A wind-power hybrid-driven polar research robot

Abstract

The present invention proposes a wind-electric hybrid drive polar scientific research machine, which belongs to the field of robotics. It solves the problems of existing polar scientific research robots, such as high energy consumption, poor driving performance, lack of rational use of polar weather, and easy contamination of collected samples. It includes a chassis, a steering assembly, a wind drive module, a crawler with variable grouser height, and a sampling device. The chassis includes a frame, a front suspension assembly, and a rear suspension assembly. The front suspension assembly is provided with two symmetrically arranged on both sides of the front of the frame, and the rear suspension assembly is provided with two symmetrically arranged on both sides of the rear of the frame. The steering assembly is used to cooperate with the front suspension assembly to perform vertical blade braking and steering control. The crawler with variable grouser height is used to drive the robot forward. The wind drive module is provided at the upper end of the chassis to drive the robot forward in wind-driven mode. The sampling device is connected to the chassis for sampling and storing samples. It is mainly used for polar scientific research sampling.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and in particular relates to a wind-electricity hybrid-driven polar scientific research robot. Background Art

[0002] Existing ski robots mostly use a foot-type structure, using bionic mechanical legs with multiple degrees of freedom and multiple joints, connected to the skis through a two-legged or multi-legged arrangement. They imitate human skiing movements by changing the angles of each joint.

[0003] Existing snowmobile equipment mostly uses tracked or sled structures, modified from land vehicles or based on automotive structures. Their steering mechanisms often rely on existing automotive steering structures, without modifications to the characteristics of snowy terrain. Braking systems also often follow automotive designs, employing disc or drum brakes mounted on the drive wheels.

[0004] Directly applying the braking method in the existing design to the ski robot will result in poor adaptability. At the same time, the multi-joint ski robot has a complex structure, a high failure rate and high cost.

[0005] Existing polar scientific research robots have problems with high energy consumption and poor driving performance. They do not make rational use of polar weather, and the collected samples are easily contaminated. Summary of the Invention

[0006] In view of this, the present invention aims to propose a wind-power hybrid-driven polar scientific research robot to solve the problems of existing polar scientific research robots such as high energy consumption, poor driving performance, failure to make rational use of polar weather, and easy contamination of collected samples.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a wind-power hybrid-driven polar scientific research robot, comprising a chassis, a steering assembly, a wind-driven module, a grouser height-variable track and a sampling device, wherein the chassis comprises a frame, a front suspension assembly and a rear suspension assembly, the front suspension assembly is provided with two and symmetrically arranged on both sides of the front of the frame, the rear suspension assembly is provided with two and symmetrically arranged on both sides of the rear of the frame, the steering assembly is arranged in the frame, the two front suspension assemblies are symmetrically connected at both ends of the steering assembly, the steering assembly is used to cooperate with the front suspension assembly to perform edge braking and steering control, each of the rear suspension assemblies is connected to a grouser height-variable track, the grouser height-variable track is used to drive the robot to move, the wind-driven module is provided at the upper end of the chassis for driving the robot to move in wind mode, and the sampling device is connected to the chassis for sampling and storing samples.

[0008] Furthermore, the front suspension assembly includes a lower fork arm, a sled vertical shaft and an upper fork arm, one end of the lower fork arm is hinged to the frame, and the other end is hinged to the sled vertical shaft, one end of the upper fork arm is hinged to the upper fork arm frame provided in the steering assembly, and the other end is hinged to the sled vertical shaft, and the lower end of the sled vertical shaft is connected to the sled board.

[0009] Furthermore, the rear suspension assembly includes a rear suspension lower fork arm, a rear suspension upper fork arm and a rear suspension shock absorber, one end of the rear suspension lower fork arm is hinged to the frame, one end of the rear suspension upper fork arm is hinged to the frame, the rear suspension upper fork arm is arranged above the rear suspension lower fork arm, one end of the rear suspension shock absorber is hinged to the frame, and the other end of the rear suspension shock absorber is hinged to the rear suspension lower fork arm.

[0010] Furthermore, the steering assembly also includes a steering drive assembly, a transverse sliding frame, a brake motor, a second gear, a third gear, a linear drive assembly, a second rack, a third rack and a steering link. The steering drive assembly is connected to the frame, and the transverse sliding frame is slidably connected to the frame in the left and right directions. The steering drive assembly is connected to the transverse sliding frame, and the brake motor stator is fixedly connected to the transverse sliding frame. The second gear and the third gear are axially spaced on the brake motor rotor, and the second gear is meshed with the linear drive assembly. The second rack and the third rack are both meshed with the third gear. The second rack and the third rack are both slidably connected to the transverse sliding frame, and when the brake motor rotor rotates, the second rack and the third rack are meshed. The sled is hinged to the side of the sled and is moved in the same direction as the sled. The sled is hinged to the side of the sled and is moved in the same direction as the sled.

[0011] Furthermore, the wind drive module includes a second motor, a sail shaft, a lower sail, a third motor, an adjusting drive screw, an adjusting screw nut, a crank, an upper sail and a sailboard, the stator of the second motor is connected to the chassis, the rotor of the second motor is connected to one end of the sail shaft, the other end of the sail shaft is connected to the lower end of the lower sail, the upper end of the lower sail is hinged to the lower end of the upper sail, the third motor is fixed on the lower sail, the adjusting drive screw is rotatably connected to the lower sail, the rotating end of the third motor is connected to the adjusting drive screw, the adjusting screw nut is threadedly connected to the adjusting drive screw, one end of the crank is hinged to the adjusting screw nut, and the other end of the crank is hinged to the upper sail, and sailboards are both provided on the lower sail and the upper sail, when the upper end surface of the lower sail is flush with the lower end surface of the upper sail, it is in a folded state, and when the upper end surface of the lower sail coincides with the lower end surface of the upper sail, it is in an opened state.

[0012] Furthermore, the crawler with variable grouser height includes a crawler cage assembly, a driving wheel, a bearing wheel assembly, a first guide wheel assembly, a crawler plate, a driving chain, a first motor and a movable grouser assembly, wherein both ends of the driving wheel are rotatably connected to the upper left and right sides of the crawler cage assembly, and the two first guide wheel assemblies are symmetrically rotatably connected to the front and rear sides of the crawler cage assembly, each of the first guide wheel assemblies includes two first guide wheels that are symmetrically arranged with respect to the crawler cage assembly, and a plurality of bearing wheel assemblies arranged at equal intervals are provided on the lower side of the crawler cage assembly, and each of the bearing wheel assemblies includes two left bearing wheels that are symmetrical with respect to the track cage assembly. The load-bearing wheels are arranged symmetrically on the right, and there are two active chains. Each of the active chains is connected to the driving wheel, the first guide wheel and multiple load-bearing wheels on the corresponding side. The track plates are provided with multiple and are evenly arranged along the length direction of the active chain. The two ends of each track plate are respectively connected to the driving chain on the corresponding side. The stator and rotor of the first motor are respectively rotatably connected to the left and right sides of the track retaining frame assembly and the rotor is connected to the driving wheel. The movable grouser assembly is movably connected in the track retaining frame assembly. The movable grouser assembly includes multiple grousers. Each track plate is provided with a slot. The movable grouser assembly is used to adjust the protruding length of each grouser in the slot at the corresponding position.

[0013] Furthermore, the sampling device includes a fixed plate, a six-degree-of-freedom robotic arm, an end effector, a clamp and a sample storage box. The fixed end of the six-degree-of-freedom robotic arm is fixed to the chassis through a fixed plate, the movable end of the six-degree-of-freedom robotic arm is connected to one end of the end effector, and the other end of the end effector is provided with two symmetrically arranged clamps. The end effector is used to drive the two clamps to open or close, and the sample storage box is connected to the chassis for storing multiple pairs of closed clamps.

[0014] Furthermore, the end effector includes a servo, a fifth gear, a sixth gear, a guide claw and an electromagnet. The servo is connected to the movable end of the six-degree-of-freedom robotic arm, and the rotating end of the servo is connected to the fifth gear. Two guide claws are provided, and the two guide claws are symmetrically connected to the movable end of the six-degree-of-freedom robotic arm. Each guide claw is provided with a sixth gear, and the two sixth gears are meshed with each other. The fifth gear is meshed with any sixth gear.

[0015] Furthermore, a magnetic attraction piece is provided at the rear end of the clamping jaw, a first magnet is provided at the front end of the clamping jaw, and a positioning groove is provided on the clamping jaw. When the guide claw cooperates with the positioning groove, the electromagnet at the corresponding position is energized to attract the corresponding magnetic attraction piece.

[0016] Furthermore, the sample storage box is provided with a plurality of clamp storage holes that are evenly arranged in a horizontal and vertical staggered manner, and a second magnet is provided in each clamp storage hole. Each second magnet is used to absorb the first magnet at the front end of the clamp accommodated in the corresponding clamp storage hole.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The robot's steering assembly is combined with the suspension assembly, and can be steered by connecting rod drive, which reduces the number of joints, makes steering reliable, has a low failure rate, improves stability, requires fewer prime movers, and is simpler to control.

[0019] 2. This robot uses a steering assembly and suspension assembly to drive the brake motor to rotate the two sleds inward, achieving a vertical plow-style braking action.

[0020] 3. The robot can change the angle between the sled and the forward direction while changing the kingpin inclination angle, achieving an edge-striking action. This action can insert the edge of the sled into the snow. Through interaction with the snow, it provides greater grip during steering and achieves a smaller turning radius.

[0021] 4. This robot achieves a vertical plow-style braking action by rotating the two sleds inward and changing the caster angle. This increases the resistance between the sled and the ground, decelerating the vehicle and reducing the braking distance. Compared to track-type drives, this mechanism uses the sleds for braking, resulting in less resistance when braking is not required.

[0022] 5. This robot can use the wind drive module to expand the contact area with the wind, and can fully use the wind to move forward when the wind is strong. At the same time, the grouser with variable grouser height is retracted to reduce resistance, thereby obtaining stronger power when driven by wind and saving more energy.

[0023] 6. This robot can store samples by separating the gripper from the guide claw and placing the two closed grippers together in a sample storage box, which makes it less likely for the samples to be contaminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of a wind-electricity hybrid drive polar scientific research robot according to the present invention when the wind drive module is in an open state;

[0026] Figure 2 This is a schematic diagram of the three-dimensional structure of a wind-electricity hybrid drive polar scientific research robot according to the present invention when the wind drive module is in a folded state;

[0027] Figure 3 This is a schematic diagram of the three-dimensional structure of the frame of the present invention;

[0028] Figure 4 is a schematic diagram of the three-dimensional structure of the front suspension assembly of the present invention;

[0029] Figure 5 is a schematic diagram of the three-dimensional structure of the rear suspension assembly of the present invention;

[0030] Figure 6 This is a schematic diagram of the three-dimensional structure of the steering assembly of the present invention;

[0031] Figure 7 This is a schematic structural diagram of the connection relationship between the second motor and the sail shaft according to the present invention;

[0032] Figure 8 This is a structural schematic diagram of the downwind sail and upwind sail of the present invention in a folded state after the sailboards are removed;

[0033] Figure 9 For the present invention Figure 8 A schematic diagram of the partially enlarged structure of part E;

[0034] Figure 10 This is a schematic structural diagram of the downwind sail and upwind sail of the present invention in an open state after the sailboards are removed;

[0035] Figure 11 The present invention Figure 9 A schematic diagram of the partially enlarged structure of part F;

[0036] Figure 12 A simplified structural diagram of the present invention showing the downwind sail and the upwind sail in folded state;

[0037] Figure 13 This is a simplified structural diagram of the present invention showing the downwind sail and the upwind sail in an unfolded state;

[0038] Figure 14 This is a schematic diagram of the three-dimensional structure of the crawler with variable grouser height according to the present invention from a first perspective;

[0039] Figure 15 A schematic diagram of the three-dimensional structure of the crawler with variable grouser height according to the present invention from a second perspective;

[0040] Figure 16 A cross-sectional view of the crawler with variable grouser height according to the present invention;

[0041] Figure 17 This is a schematic structural diagram of the movable grouser assembly of the present invention;

[0042] Figure 18 This is a schematic structural diagram of the track plate of the present invention;

[0043] Figure 19 This is a schematic diagram of the grouser retracted according to the present invention;

[0044] Figure 20 A simplified diagram of the retraction of a single grouser according to the present invention;

[0045] Figure 21 This is a schematic diagram of the grouser of the present invention in an extended state;

[0046] Figure 22 A simplified diagram of a single grouser extending out of the present invention;

[0047] Figure 23 This is a schematic diagram of the three-dimensional structure of the sampling device according to the present invention;

[0048] Figure 24 is a schematic diagram of the three-dimensional structure of the end effector according to the present invention;

[0049] Figure 25 This is a schematic diagram of the three-dimensional structure of the sample storage box of the present invention;

[0050] Figure 26 A schematic diagram of the guide claw and the clamping claw of the present invention in a separated state;

[0051] Figure 27 A schematic diagram of the connection state between the guide claw and the clamping claw according to the present invention;

[0052] Figure 28 Schematic diagram of the sampling process of the present invention;

[0053] Figure 29 This is a three-dimensional structural diagram of the steering assembly of the present invention when traveling straight;

[0054] Figure 30 This is a diagram of the main structural state of the steering assembly of the present invention when traveling straight;

[0055] Figure 31 This is a top view of the structural state of the steering assembly of the present invention when it is moving straight;

[0056] Figure 32 This is a side view of the structural state of the steering assembly of the present invention when traveling straight;

[0057] Figure 33 This is a three-dimensional structural diagram of the steering assembly of the present invention when turning left;

[0058] Figure 34 This is a diagram of the main structural state of the steering assembly of the present invention when turning left;

[0059] Figure 35 This is a top view of the structure of the steering assembly of the present invention when turning left;

[0060] Figure 36 This is a side view of the structural state of the steering assembly of the present invention when turning left;

[0061] Figure 37 This is a three-dimensional structural diagram of the steering assembly of the present invention when turning right;

[0062] Figure 38 This is a diagram of the main structural state of the steering assembly of the present invention when turning right;

[0063] Figure 39 This is a top view of the structural state of the steering assembly of the present invention when turning right;

[0064] Figure 40 This is a side view of the steering assembly of the present invention when turning right;

[0065] Figure 41 This is a three-dimensional structural diagram of the steering assembly of the present invention when braking;

[0066] Figure 42 This is a diagram of the main structural state of the steering assembly of the present invention when braking;

[0067] Figure 43 This is a top view of the steering assembly of the present invention when braking;

[0068] Figure 44 This is a side view of the steering assembly of the present invention when braking;

[0069] Figure 45 This is a schematic diagram of the main structure and transmission of the steering assembly of the present invention when traveling straight ahead;

[0070] Figure 46 This is a schematic diagram of the main structure transmission of the steering assembly of the present invention when turning left;

[0071] Figure 47 This is a schematic diagram of the main structure transmission of the steering assembly of the present invention when turning right;

[0072] Figure 48 This is a schematic diagram of the main structure and transmission of the steering assembly of the present invention before the braking state;

[0073] Figure 49 This is a schematic diagram of the main structure and transmission of the steering assembly of the present invention in a braking state;

[0074] Figure 50 A schematic side view of the structure and transmission of the steering assembly of the present invention when traveling straight ahead;

[0075] Figure 51 This is a side view schematic diagram of the steering assembly of the present invention in the braking state.

[0076] Chassis 1; frame 11; electrical control box 111; integrated sensor assembly 112; battery 113; instrument box 114; front suspension assembly 12; lower wishbone 121; sled vertical shaft 122; upper wishbone 123; shock absorber 124; sled board 125; rear suspension assembly 13; rear suspension lower wishbone 131; rear suspension upper wishbone 132; rear suspension shock absorber 133; steering assembly 2; steering motor 21; transverse sliding frame 22; brake motor 23; First gear 24; first rack 25; second gear 26; third gear 27; fourth gear 28; screw 29; screw nut 210; upper fork arm frame 211; second rack 212; third rack 213; lower rack connector 214; upper rack connector 215; steering link 216; wind drive module 3; second motor 31; sail shaft 32; lower sail 33; third motor 34; adjustment drive screw 35; adjustment screw nut 36; crank 37; upper sail 38; sailboard 39; electromagnetic latch 310; latch hole 311; crawler track with variable grouser height 4; crawler track holder 411; driving wheel 412; load-bearing wheel 413; first guide wheel 414; tensioning device 415; crawler plate 421; sealing rubber sheet 422; driving chain 423; first motor 431; motor base 432; connecting member 433; motor shaft 434; electric push rod 441; guide element 44 2; grouser bracket 443; passive chain 444; second guide wheel 445; grouser 446; sampling device 5; fixing plate 51; six-degree-of-freedom robotic arm 52; end effector 53; servo 531; fifth gear 532; sixth gear 533; guide claw 534; electromagnet 535; clamping claw 54; magnetic plate 541; first magnet 542; positioning slot 543; sample storage box 55; clamping claw storage hole 551; second magnet 552. DETAILED DESCRIPTION

[0077] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0078] Referring to the accompanying drawings, this embodiment is described. A wind-power hybrid-driven polar scientific research robot includes a chassis 1, a steering assembly 2, a wind-driven module 3, a grouser height-variable crawler 4, and a sampling device 5. The chassis 1 includes a frame 11, a front suspension assembly 12, and a rear suspension assembly 13. The front suspension assembly 12 is provided with two and symmetrically arranged on both sides of the front of the frame 11, and the rear suspension assembly 13 is provided with two and symmetrically arranged on both sides of the rear of the frame 11. The steering assembly 2 is provided in the frame 11, and the two front suspension assemblies 12 are symmetrically connected to the two ends of the steering assembly 2. The steering assembly 2 is used to cooperate with the front suspension assembly 12 to perform edge braking and steering control. Each of the rear suspension assemblies 13 is connected to a corresponding grouser height-variable crawler 4, and the grouser height-variable crawler 4 is used to drive the robot to move. The wind-driven module 3 is provided at the upper end of the chassis 1 for driving the robot to move in the wind-driven mode. The sampling device 5 is connected to the chassis 1 for sampling and storing samples.

[0079] In this embodiment, the front suspension assembly 12 includes a lower fork arm 121, a sled shaft 122, and an upper fork arm 123. The lower fork arm 121 is hinged to the frame 11 at one end and to the sled shaft 122 at the other end. The upper fork arm 123 is hinged to the upper fork arm frame 211 disposed within the steering assembly 2 at one end and to the sled shaft 122 at the other end. The lower end of the sled shaft 122 is connected to a ski board 125. Both the upper fork arm 123 and the lower fork arm 121 are hinged to the sled shaft 122 via a ball joint. The front suspension assembly 12 also includes a shock absorber 124, hinged to the frame 11 at one end and to the lower fork arm 121 at the other end. The shock absorber 124 acts as a vibration damper, reducing bumps during travel.

[0080] In this embodiment, the rear suspension assembly 13 includes a rear suspension lower wishbone 131, a rear suspension upper wishbone 132, and a rear suspension shock absorber 133. One end of the rear suspension lower wishbone 131 is hinged to the frame 11, and one end of the rear suspension upper wishbone 132 is hinged to the frame 11. The rear suspension upper wishbone 132 is disposed above the rear suspension lower wishbone 131. One end of the rear suspension shock absorber 133 is hinged to the frame 11, and the other end of the rear suspension shock absorber 133 is hinged to the rear suspension lower wishbone 131. The front suspension assembly 12 and the rear suspension assembly 13 are not limited to the specific double wishbone structure disclosed in this application, and may also adopt a McPherson suspension, a multi-link suspension, or the like.

[0081] In this embodiment, the steering assembly 2 also includes a steering drive assembly, a transverse sliding frame 22, a brake motor 23, a second gear 26, a third gear 27, a linear drive assembly, a second rack 212, a third rack 213 and a steering link 216. The steering drive assembly is connected to the frame 11, and the transverse sliding frame 22 is slidably connected to the frame 11 in the left and right directions. The steering drive assembly is connected to the transverse sliding frame 22, and the stator of the brake motor 23 is fixedly connected to the transverse sliding frame 22. The second gear 26 and the third gear 27 are axially spaced on the rotor of the brake motor 23. The second gear 26 is meshed with the linear drive assembly, and the second rack 212 and the third rack 213 are both meshed with the third gear 27. The second rack 212 and the third rack 213 are both slidably connected to the transverse sliding frame 22. When the rotor of the brake motor 23 rotates, the second rack 212 and the third rack 213 move toward each other, the second rack 212 and the third rack 213 are both hinged to a steering link 216 at one end away from the brake motor 23, and each steering link 216 is hinged to the sled vertical shaft 122 on the corresponding side at one end away from the brake motor 23, and the upper fork arm frame 211 is slidably connected to the transverse sliding frame 22 in the front and rear directions, and the upper fork arm frame 211 and the transverse sliding frame 22 are both connected to the linear drive assembly, and when the rotating end of the brake motor 23 rotates, the upper fork arm frame 211 is driven to slide by the linear drive assembly; in the steering state, the brake motor 23 is self-locking, and the steering drive assembly is used to drive the transverse sliding frame 22 and the steering links 216 on both sides to move synchronously and drive the ski boards 125 on both sides to turn in the same direction; in the braking state, the steering drive assembly is self-locking, and the brake motor 23 is used to drive the steering links 216 on both sides to drive the ski boards 125 on both sides to rotate inward and brake.

[0082] In this embodiment, the linear drive assembly includes a fourth gear 28, a screw 29, and a screw nut 210. The fourth gear 28 meshes with the second gear 26. The screw 29 is rotatably connected to the transverse slide 22. The screw nut 210 is threadedly connected to the screw 29 and connected to the upper fork arm frame 211. Rotation of the fourth gear 28 drives the screw 29 to rotate, which in turn drives the screw nut 210 to move. The direction of movement is determined by the direction of operation of the brake motor 23. The movement of the screw nut 210 drives the upper fork arm frame 211 to move in the forward and backward direction.

[0083] In this embodiment, the second rack 212 is hinged to the steering link 216 on the corresponding side through the lower rack connector 214. The steering link 216 is used to control the direction of movement, which can reduce the number of joints and achieve a reliable transmission effect.

[0084] In this embodiment, the third rack 213 is hinged to the steering link 216 on the corresponding side through the upper rack connector 215. The steering link 216 is used to control the direction of movement, which can reduce the number of joints and achieve a reliable transmission effect.

[0085] In this embodiment, the lower rack connecting member 214 and the upper rack connecting member 215 are both slidably connected to the transverse sliding frame 22 via a guide element. The guide element can be implemented by a guide rail and slider mechanism, which is a prior art and will not be described in detail here.

[0086] In this embodiment, the steering drive assembly includes a steering motor 21 and a first gear 24. The stator of the steering motor 21 is fixedly connected to the frame 11. The rotating end of the steering motor 21 is connected to the first gear 24. A first rack 25 is provided on the upper end surface of the transverse carriage 22, and the first gear 24 meshes with the first rack 25. The steering motor 21 can drive the first gear 24 to rotate, and the rotation of the first gear 24 can drive the first rack 25 to move, thereby driving the transverse carriage 22 to move laterally. The direction of movement of the transverse carriage 22 is determined by the rotation direction of the rotor of the steering motor 21, thereby providing power for steering.

[0087] In this embodiment, the second rack 212 and the third rack 213 are respectively engaged with the lower edge and the upper edge of the third gear 27. The second rack 212 and the third rack 213 are centrally symmetrically arranged with respect to the third gear 27. Therefore, when the third gear 27 rotates, it can drive the second rack 212 and the third rack 213 to move toward each other, thereby helping the ski 125 to complete the braking action.

[0088] In this embodiment, the wind drive module 3 includes a second motor 31, a sail shaft 32, a lower sail 33, a third motor 34, an adjustment drive screw 35, an adjustment screw nut 36, a crank 37, an upper sail 38 and a sailboard 39. The stator of the second motor 31 is connected to the chassis 1, the rotor of the second motor 31 is connected to one end of the sail shaft 32, the other end of the sail shaft 32 is connected to the lower end of the lower sail 33, the upper end of the lower sail 33 is hinged to the lower end of the upper sail 38, the third motor 34 is fixed on the lower sail 33, the adjustment drive screw 35, the adjustment screw nut 36, the crank 37, the upper sail 38 and the sailboard 39, the ... A movable screw 35 is rotatably connected to the lower sail 33. The rotating end of the third motor 34 is connected to the adjustment drive screw 35, and the adjustment screw nut 36 is threadedly connected to the adjustment drive screw 35. One end of a crank 37 is hinged to the adjustment screw nut 36, and the other end of the crank 37 is hinged to the upper sail 38. Both the lower sail 33 and the upper sail 38 are provided with sailboards 39. When the upper end surface of the lower sail 33 is flush with the lower end surface of the upper sail 38, the lower sail 33 is in a folded state, and when the upper end surface of the lower sail 33 and the lower end surface of the upper sail 38 coincide, the lower sail 33 is in an extended state. The operation of the second motor 31 drives the lower sail 33 and the upper sail 38 to rotate as a whole. The action of the second motor 31 is adjusted according to the wind direction and movement direction, thereby completing various instructions issued by the electronic control box. The operation of the third motor 34 drives the adjustment drive screw 35 to rotate. This rotation drives the adjustment screw nut 36, which in turn drives the crank 37. This movement of the crank 37 drives the upper sail 38 to rotate about its hinge point with the lower sail 33. The direction of rotation depends on the direction of operation of the third motor 34, allowing the upper sail 38 to be opened or folded according to actual needs. When driven by the variable-height crawler track 4, the upper sail 38 is folded to reduce wind resistance. When the wind is favorable, the upper sail 38 is opened to increase its contact area with the wind, thereby generating stronger power. The sailboard 39 is made of carbon fiber, which is lightweight and strong, capable of withstanding strong wind forces without significantly increasing the overall weight of the robot. Wind drive module 3 also includes an electromagnetic latch 310 and a latch hole 311. The electromagnetic latch 310 is located on lower sail 33, and the latch hole 311 is located on upper sail 38. When upper sail 38 is in the extended state, the electromagnetic latch 310 is inserted into the latch hole 311 to lock the latch hole 311, thereby locking the upper sail 38 and lower sail 33 relative to each other. When folding is required, the electromagnetic latch 310 is unlocked. The electromagnetic latch 310 is conventional and will not be described in detail here.

[0089] In this embodiment, the grouser height variable crawler 4 includes a track retainer assembly, a driving wheel 412, a bearing wheel assembly, a first guide wheel assembly, a crawler plate 421, a driving chain 423, a first motor 431 and a movable grouser assembly. The two ends of the driving wheel 412 are rotatably connected to the upper left and right sides of the track retainer assembly. The two first guide wheel assemblies are symmetrically rotatably connected to the front and rear sides of the track retainer assembly. Each of the first guide wheel assemblies includes two first guide wheels 414 that are symmetrically arranged with respect to the track retainer assembly. A plurality of bearing wheel assemblies arranged at equal intervals are provided on the lower side of the track retainer assembly. Each of the bearing wheel assemblies includes two bearing wheels 413 that are symmetrically arranged with respect to the track retainer assembly. There are two active chains 423, each of which is connected to the driving wheel 412, the first guide wheel 414 and multiple load-bearing wheels 413 on the corresponding side. There are multiple track plates 421 and they are evenly arranged along the length direction of the active chain 423. The two ends of each track plate 421 are respectively connected to the active chain 423 on the corresponding side. The stator and rotor of the first motor 431 are respectively rotatably connected to the left and right sides of the track retaining frame assembly and the rotor is connected to the active wheel 412. The movable grouser assembly is movably connected in the track retaining frame assembly. The movable grouser assembly includes multiple grousers 446. Each track plate 421 is provided with a slot. The movable grouser assembly is used to adjust the protruding length of the slot of each grouser 446 at the corresponding position.

[0090] In this embodiment, the track cage assembly includes two track cages 411, which are symmetrically arranged and fixedly connected by multiple connecting rods. Each track cage 411 is equipped with a tensioning device 415, which is used to tension the corresponding driving chain 423. The tensioning device 415 adopts existing technology and is not described in detail here. The connecting rod connection provides reliable support for the track cage 411 and is economical to maintain.

[0091] In this embodiment, a sealing rubber sheet 422 is disposed in the groove on each grouser plate 421, and the sealing rubber sheet 422 is provided with an opening adapted for the grouser 446. The grouser 446 extends or retracts through the opening on the sealing rubber sheet 422, thereby reducing the occurrence of rigid collision and extending the service life of the grouser plate 421 and the grouser 446.

[0092] In this embodiment, the stator of the first motor 431 is rotatably connected to the track holder 411 on the corresponding side through the motor base 432. The support provided by the motor base 432 can make the structure more compact, and the first motor 431 can also be installed in other ways.

[0093] In this embodiment, the rotor of the first motor 431 is connected to the driving wheel 412 via a motor shaft 434, which is rotatably connected to the corresponding track holder 411. With this connection, when the ground is sloped, the track automatically changes its angle with the main body of the device to adapt to the ground, providing better grip.

[0094] In this embodiment, the motor base 432 is provided with a connector 433 at one end outside the track holder 411. The free ends of the rear suspension lower fork arm 131 and the rear suspension upper fork arm 132 are both connected to the connector 433, providing a flexible connection method and convenient disassembly and maintenance.

[0095] In this embodiment, the movable grouser assembly also includes an electric push rod 441, a grouser bracket 443, a passive chain 444, a second guide wheel 445 and a grouser 446. There are two electric push rods 441, and the two electric push rods 441 are symmetrically arranged on the left and right sides of the grouser bracket 443. The grouser bracket 443 maintains a vertical sliding connection in the track retaining frame assembly. The fixed end of each electric push rod 441 is hinged to the track retaining frame 411 on the corresponding side, and the movable end of each electric push rod 441 is hinged to the corresponding side wall surface of the grouser bracket 443. A plurality of second guide wheels 445 are rotatably connected to the grouser bracket 443. The passive chain 444 is a ring chain and is connected to each second guide wheel 445. A plurality of grousers 446 are evenly arranged on the outside of the passive chain 444.

[0096] In this embodiment, the movable grouser assembly further includes two guide elements 442, which are symmetrically arranged on the grouser bracket 443. Each track holder 411 is provided with a slide rail adapted to the guide element 442, and each guide element 442 is slidably connected to the slide rail at the corresponding position. By sliding the guide elements 442 in the corresponding chute, good sliding stability can be provided for the movable grouser assembly.

[0097] Preferably, the profile of the grouser 446 is an involute, and other forms of profiles are also within the protection scope of this application.

[0098] In this embodiment, the sampling device 5 includes a fixed plate 51, a six-degree-of-freedom robotic arm 52, an end effector 53, a clamp 54 and a sample storage box 55. The fixed end of the six-degree-of-freedom robotic arm 52 is fixed to the chassis 1 through the fixed plate 51, and the movable end of the six-degree-of-freedom robotic arm 52 is connected to one end of the end effector 53. The other end of the end effector 53 is provided with two symmetrically arranged clamps 54. The end effector 53 is used to drive the two clamps 54 to open or close. The sample storage box 55 is connected to the chassis 1 for storing multiple pairs of closed clamps 54.

[0099] In this embodiment, the end effector 53 includes a servo 531, a fifth gear 532, a sixth gear 533, a guide claw 534, and an electromagnet 535. The servo 531 is connected to the movable end of the six-degree-of-freedom manipulator 52. The rotating end of the servo 531 is connected to the fifth gear 532. Two guide claws 534 are provided, symmetrically connected to the movable end of the six-degree-of-freedom manipulator 52. Each guide claw 534 is provided with a sixth gear 533. The two sixth gears 533 are meshed with each other, and the fifth gear 532 is meshed with any of the sixth gears 533. The operation of the servo 531 can drive the fifth gear 532 to rotate, and the rotation of the fifth gear 532 also drives the meshed sixth gear 533 to rotate. Due to the meshing of the two sixth gears 533, the two sixth gears 533 rotate in opposite directions, thereby driving the two guide claws 534 to rotate in opposite directions, and thus the two clamping jaws 54 connected to them to move in opposite directions. When sampling is required, the six-degree-of-freedom robotic arm 52 is controlled by the electrical control box to operate, thereby moving the two clamping jaws 54 to directly above the sample. The two jaws 54 are then opened by the servo 531. The six-degree-of-freedom robotic arm 52 then drives the two jaws 54 downward. When the sample is located between the two jaws 54, the servo 531 controls the two jaws 54 to move closer together, clamping the sample between the two jaws 54. The six-degree-of-freedom robotic arm 52 then drives the two jaws 54 holding the sample to any one of the jaw storage holes 551, causing the second magnet 552 to attract the first magnet 542 at the front end of the jaw 54. The electromagnet 535 is then de-energized to stop attracting the magnetic plate 541, thereby separating the guide jaw 534 from the jaw 54, and storing the sample in the jaw storage hole 551. Since the two jaws 54 are in a closed state, the sample storage environment is sealed and is not affected by the external environment. When sampling is required again, a new pair of jaws 54 is attracted by the electromagnet 535, and the sampling process is repeated. The closed pair of jaws 54 after sampling is then placed into the corresponding jaw storage hole 551 for storage. The six-degree-of-freedom robot arm 52 is prior art and will not be described in detail here.

[0100] In this embodiment, a magnetic attraction piece 541 is provided at the rear end of the clamping jaw 54, a first magnet 542 is provided at the front end of the clamping jaw 54, and a positioning slot 543 is provided on the clamping jaw 54. When the guide claw 534 engages with the positioning slot 543, the electromagnet 535 at the corresponding position is energized to attract the corresponding magnetic attraction piece 541. Whether the electromagnet 535 is energized or not can control the connection between the guide claw 534 and the clamping jaw 54.

[0101] In this embodiment, the sample storage box 55 is provided with a plurality of jaw storage holes 551 arranged evenly in a horizontal and vertical staggered pattern. A second magnet 552 is disposed within each jaw storage hole 551. Each second magnet 552 is configured to attract a first magnet 542 located at the front end of the jaw 54 within the corresponding jaw storage hole 551. The provision of multiple jaw storage holes 551 allows for storage of multiple sets of samples.

[0102] In this embodiment, the frame 11 includes an electrical control box 113, an integrated sensor assembly 114, a battery 115, and an instrument box 116. The electrical control box 113, the integrated sensor assembly 114, the battery 115, and the instrument box 116 are all connected to the frame 11. The steering assembly 2, all variable-height crawlers 4, the sampling device 5, the integrated sensor assembly 114, and the battery 115 are all electrically connected to the electrical control box 113. The battery 115 is used to power the various electrical components of the entire robot, and the electrical control box 113 is used to control the movements of various parts of the robot. The controllers, sensors, and control programs that may be involved in the present invention are all existing technologies and are not described in detail here.

[0103] The working principle of this robot is as follows:

[0104] The angle between the sled vertical axis 122 and the ground on a plane parallel to the forward direction is the kingpin caster angle, and the angle between the sled vertical axis 122 and the ground on a plane perpendicular to the forward direction of the robot is the kingpin inclination angle.

[0105] Edge is a skiing technique in which the skier carves the edge of the ski into the snow, leaving deep, fine ruts on the surface. This action provides better lateral grip when turning in the snow and greater resistance when braking with a plow.

[0106] When turning, the brake motor 23 remains locked, so that the second gear 26 and the third gear 27 remain locked, thereby locking the positions of the second rack 212 and the third rack 213, and then the relative position between the lower rack connecting member 214 and the upper rack connecting member 215 is locked. At the same time, the locking of the second gear 26 can ensure that the screw rod 29 does not rotate, thereby locking the position of the upper fork arm frame 211, so that the relative position of the upper fork arm frame 211 and the transverse sliding frame 22 does not change. At this time, the steering motor 21 is operated, and the rotor of the steering motor 21 will drive the first gear 24 to rotate. The rotation of the first gear 24 will drive the first rack 25 to move. The direction of movement is left or right, depending on the rotation direction of the rotor of the steering motor 21. The first rack 25 then drives the transverse carriage 22 to move. The transverse carriage 22 then drives the lower rack connector 214, the upper rack connector 215, and the upper fork arm frame 211 to move horizontally as a whole. The lower rack connector 214 and the upper rack connector 215 drive the ski vertical shaft 122 to rotate via the steering link 216 on the corresponding side. The ski vertical shafts 122 on both sides rotate in the same direction, thereby achieving a steering motion. Whether to turn left or right depends on the direction of rotation of the rotor of the steering motor 21. During the translational motion of the transverse carriage 22, the connection point between the upper fork arm 123 and the frame 11 changes horizontally, even if the kingpin inclination angle changes. For example, when turning left, the left side of each ski board 125 rotates downward and the right side rotates upward, similar to the edge-on motion in skiing. This causes the ski board 125's edges to carve into the snow, leaving deep, fine ruts on the surface. This action can provide better lateral grip when turning in the snow. The same applies to right turns.

[0107] During braking, the front ski 125 is decelerated in a plowing braking position. At this point, the steering motor 21 remains locked, which also locks the lateral carriage 22. The brake motor 23 operates, rotating its rotor, thereby driving the second and third gears 26 and 27 to rotate in the same direction. The second and third racks 212 and 213, meshed with the third gear 27, translate inward and inward, moving in opposite directions. At this point, the lower and upper rack connectors 214 and 215 drive the steering links 216 on either side inward, causing the vertical axle 122 to rotate inward, thus causing the skis 125 on either side to form an inward-facing "toe" position, a plowing braking action. During this process, the fourth gear 28, meshing with the second gear 26, rotates the screw 29. This rotation of the screw 29 drives the screw nut 210, which in turn drives the entire upper fork arm frame 211 backward. This movement of the upper fork arm frame 211 causes the connection point between the upper fork arm 123 and the frame 11 to shift in the forward-backward direction. Since the connection point between the lower fork arm 121 and the frame 11 remains unchanged, the angle between the sled's vertical axis 122 and the ground in a plane parallel to the robot's forward direction, known as the castor angle, changes. This causes the sled 125 to shift its angle, digging its edge into the snow. This action achieves vertical-edge plow braking. Changing the rotation angle of the brake motor 23 can alter the sled's inward rotation and the castor angle, thereby controlling deceleration. During emergency braking, while the sled 125 is in the plow braking position to decelerate, the grousers 446 extend into the snow, while the first motor 431 remains locked. At this point, the grousers 446 engage the snow, generating significant resistance and helping the robot stop more quickly. Braking in electric drive mode can also be achieved by using the sled 125 in the plow braking position. Alternatively, when deceleration requirements are less stringent, the first motor 431 can be used for braking. The first motor 431 uses PID speed regulation to slow down the motor speed by changing the voltage and current of the first motor 431. When emergency braking is required, the track speed can be instantly reduced to 0 by using the brake provided by the first motor 431.

[0108] This robot uses a hybrid drive system of wind and electrical energy to propel the robot forward. When the ambient wind energy meets the wind-driven conditions, the upper sail 38 is deployed to expand its contact area with the wind, converting the wind force into thrust. This directly propels the robot forward. At this point, the variable-height crawler track 4 retracts its grousers 446. The variable-height crawler track 4 can be thought of as a snowboard, providing minimal resistance and allowing the wind to directly propel the robot forward. When the ambient wind energy does not meet the wind-driven conditions, the upper sail 38 is folded, and the crawler track is driven by the first motor 431, using electrical energy as the direct driving force. The variable-height crawler track 4 then extends its grousers 446, which interact with the snow to generate thrust. In this case, the sail can still be used for navigational assistance, reducing energy consumption. When the robot is traveling downhill, the grousers 446 can be retracted, allowing it to advance by gravity, also helping to conserve energy. Different configurations are employed to achieve the optimal action plan under various environmental conditions. The specific usage of the variable-height crawler track 4 is as follows.

[0109] Grouser height adjustment: The electric push rod 441 is the prime mover. When the height of the grouser 446 needs to be increased, the movable end of the electric push rod 441 extends downward. The grouser bracket 443, which is hinged to the movable end of the electric push rod 441, moves downward as a whole, thereby driving the grouser 446 to move downward. The lower end of the grouser 446 is inserted into the hollow part of the track plate 421. The sealing rubber sheet 422 bonded to the track plate will bend and deform under the force of the grouser 446, and the grouser 446 will pass through the opening in the center of the sealing rubber sheet 422. The electric push rod 441 can be stopped and locked at any position as needed, so that the grouser 446 can be used at any height. When the movable end of the electric push rod 441 is fully extended, the grouser 446 contacts the track plate 421 and the grouser 446 is fully extended to the lower part of the track plate 421. This is the maximum extension height of the grouser 446. When the height of the grouser 446 needs to be reduced, the movable end of the electric push rod 441 is retracted, and the grouser bracket 443 moves upward. When the movable end of the electric push rod 441 is fully retracted, the lower surface of the grouser 446 is completely retracted to the upper side of the grouser plate 421. The sealing rubber sheet 422 recovers its deformation to a horizontal position under its own elasticity and fills the groove in the center of the grouser plate 421, making the surface of the grouser plate 421 approximately flat to reduce resistance.

[0110] Tracked travel: The first motor 431 serves as the prime mover. Its operation drives the driving wheel 412 via the motor shaft 434. Due to the interaction between the ground and the track, the track holder 411 does not rotate, causing the driving wheel 412 to rotate relative to the track holder 411. The driving chain 423, meshed with the driving wheel 412, and the track shoe 421 connected thereto, rotate along the chain's path under the force of the driving wheel 412. When the grousers 446 are extended, the contact between the grousers 446 and the track shoe 421 causes the bottom track shoe 421 to move synchronously with the bottom track shoe 421. The movement of the bottom track shoe 446 drives the driven chain 444 to rotate along the chain's path. Since the electric push rod 441 remains locked, the relative position of the grouser bracket 443 and the track holder 411 remains unchanged. The grouser bracket 443 maintains its vertical position, ensuring that the extended height of the grousers 446 remains constant. Under the action of the equipment's own weight, the grouser 446 will be pressed into the ground, interacting with the ground and providing greater driving force. During the travel process, due to the movement of the passive chain 444, the grouser 446 will continue to move and then insert into the new grouser plate 421, thereby forming a synchronous movement of the grouser plate 421 and the grouser 446. When the grouser is in the retracted state, since the grouser plate 421 and the grouser 446 are not in contact, at this time, since the grouser 446 does not interact with the ground, the non-rotation of the grouser 446 will not affect the function of the crawler track.

[0111] Grouser height adjustment logic: Generally speaking, the higher the grouser height, the better the grip and driving performance, but also the greater the resistance. Therefore, the strategy for adjusting the grouser height is to minimize the grouser extension height without affecting the driving performance. When the track is used to provide driving force, the encoder built into the first motor 431 calculates the real-time motor speed and converts it into the linear speed of the track. The actual speed of the device is detected by sensors installed on the device, such as displacement sensors or GPS positioning modules, and compared with the linear speed of the track. If the actual speed is equal to or slightly less than the linear speed of the track, it means that the track is not slipping or the degree of slipping is acceptable. In this case, the grouser height can be slowly lowered. If the actual speed is much less than the linear speed of the track, it means that the track is slipping, and the height of the grouser 446 should be increased. The height of the grouser 446 should be in a dynamic adjustment process. When the device is at the critical point between slipping and not slipping, it means that the height of the grouser 446 is the optimal solution. At this time, the track drive function can be realized and the resistance generated can be minimized. When encountering a downhill section or other operating conditions where track drive is not required, the grouser 446 can be fully retracted, and the first motor 431 can be stopped. The entire track can then be thought of as a ski, allowing the entire device to slide against the ground. This approach can save even more energy under certain operating conditions.

[0112] Sail Adjustment: The third motor 34 rotates the adjustment drive screw 35, which in turn moves the adjustment screw nut 36. This movement of the adjustment screw nut 36 moves the crank 37, which in turn rotates the upper sail 38 around its hinge point with the lower sail 33. The direction of rotation is determined by the direction of the third motor 34, allowing the upper sail 38 to be expanded or folded as needed. When expanded, the upper sail 38 can be moved by wind direction, providing stronger propulsion. The second motor 31 controls the direction of the entire sail, allowing it to adjust and steer according to wind direction.

[0113] The robot reads the data from the wind direction and wind speed sensors of the integrated sensor assembly 112, compares it with its own forward direction, and calculates the optimal angle of the sail based on the sail drive theory. The second motor 31 drives the sail shaft 32 to rotate, thereby changing the angle of the entire sail. Under the action of the wind, the sail is subjected to lift and thrust, and the combined force acts on the vehicle body, giving the vehicle body a propulsion force. When the wind direction changes, the sail angle control motor rotates, changing the sail angle so that the sail is always in the most favorable position for the robot to move forward. By calculating the propulsion force generated by the sail, it is possible to achieve complete reliance on wind power when driven by wind; when driven by electricity, the power output of the motor is reduced to achieve the energy-saving effect of sail-assisted navigation.

[0114] In exceptional circumstances, if the wind is too strong, posing a risk of capsizing the robot, the second motor 31 rotates the sail to an angle that minimizes lateral force. Simultaneously, the upper sail 38 is folded. The folded sail is symmetrical, creating aerodynamically neutral lift and minimal drag, significantly reducing the risk of capsizing. The sail also folds in this manner when entering indoor storage or transporting, ensuring convenient storage and transportation.

[0115] The sensors, controllers, and control programs that may be involved in the above description are all existing technologies and will not be described in detail here.

[0116] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A wind-electric hybrid-driven polar research robot, characterized by: The invention comprises a chassis (1), a steering assembly (2), a wind-driven module (3), a crawler with variable grouser height (4) and a sampling device (5); the chassis (1) comprises a frame (11), a front suspension assembly (12) and a rear suspension assembly (13); the front suspension assembly (12) is provided with two and symmetrically arranged on both sides of the front of the frame (11); the rear suspension assembly (13) is provided with two and symmetrically arranged on both sides of the rear of the frame (11); the steering assembly (2) is arranged in the frame (11); the two front suspension assemblies (12) are provided with a plurality of grousers (13); the ... The frame assembly (12) is symmetrically connected to both ends of the steering assembly (2), and the steering assembly (2) is used to cooperate with the front suspension assembly (12) to perform edge braking and steering control. Each of the rear suspension assemblies (13) is correspondingly connected to a crawler with variable grouser height (4), and the crawler with variable grouser height (4) is used to drive the robot to move forward. The wind drive module (3) is arranged on the upper end of the chassis (1) and is used to drive the robot to move forward in a wind-driven mode. The sampling device (5) is connected to the chassis (1) and is used to sample and store samples. The steering assembly (2) further comprises a steering drive assembly, a transverse sliding frame (22), a brake motor (23), a second gear (26), a third gear (27), a linear drive assembly, an upper fork arm frame (211), a second rack (212), a third rack (213) and a steering link (216), wherein the steering drive assembly is connected to the frame (11), the transverse sliding frame (22) is connected to the frame (11) in a sliding manner in the left-right direction, the steering drive assembly is connected to the transverse sliding frame (22), and the brake motor The stator (23) is fixedly connected to the transverse sliding frame (22), and a second gear (26) and a third gear (27) are arranged axially on the rotor of the brake motor (23), and the second gear (26) is engaged with the linear drive component, and the second rack (212) and the third rack (213) are engaged with the third gear (27), and the second rack (212) and the third rack (213) are both slidably connected to the transverse sliding frame (22). When the rotor of the brake motor (23) rotates, the second rack (212) ) and the third rack (213) move toward each other, the second rack (212) and the third rack (213) are both hinged to a steering link (216) at one end away from the brake motor (23), and each steering link (216) is hinged to the sled vertical shaft (122) on the corresponding side at one end away from the brake motor (23), and the upper fork arm frame (211) is slidably connected to the transverse sliding frame (22) in the front-rear direction, and the upper fork arm frame (211) and the transverse sliding frame (22) are both connected to the linear drive The components are connected, and when the rotating end of the brake motor (23) rotates, it drives the upper fork arm frame (211) to slide through the linear drive component; in the steering state, the brake motor (23) is self-locking, and the steering drive component is used to drive the transverse sliding frame (22) and the steering links (216) on both sides to move synchronously and drive the skis (125) on both sides to turn in the same direction; in the braking state, the steering drive component is self-locking, and the brake motor (23) is used to drive the steering links (216) on both sides to drive the skis (125) on both sides to rotate inward and brake.

2. The wind-electricity hybrid-driven polar expedition robot according to claim 1, characterized in that: The front suspension assembly (12) comprises a lower fork arm (121), a sled vertical shaft (122) and an upper fork arm (123); one end of the lower fork arm (121) is hinged to the frame (11), and the other end is hinged to the sled vertical shaft (122); one end of the upper fork arm (123) is hinged to an upper fork arm frame (211) provided in the steering assembly (2), and the other end is hinged to the sled vertical shaft (122); the lower end of the sled vertical shaft (122) is connected to a sled board (125).

3. The wind-electricity hybrid-driven polar expedition robot according to claim 1, characterized in that: The rear suspension assembly (13) comprises a rear suspension lower fork arm (131), a rear suspension upper fork arm (132) and a rear suspension shock absorber (133); one end of the rear suspension lower fork arm (131) is hinged to the frame (11); one end of the rear suspension upper fork arm (132) is hinged to the frame (11); the rear suspension upper fork arm (132) is arranged above the rear suspension lower fork arm (131); one end of the rear suspension shock absorber (133) is hinged to the frame (11); and the other end of the rear suspension shock absorber (133) is hinged to the rear suspension lower fork arm (131).

4. The wind-electricity hybrid-driven polar expedition robot according to claim 2, characterized in that: The wind drive module (3) comprises a second motor (31), a sail shaft (32), a lower sail (33), a third motor (34), an adjustment drive screw (35), an adjustment screw nut (36), a crank (37), an upper sail (38) and a sailboard (39), wherein the stator of the second motor (31) is connected to the chassis (1), the rotor of the second motor (31) is connected to one end of the sail shaft (32), the other end of the sail shaft (32) is connected to the lower end of the lower sail (33), the upper end of the lower sail (33) is hinged to the lower end of the upper sail (38), the third motor (34) is fixed on the lower sail (33), the adjustment drive screw (35), the adjustment screw nut (36), the crank (37), the upper sail (38) and the sailboard (39), the stator of the second motor (31) is connected to the chassis (1), the rotor of the second motor (31) is connected to one end of the sail shaft (32), the other end of the sail shaft (32) is connected to the lower end of the lower sail (33), the upper end of the lower sail (33) is hinged to the lower end of the upper sail (38), the third motor (34) is fixed on the lower sail (33), the adjustment drive screw (35) is connected to the upper sail (38), the adjustment screw nut (36) is fixed to the lower sail (33), the stator of the second motor (31) is connected to the chassis (1), the rotor of the second motor (31) is connected to one end of the sail shaft (32), the other end of the sail shaft (32) is connected to the lower end of the lower sail (33), the upper end of the lower sail (33) is hinged to the lower end of the upper sail (38), the third motor (34) is fixed on the lower sail (33), the adjustment drive screw (35) is connected to the upper sail (38), the adjustment drive screw (35) is fixed to the lower The movable screw (35) is rotatably connected to the lower sail (33), the rotating end of the third motor (34) is connected to the adjusting drive screw (35), the adjusting screw nut (36) is threadedly connected to the adjusting drive screw (35), one end of the crank (37) is hinged to the adjusting screw nut (36), and the other end of the crank (37) is hinged to the upper sail (38), and a sailboard (39) is provided on both the lower sail (33) and the upper sail (38). When the upper end surface of the lower sail (33) is flush with the lower end surface of the upper sail (38), it is in a folded state, and when the upper end surface of the lower sail (33) is coincident with the lower end surface of the upper sail (38), it is in an open state.

5. The wind-electricity hybrid-driven polar expedition robot according to claim 1, characterized in that: The crawler (4) with variable grouser height comprises a crawler retainer assembly, a driving wheel (412), a load-bearing wheel assembly, a first guide wheel assembly, a crawler plate (421), a driving chain (423), a first motor (431) and a movable grouser assembly. The two ends of the driving wheel (412) are rotatably connected to the upper positions on the left and right sides of the crawler retainer assembly. The two first guide wheel assemblies are symmetrically rotatably connected to the front and rear sides of the crawler retainer assembly. Each of the first guide wheel assemblies comprises two first guide wheels (414) that are arranged symmetrically with respect to the crawler retainer assembly. A plurality of load-bearing wheel assemblies arranged at equal intervals are provided on the lower side of the crawler retainer assembly. Each of the load-bearing wheel assemblies comprises two load-bearing wheels (413) that are arranged symmetrically with respect to the crawler retainer assembly. The driving chain (423) ) are provided with two, each of the active chains (423) is connected to the active wheel (412), the first guide wheel (414) and the plurality of load-bearing wheels (413) on the corresponding side, the track plates (421) are provided with multiple and are evenly arranged along the length direction of the active chain (423), and the two ends of each track plate (421) are respectively connected to the active chain (423) on the corresponding side, the stator and the rotor of the first motor (431) are respectively rotatably connected to the left and right sides of the track retaining frame assembly and the rotor is connected to the active wheel (412), the movable grouser assembly is movably connected in the track retaining frame assembly, the movable grouser assembly includes a plurality of grousers (446), each track plate (421) is provided with a slot, and the movable grouser assembly is used to adjust the protruding length of each grouser (446) slotted at the corresponding position.

6. The wind-electricity hybrid-driven polar expedition robot according to claim 1, characterized in that: The sampling device (5) comprises a fixed plate (51), a six-degree-of-freedom mechanical arm (52), an end effector (53), a clamping jaw (54) and a sample storage box (55). The fixed end of the six-degree-of-freedom mechanical arm (52) is fixed to the chassis (1) through the fixed plate (51). The movable end of the six-degree-of-freedom mechanical arm (52) is connected to one end of the end effector (53). The other end of the end effector (53) is provided with two symmetrically arranged clamping jaws (54). The end effector (53) is used to drive the two clamping jaws (54) to open or close. The sample storage box (55) is connected to the chassis (1) and is used to store multiple pairs of closed clamping jaws (54).

7. The wind-electricity hybrid-driven polar expedition robot according to claim 6, characterized in that: The end effector (53) comprises a steering gear (531), a fifth gear (532), a sixth gear (533), a guide claw (534) and an electromagnet (535). The steering gear (531) is connected to the movable end of the six-degree-of-freedom mechanical arm (52). The rotating end of the steering gear (531) is connected to the fifth gear (532). Two guide claws (534) are provided. The two guide claws (534) are symmetrically connected to the movable end of the six-degree-of-freedom mechanical arm (52). Each guide claw (534) is provided with a sixth gear (533). The two sixth gears (533) are meshed with each other. The fifth gear (532) is meshed with any sixth gear (533).

8. The wind-electricity hybrid-driven polar expedition robot according to claim 7, characterized in that: A magnetic attraction piece (541) is provided at the rear end of the clamping jaw (54), a first magnet (542) is provided at the front end of the clamping jaw (54), and a positioning groove (543) is provided on the clamping jaw (54). When the guide claw (534) is matched with the positioning groove (543), the electromagnet (535) at the corresponding position is energized to attract the corresponding magnetic attraction piece (541).

9. The wind-electricity hybrid-driven polar expedition robot according to claim 8, characterized in that: The sample storage box (55) is provided with a plurality of clamp storage holes (551) that are evenly arranged in a horizontal and vertical staggered manner. A second magnet (552) is provided in each clamp storage hole (551). Each second magnet (552) is used to adsorb the first magnet (542) at the front end of the clamp (54) accommodated in the corresponding clamp storage hole (551).

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