hybrid legs that can switch between foot-to-ground and sled-to-ground contact, enabling the robot to move forward in two ways: stepping on its hooves and gliding on its sleds. When facing complex terrain, the robot utilizes its high obstacle-crossing ability to step on its hooves, while on flat, downhill sand surfaces, it switches to gliding on its sleds. Because this gliding is done without power, it saves energy to some extent. At the same time, the robot is equipped with a sand-proof mechanism on its side, thereby improving its sand-proof capability. In addition, the camel-foot-shaped hooves at the feet allow the robot to adapt well to walking on soft sand surfaces. Attached Figure Description

[0018] Figure 1This is a schematic diagram of the overall assembly of the present invention.

[0019] Figure 2 This is a schematic diagram illustrating the details of the internal structure of the fuselage in this invention.

[0020] Figure 3 This is a schematic diagram illustrating some details of the foot-sled hybrid leg in this invention.

[0021] Figure 4 This is a schematic diagram illustrating some details of the foot-sled hybrid leg in this invention.

[0022] Figure 5 This is a detailed schematic diagram illustrating the wind and sand prevention mechanism of the present invention.

[0023] Figure 6 This is a schematic diagram of the stepping motion mode of the present invention.

[0024] Figure 7 This is a schematic diagram of the gliding motion mode of the present invention.

[0025] Figure 8 This is a schematic diagram of the left turn state in the gliding motion mode of the present invention.

[0026] Figure 9 This is a schematic diagram of the braking state during the gliding motion mode of the present invention.

[0027] Figure 10 This is a schematic diagram of the motion mode switching of the present invention.

[0028] Figure 11 This is a schematic diagram illustrating the function of the wind and sand prevention mechanism of the present invention. Detailed Implementation

[0029] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments.

[0030] See Figures 1 to 11 The present invention discloses a sled-type desert robot, which mainly includes a head 1, a body 2, a wind and sand protection mechanism 3, a sled-type hybrid leg 4, a five-element meteorological sensor 5, a lidar 6, a control and analysis module 7, and a rechargeable power supply 8.

[0031] like Figure 1As shown, the fuselage 2 has a skid-type hybrid leg 4 attached to its left front, left rear, right front, and right rear, respectively. The left front and left rear legs are symmetrically distributed with the right front and right rear legs, respectively, and the left front and right front legs are arranged in a front-knee and rear-elbow configuration with the left and right rear legs, respectively. The front of the upper surface of the fuselage 2 is equipped with a lidar 6, and the middle of the upper surface is equipped with a five-element meteorological sensor 5. The left and right sides of the fuselage 2 are each equipped with a set of wind and sand protection mechanisms 3, which are symmetrically distributed. The fuselage 2 contains a control and analysis module 7 and a rechargeable power supply 8. The head 1 is fixed to the fuselage 2 by two head fixing parts 9 distributed vertically. A depth camera 10 is installed in front of the head and diagonally below the head.

[0032] like Figure 2 As shown, the fuselage 2 includes an upper cover plate 11, a lower base plate 12, a front hip joint motor fixing plate 13, a rear hip joint motor fixing plate 14, a fuselage frame 15, a side shell 16, and a windproof and sandproof mechanism fixing frame 17. The middle part of the side shell 16 has a left rectangular groove 161 and a right rectangular groove 162 symmetrically opened. The middle part of the windproof and sandproof mechanism fixing frame 17 is connected to four protrusions, namely the upper left protrusion 171, the lower left protrusion 172, the upper right protrusion 173, and the lower right protrusion 174. These four protrusions are correspondingly provided with four hinge holes, namely the upper left hinge hole 175, the lower left hinge hole 176, the upper right hinge hole 177, and the lower right hinge hole 178.

[0033] The upper end of the fuselage frame 15 is connected to the upper cover plate 11, the lower end is connected to the lower base plate 12, the front end is connected to the front hip joint motor fixing plate 13, the rear end is connected to the rear hip joint motor fixing plate 14, the left and right outer sides are each connected to a side shell 16, and the left and right inner sides are each connected to a windproof and sandproof mechanism fixing frame 17.

[0034] like Figure 3 , 4 As shown, the foot-sled hybrid leg 4 includes a hip joint, a thigh joint, a lower leg joint, a thigh, a lower leg, and a leg-sled switching mechanism. The hip joint consists of a hip joint motor 18. The thigh joint consists of a thigh motor connector 19, a thigh motor 20, and a cooling fan 21, which are fixedly connected as a whole. The lower leg joint consists of a lower leg motor connector 22 and a lower leg motor 23, which are fixedly connected as a whole. The thigh consists of an inner thigh shell 24 and an outer thigh shell 25, which are fixedly connected as a whole. The lower leg consists of a drive crank 26, a connecting rod 27, a lower leg 28, and a hoof 29. The leg-sled switching mechanism consists of a lower leg 28, a skid 30, and an electric push rod 31.

[0035] like Figure 2 , 3As shown, the connection between the hip joint and the body 2 can be divided into two categories: the hip joints of the left and right front legs are fixedly connected to the rear surface 131 of the front hip joint motor fixing plate 13 via the front connecting surface 181 of the hip joint motor 18; the hip joints of the left and right hind legs are fixedly connected to the front surface 141 of the rear hip joint motor fixing plate 14 via the front connecting surface 181 of the hip joint motor 18. The thigh joint is fixedly connected to the output plate surface 182 of the hip joint motor 18 via the side connecting surface 191 of the thigh motor connector 19, thereby allowing the thigh joint to rotate relative to the hip joint motor 18. The lower leg joint is fixedly connected to the output plate surface 201 of the thigh motor 20 via the rear connecting surface 221 of the lower leg motor connector 22, thereby allowing the lower leg joint to rotate relative to the thigh motor 20.

[0036] like Figure 4 As shown, the drive crank 26 is fixedly connected to the output disc surface 232 of the calf motor 23 via the connecting surface 261, thereby enabling the crank 26 to rotate relative to the calf motor 23; the inner thigh shell 24 is fixedly connected to the front connecting surface 231 of the calf motor 23 via the rear connecting surface 241, thereby fixing the thigh part to the calf motor 23, and its hinge hole 242 and the hinge hole 251 of the outer thigh shell 25 are respectively hinged to the front hinge hole 281 of the calf 28; the connecting rod 27 is hinged to the hinge hole 261 of the drive crank 26 via the front hinge hole 271, and is hinged to the top hinge hole 284 of the calf 28 via the rear hinge hole 272;

[0037] like Figure 4 As shown, the electric push rod 31 is hinged to the middle hinge hole 282 of the lower leg 28 through the front hinge hole 311, and to the front hinge hole 302 of the skid plate 30 through the rear hinge hole 312; the skid plate 30 is hinged to the tail end hinge hole 283 of the lower leg 28 through the rear hinge hole 301; the hoof 29 is shaped like a camel's foot and is fixed to the end of the lower leg 28.

[0038] like Figure 5 As shown, the windbreak board 32 consists of an upper side, a lower side, and a middle plane. A solar panel is laid on the outer side of the middle plane, and four protrusions are attached to the inner side of the middle plane, namely the upper left protrusion 321, the lower left protrusion 322, the upper right protrusion 323, and the lower right protrusion 324. These four protrusions are respectively provided with four hinge holes, namely the upper left hinge hole 325, the lower left hinge hole 326, the upper right hinge hole 327, and the lower right hinge hole 328. Four rollers 37 are installed on its lower side. The solar panel on the outer side of the middle plane is not shown in the figure.

[0039] like Figure 5As shown, the upper left rear end hinge hole 332 of the upper left electric push rod 33 and the lower left rear end hinge hole 342 of the lower left electric push rod 34 are respectively hinged to the upper left hinge hole 175 and the lower left hinge hole 176 of the fixing frame of the windproof sand mechanism fixing frame 17. The front ends of the upper left electric push rod 33 and the lower left electric push rod 34 pass through the left rectangular groove 161 of the side shell 16, and are respectively hinged to the upper left hinge hole 325 and the lower left hinge hole 326 of the windproof sand plate 32 through the upper left front hinge hole 331 and the lower left front hinge hole 341. The upper right rear hinge hole 352 of the upper right electric push rod 35 and the lower right rear hinge hole 362 of the lower right electric push rod 36 are respectively hinged to the upper right hinge hole 177 and the lower right hinge hole 178 of the fixing frame of the windproof sand mechanism fixing frame 17. The front ends of the upper right electric push rod 35 and the lower right electric push rod 36 pass through the right rectangular groove 162 of the side shell 16, and are respectively hinged to the upper right hinge hole 327 and the lower right hinge hole 328 of the windproof sand plate 32 through the upper right front hinge hole 351 and the lower right front hinge hole 361.

[0040] The control and analysis module 7 includes a motion control module, a power management module, a meteorological analysis module, and a positioning and navigation module. The motion control module is further composed of three main modules: a walking control module, a leg sled switching control module, and a windproof sandboard position adjustment module.

[0041] The power management module is electrically connected to the rechargeable power supply 8 and distributes the power to the hip joint motor 18, thigh motor 20, calf motor 23, and electric push rod 32 in the foot-skirt hybrid leg 4; the upper left electric push rod 33, lower left electric push rod 34, upper right electric push rod 35, and lower right electric push rod 36 in the windproof and sandproof mechanism 3; as well as other modules in the five-element meteorological sensor 5, lidar 6, and control and analysis module 7. At the same time, it can also store the electrical energy generated by the solar panels on the windproof and sandproof plate 31 into the rechargeable power supply 8 to achieve real-time replenishment of battery energy.

[0042] The meteorological analysis module processes and analyzes the data on wind speed, wind direction, temperature, humidity, and atmospheric pressure transmitted by the five-element meteorological sensor 5 to obtain the current weather conditions in a timely manner. Based on the current weather conditions, it predicts future weather trends, plans routes in advance, avoids extreme weather such as strong winds and sandstorms, and enables the motion control module to make corresponding adjustments and responses based on the current weather conditions.

[0043] The positioning and navigation module can provide real-time feedback on the robot's actual position on the pre-planned path map and make timely path adjustments based on the comparison between the actual position and the set path. At the same time, by processing the data transmitted from the LiDAR 6 and the depth camera 10, it can obtain the environmental and terrain conditions of the robot's location in real time, thereby enabling the motion control module to make corresponding adjustments and responses to ensure that the robot can successfully overcome and pass through the area ahead, or adjust the robot's travel path to avoid the area ahead and detour.

[0044] When the robot is working in stepping motion mode, when the robot is working on flat ground, uphill, or rugged terrain, the leg sled switching control module controls the leg sled switching mechanism to switch the hybrid leg 4 to a legged walking state. In this state, the leg is specifically configured such that the sled 30 is folded up and attached to the rear surface of the lower leg 28, and the hoof 29 replaces the sled 30 as the robot's ground support component. Then, the walking control module in the control analysis module 7 controls the left front leg, left hind leg, right front leg, and right hind leg to walk in a diagonal gait.

[0045] The following is combined Figures 6 to 11 The principles and working processes of various robot motion modes are explained.

[0046] When the robot is working in gliding motion mode, when the robot is working on a flat downhill surface, the leg sled switching control module of the control analysis module 7 controls the leg sled switching mechanism to switch the foot-sled hybrid leg 4 to a sled-type travel state. In this state, the leg is specifically: the sled plate 30 is extended on the back of the lower leg 28 in a parallel form to the ground. The sled plate 30 replaces the hoof 29 as the ground contact support part of the robot. Then, relying on gravitational potential energy, the robot slides down the slope. At the same time, the roller 37 in the wind and sand mechanism 3 is in the ground contact state, which can help the robot glide.

[0047] The robot's gliding and turning function is achieved by adjusting the angle of the hip joint motors 18 of the four legs: left front, left rear, right front, and right rear. For example, when the robot turns left, the walking control module of the control analysis module 7 controls the hip joint motors 18 of the four legs to swing to the left at a certain angle. At the same time, the windproof sand plate position adjustment module of the analysis module 7 controls the windproof sand plate mechanism 3, so that the rollers 37 distributed on the left and right sides of the body are distributed with the left side lower and the right side higher, to help the robot glide and turn.

[0048] The robot's gliding braking function is achieved by controlling the thigh motors 20 and calf motors 23 of the four legs (left front, left rear, right front, and right rear) through the walking control module, thereby changing the angle of the skids 30 relative to the ground. Specifically, by changing the angle of the thigh motors 20 and calf motors 23 of the four legs, the skids 30 of the left front and right front legs tilt forward at a certain angle relative to the ground, and the skids 30 of the left rear and right rear legs tilt backward at a certain angle relative to the ground, thereby preventing the robot from continuing to glide.

[0049] When the robot switches between stepping and gliding modes, the transition is mainly divided into two phases: a support switching phase and a crouching phase. Support switching is achieved through a diagonal support and diagonal switching method. For example, first, the left front and right rear legs are raised, and then the left rear and right rear legs touch the ground for support. Then, the leg-sled switching control module in control analysis module 7 controls the leg-sled switching mechanism, causing the skid 30 to extend behind the lower legs 28. Next, the switched left front and right rear legs are lowered to the ground for support, and the left rear and right rear legs are raised, changing the skid position as before. The relative positions of the four legs are adjusted so that the robot can stand upright with the skateboards that have been switched. The squatting phase is as follows: the motion control module of the control analysis module 7 controls the angle of the thigh motor 20 and the calf motor 23 of the four legs (left front, left rear, right front, and right rear) so that the robot body 2 squats down relative to the ground to the sliding height and the skid plate 30 is completely in contact with the ground. At the same time, the windproof sand plate position adjustment module of the analysis module 7 controls the windproof sand mechanism 3 so that the roller 37 in the windproof sand mechanism 3 touches the ground. The process of switching the sliding motion mode to the stepping motion mode is exactly the opposite of the above process.

[0050] When the robot needs to perform sandstorm protection, this function mainly includes three aspects: normal sandstorm protection, sandstorm avoidance, and sand pile removal. The normal sandstorm protection function involves controlling the sandstorm protection mechanism 3 via the sandstorm protection plate position adjustment module of the control and analysis module 7, causing the sandstorm protection plates 32 on both sides to symmetrically unfold and protect the robot. When the sandstorm is severe and the robot cannot continue to move or operate, the sandstorm avoidance function is activated. Specifically, the sandstorm protection mechanism 3 is controlled by the sandstorm protection plate position adjustment module of the control and analysis module 7, causing the sandstorm protection plates 32 on both sides to symmetrically close at the upper part of the robot body 2. Simultaneously, the control and analysis module 7 controls the foot sled to... The robot's four legs squat down, creating a relatively enclosed and sand-free environment. When the robot is buried by sand while avoiding sandstorms, it uses a sand-explosion function. Specifically, the sand-explosion plate position adjustment module of the control analysis module 7 controls the sand-explosion mechanism 3, causing the sand-explosion plate 32 to push down on the sand. At the same time, the four legs (left front, left rear, right front, and right rear) controlled by the walking control module also push down on the sand, allowing the robot to leap up from the bottom of the sand pile. In addition to pushing down on the sand, the sand-explosion plate 32, controlled by the sand-explosion plate position adjustment module, also regularly pushes the sand outwards. The downward pushing and outward pushing of the sand-explosion plate 32 alternate, thus helping the robot to get out of the sand.

[0051] In addition to being able to achieve the above-mentioned functions in a desert setting, the present invention can also achieve similar functions in a snowy setting.

[0052] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the accompanying drawings are only one embodiment of the invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A sled-type desert robot, characterized in that: The device includes a head (1), a fuselage (2) connected to the head (1), a sand-proof mechanism (3) on the fuselage (2), and a foot-sled hybrid leg (4) on the fuselage (2). The foot-sled hybrid leg (4) includes a hip joint fixedly connected to the fuselage (2), a thigh joint rotatably connected to the hip joint, a lower leg joint rotatably connected to the thigh joint, a thigh fixedly connected to the lower leg joint, a lower leg rotatably connected to the thigh, and a leg-sled switching mechanism. The leg-sled switching mechanism includes a skid plate (30) and an electric push rod (31). One end of the electric push rod (31) is hinged to the middle of the lower leg and the other end is hinged to the front end of the skid plate (30). The rear end of the skid plate (30) is hinged to the tail end of the lower leg. The fuselage (2) includes an upper cover plate (11), a lower base plate (12), a front hip joint motor fixing plate (13), a rear hip joint motor fixing plate (14), a fuselage frame (15), side shells (16), and a windproof and sandproof mechanism fixing frame (17). The upper end face of the fuselage frame (15) is connected to the upper cover plate (11), the lower end face is connected to the lower base plate (12), the front end face is connected to the front hip joint motor fixing plate (13), the rear end face is connected to the rear hip joint motor fixing plate (14), a side shell (16) is connected to each of the left and right outer sides, and a windproof and sandproof mechanism fixing frame (17) is connected to each of the left and right inner sides. The middle part of the side shell (16) is symmetrically provided with a left rectangular groove (161) and a right rectangular groove (162). The sand-proof board (32) has an upper side, a lower side, and a middle plane. A solar panel is provided on the outer side of the middle plane of the sand-proof board (32). A roller (37) is installed on the lower side of the sand-proof board (32). It also includes an upper left electric push rod (33), a lower left electric push rod (34), an upper right electric push rod (35), and a lower right electric push rod (36). One end of the upper left electric push rod (33) and the lower left electric push rod (34) are respectively fixed to the sand-proof mechanism. The frame (17) is hinged, and the other end passes through the left rectangular groove (161) of the side shell (16) and is hinged to the windproof sand plate (32) respectively; one end of the upper right electric push rod (35) and the lower right electric push rod (36) are hinged to the windproof sand mechanism fixing frame (17) respectively, and the other end passes through the right rectangular groove (162) of the side shell (16) and is hinged to the upper right hinge hole (327) and the lower right hinge hole (328) of the windproof sand plate (32) respectively.

2. The sled-type desert robot according to claim 1, characterized in that: The hip joint portion includes a hip joint motor (18), and the foot-sled hybrid leg (4) includes a left front leg, a left rear leg, a right front leg, and a right rear leg. The left front leg and the left rear leg are symmetrically distributed with the right front leg and the right rear leg, respectively. The left front leg and the right front leg are distributed with the left rear leg and the right rear leg in a front-knee-back-elbow configuration, respectively. The hip joint portions of the left front leg and the right front leg are fixed to the rear surface (131) of the front hip joint motor fixing plate (13) on the fuselage (2) through the front connecting surface (181) of the hip joint motor (18). The hip joint portions of the left rear leg and the right rear leg are fixed to the front surface (141) of the rear hip joint motor fixing plate (14) on the fuselage (2) through the front connecting surface (181) of the hip joint motor (18).

3. A sled-type desert robot according to claim 2, characterized in that: The thigh joint portion includes a thigh motor connector (19), a thigh motor (20), and a cooling fan (21), and the three are fixedly connected. The thigh joint portion is attached and fixed to the output disk surface (182) of the hip joint motor (18) through the side connection surface (191) of the thigh motor connector (19), so that the thigh joint portion can rotate relative to the hip joint motor (18).

4. A sled-type desert robot according to claim 3, characterized in that: The lower leg joint includes a lower leg motor connector (22) and a lower leg motor (23) fixedly connected to the lower leg motor connector (22). The lower leg joint is fixedly connected to the output disk surface (201) of the thigh motor (20) through the rear connecting surface (221) of the lower leg motor connector (22), so that the lower leg joint can rotate relative to the thigh motor (20).

5. A sled-type desert robot according to claim 4, characterized in that: The thigh portion includes an inner thigh shell (24) and an outer thigh shell (25) fixedly connected to the inner thigh shell (24). The inner thigh shell (24) is attached and fixed to the front connecting surface (231) of the calf motor (23) through the rear connecting surface (241), so that the thigh portion is fixedly connected to the calf motor (23).

6. A sled-type desert robot according to claim 5, characterized in that: The lower leg portion includes a drive crank (26), a connecting rod (27), a lower leg (28), and a hoof (29). The drive crank (26) is fixedly connected to the output disc surface (232) of the lower leg motor (23) through a connecting surface (261), so that the crank (26) can rotate relative to the lower leg motor (23). The inner thigh shell (24) and the outer thigh shell (25) are respectively hinged to the lower leg (28). The front end of the connecting rod (27) is hinged to the drive crank (26), and the rear end is hinged to the top of the lower leg (28). The hoof (29) is in the shape of a camel's foot and is fixedly connected to the end of the lower leg (28).

7. A sled-type desert robot according to claim 6, characterized in that: The leg-sled switching mechanism includes a skid plate (30) and an electric push rod (31); one end of the electric push rod (31) is hinged to the middle of the lower leg (28), and the other end is hinged to the front end of the skid plate (30); the rear end of the skid plate (30) is hinged to the tail end of the lower leg (28).

8. A sled-type desert robot according to any one of claims 1 to 7, characterized in that: The fuselage is equipped with a five-element meteorological sensor (5), a lidar (6), a control and analysis module (7), and a rechargeable power supply (8); the head (1) is equipped with a depth camera (10); the control and analysis module (7) includes a motion control module, a power management module, a meteorological analysis module, and a positioning and navigation module; the motion control module includes a walking control module, a leg sled switching control module, and a windproof sandboard position adjustment module; the power management module is electrically connected to the rechargeable power supply (8); the meteorological analysis module is signal-connected to the five-element meteorological sensor (5); and the positioning and navigation module is signal-connected to the lidar (6) and the depth camera (10).

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