Amphibious robot for polar region environment

Abstract

The invention discloses a polar environment amphibious robot which adopts a streamline water power shell, and a main body frame composed of a carbon fiber main beam, an integrated control cabin, a head assembly, an amphibious foot fin driving device, a telescopic dorsal fin blade and a tail propelling system are arranged in the streamline water power shell. And the control cabin is provided with a high-power main cabin, a built-in battery and a waterproof connector lug. The head is provided with a carbon fiber mask, an integrated laser ranging device, a camera, a sonar and other detection devices. Elastic sheet type foot fins are symmetrically arranged on the two sides and driven by a joint module, and land and underwater walking is achieved. And a dorsal fin blade capable of automatically rebounding is mounted on the back. An inclined propeller and an empennage with an ice blade are arranged at the tail part, so that the propelling capability in an ice water environment is improved, and the whole structure adapts to polar region complex terrains and multi-modal motion requirements.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an amphibious robot for polar environments. Background Art

[0002] With the deepening of polar scientific expeditions, unmanned autonomous vehicles have become the core technical equipment for under-ice environment detection, and have demonstrated reliable operating capabilities in open waters and areas covered by continuous ice.

[0003] Recent research has shown that amphibious unmanned vehicles with cross-media traversal capabilities can effectively overcome these technical bottlenecks. By integrating underwater propulsion with land-based maneuvering modules, these platforms can autonomously navigate the complex interfaces of the periglacial zone, providing an ideal platform for long-term under-ice monitoring, cross-media communication relay, and multi-source sensor integration. Developing highly adaptable amphibious platforms is a key path to building a three-dimensional polar observation network.

[0004] In recent years, with the continuous advancement of science and technology, an increasing number of amphibious robots have emerged. They are widely used in a variety of complex scenarios, including water environment monitoring, underwater pipeline inspection and maintenance, offshore resource exploration, emergency rescue, and military reconnaissance. These robots need to be able to move efficiently and stably in two distinct media: underwater and on land.

[0005] On the smooth, hard ice of the polar regions, wheels or conventional feet have very limited grip (friction), making them prone to slipping, especially on slopes or covered in ice and snow. Switching from efficient underwater propulsion to a mode suitable for ice support / walking often requires complex mechanical transformations (such as changing the angle of the fins and locking the joints), which can be slow, energy-consuming, and increase the number of failure points.

[0006] During polar expeditions and resource exploration, the low-friction interfaces common in high-altitude terrains like ice sheets and sea ice pose a serious threat to the safe movement of vehicles and robots. This results in traditional mobility systems relying on wheels, tracks, or rigid feet having severely insufficient effective traction (grip), making them prone to slipping, spinning, and even uncontrolled lateral movement, seriously threatening mobility safety and operational efficiency. Traditional methods of increasing friction have fundamental flaws in the polar regions. Deicing agents lose their effectiveness in extremely low temperatures and pollute the pristine ecosystem. Fixed anti-slip spikes, while providing a temporary boost in adhesion, can easily affect the robot's hydrodynamic performance underwater due to their protruding parts.

[0007] Another key challenge is achieving the mode switching required for continuous movement across the medium (water-ice). For platforms that need to be efficiently propelled in open water (usually using propellers or similar underwater thrusters) and able to stably move or walk on ice, switching from an efficient underwater propulsion mode to a mode suitable for ice support / walking usually relies on complex mechanical mechanism transformations. Such transformations may include adjusting the angle of propulsion fins, locking joints, or retracting and extending dedicated walking mechanisms. Such mechanism transformation processes are often time-consuming and consume additional energy. In addition, the introduction of additional moving parts, actuators, and control links significantly increases the complexity, weight, and potential failure points of the system, reducing overall reliability.

[0008] The urgent need for continuous, autonomous, efficient, and safe mobility in extreme, dynamic mixed ice-sea environments stems from the urgent need for such capabilities. Traditional vehicles are unable to meet the requirements of operating at the ice-water interface and in complex ice zones. Inspired by polar creatures like penguins and seals, fin-powered propulsion is seen as a promising solution due to its inherent media versatility, high mobility, and low environmental disturbance. Summary of the Invention

[0009] The purpose of the embodiments of the present invention is to provide an amphibious robot for polar environments to solve the problem of limited underwater and terrestrial movement of robots in polar environments.

[0010] In order to solve the above technical problems, the technical solution adopted by the present invention is: an amphibious robot for polar environments, comprising a hydrodynamic shell, a raised central part and mounting holes on the surface, and divided into upper and lower parts along the central symmetry plane; a main frame fixed in the hydrodynamic shell, comprising symmetrically arranged inner main beams, outer main beams and joint modules; a control cabin fixed on the inner main beam, comprising a high-power cabin and a main cabin; a head assembly, a carbon fiber mask provided at the front end, connected to the inner main beam through a probe group bracket; amphibious foot fin drive devices, symmetrically arranged on both sides of the robot, connected to the output shaft of the joint module through an arc plate or an extended arc plate; a retractable dorsal fin blade device, installed on the protruding parts of the upper and lower ends of the hydrodynamic shell; a tail assembly, comprising a tail wing and a propeller, and the tail wing is connected to the inner main beam through a tail wing connector.

[0011] Furthermore, the mounting holes of the hydrodynamic shell are evenly distributed along the central symmetry plane, and the protruding parts at the upper and lower ends are each provided with an assembly interface for fixing the base of the retractable dorsal fin blade device.

[0012] Furthermore, the inner main beam and the outer main beam of the main frame are unidirectional carbon fiber plates, and the carbon fiber is formed by resin impregnation and hardening; the output shaft of the joint module passes through the through hole of the arc plate or the extended arc plate and is fixed by bolts.

[0013] Furthermore, the bulkheads of the high-power compartment of the control cabin and the main cabin are provided with waterproof terminal mounting holes, and the short plug waterproof terminal passes through the mounting holes; the bottom of the cabin body is fixed to the threaded holes of the inner main beam by screws; wherein, the high-power compartment of the control cabin is provided with a 12S model aircraft battery, and the main cabin is provided with a 6S lithium polymer battery.

[0014] Furthermore, four sets of probe fixing clamps are provided at the front end of the carbon fiber mask of the head assembly, which clamp the laser ranging device, underwater camera, waterproof light and sonar from left to right; two sets of probe fixing clamps are provided at the bottom of the carbon fiber mask to fix the underwater camera and waterproof light; the probe fixing clamps are connected to the two mask fixing parts by bolts passing through the groove wall; a rectangular counterweight block is provided between the mask fixing parts.

[0015] Furthermore, the amphibious fin drive device includes three shrapnel feet on one side, which are, from front to back, a shrapnel foot, an extended shrapnel foot, and a shrapnel foot; the shrapnel foot is composed of an arc plate, a connecting plate, a carbon fiber shrapnel, and an end plate connected in series through a connecting piece; the extended shrapnel foot is mainly composed of an extended arc plate, a connecting plate, a carbon fiber shrapnel, and an end plate connected in series through a connecting piece; the connecting piece forms a rotating shaft through a bushing, a connecting gasket and a thin screw, and the protrusions of each plate rotate relative to each other around the connecting piece; the arc plate and the extended arc plate are provided with through holes, which are connected to the joint module in the main frame by bolts.

[0016] Furthermore, the retractable dorsal fin blade device includes a base, a pin, a spring and a dorsal fin blade; the dorsal fin blade adopts a U-shaped groove structure, and a tuna fin-shaped blade is provided at the top, and all blades are in the same direction. An opening is provided at the bottom of the U-shaped groove structure of the dorsal fin blade, and the pin passes through the opening and is connected to the base. A dorsal fin blade fixing screw and a gasket are provided on the top of the pin to limit the dorsal fin blade, and the spring is sleeved on the outside of the pin to support the dorsal fin blade; an opening is provided on the base, and the retractable dorsal fin blade device is fixed to the protruding parts at the upper and lower ends of the hydrodynamic shell through the base fixing screws.

[0017] Furthermore, an ice blade is installed at the end of the tail wing, and the thrusters are symmetrically arranged in the up, down, left and right directions of the main axis, and are inclined at an angle of 10 to 11 degrees to the main axis of the hydrodynamic shell. The thrusters are connected to the side brackets and the front brackets through snaps, and the side brackets and the front brackets are fixed to the inner main beam through the thruster fixing connectors and the connecting brackets.

[0018] Furthermore, a positioning device is provided on the belly of the hydrodynamic shell.

[0019] Compared with the existing technology, the beneficial effect of the present invention is that, in response to the key technical bottlenecks faced by traditional vehicles in ice-water cross-medium movement in complex polar environments, such as insufficient traction, complex structure and difficult maintenance, the present invention proposes an amphibious mobile device that integrates biomimetic design and modular architecture, which significantly improves multi-modal movement capabilities and environmental adaptability. Through the coordinated control of the amphibious fin drive device and the tail propulsion system, the unity of efficient underwater propulsion and reliable adhesion to the ice surface is achieved: when sailing underwater, the propeller with optimized inclination angle is combined with the streamlined shell and embedded dorsal fin blade to effectively reduce fluid resistance and enhance propulsion efficiency by utilizing the beam effect; when traveling on the ice surface, the fin composed of carbon fiber springs generates reaction thrust by deforming on the ground, and cooperates with the tail ice blade and dorsal fin blade to form a stable three-point support, overcoming the adhesion problem of the low-friction interface and achieving seamless cross-medium passage without the need for additional switching mechanisms. The fin system adopts a lightweight laminated structure and a low-inertia shaft design, with millisecond-level response capabilities. Its elastic elements have both energy storage and dissipation functions under impact loads, which not only improves the instantaneous propulsion efficiency, but also enhances the system's operational reliability under extreme working conditions.

[0020] Furthermore, the present invention forms a technical closed loop in terms of structural simplification, fluid performance, drive response and system expansion. It not only solves the contradictions pointed out in the background technology, such as the anti-skid structure interfering with hydrodynamics and the complexity of the switching mechanism, but also achieves stable cruising and climbing capabilities in complex terrains such as ice cracks and snow slopes through passive-active composite drive mechanism and fluid dynamics optimization, providing a practical technical path for the multi-tasking and intelligent development of polar scientific research equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 1 is a schematic diagram of the overall structure of the polar environment amphibious robot according to this embodiment; Figure 2 2 is a schematic diagram of the main frame structure of the polar environment amphibious robot according to this embodiment; Figure 3 1 is a top view of the main frame structure of the polar environment amphibious robot according to this embodiment; Figure 4 1 is a top schematic diagram of the head assembly structure of the polar environment amphibious robot according to this embodiment; Figure 52 is a bottom schematic diagram of the head assembly structure of the polar environment amphibious robot according to this embodiment; Figure 6 Schematic diagram of the structure of the shrapnel foot and the extended shrapnel foot of the amphibious fin driving device of the polar environment amphibious robot in this embodiment; wherein (a) is the shrapnel foot, and (b) is the extended shrapnel foot; Figure 7 Schematic diagram of the structure of the internal connector of the amphibious fin drive device of the polar environment amphibious robot in this embodiment; wherein (a) is a schematic diagram of the structure, and (b) is an exploded view; Figure 8 Schematic diagram of the placement of carbon fiber shrapnel inside the amphibious fin drive device of the polar environment amphibious robot in this embodiment; Figure 9 Schematic diagram of the structure of the retractable dorsal fin blade device of the polar environment amphibious robot according to this embodiment; wherein (a) is a schematic diagram of the structure, and (b) is an exploded view; Figure 10 1 is a side upper view of the tail assembly mechanism of the polar environment amphibious robot according to this embodiment; Figure 11 1 is a side lower view of the tail assembly mechanism of the polar environment amphibious robot according to this embodiment; Figure 12 This is a schematic diagram of the lowest position of the amphibious fin driving device of the robot in an icy environment according to this embodiment; Figure 13 2. It is a schematic diagram of the deformation of the amphibious fin driving device according to this embodiment; Figure 14 2 is a schematic diagram of fixing the tail assembly of the polar environment amphibious robot according to this embodiment; Figure 15 1 is a schematic diagram of the abdomen of the polar environment amphibious robot according to this embodiment; In the figure: 1. Hydrodynamic hull; 2. Main frame; 2-1. Inner main beam; 2-2. Outer main beam; 2-3. Joint module; 3. Control cabin; 3-1. High-power cabin; 3-2. Main cabin; 4. Head assembly; 4-1. Laser ranging device; 4-2. Underwater camera; 4-3. Waterproof light; 4-4. Sonar; 4-5. Counterweight; 4-6. Carbon fiber mask; 4-7. Mask fixing parts; 4-8. Probe fixing fixture; 4-9. Bracket fixing beam; 4-10. Probe group bracket; 4-11. Positioning device 5. Amphibious fin drive device; 5-1. Arc plate; 5-2. Extended arc plate; 5-3. Connecting plate; 5-4. Carbon fiber spring; 5-5. End plate; 5-6. Connecting piece; 5-6-1. Bushing; 5-6-2. Connecting gasket; 5-6-3. Thin screw; 5-6-4. Nut; 6. Retractable dorsal fin blade device; 6-1. Base; 6-2. Base fixing screw; 6-3. Pin; 6-4. Spring; 6-5. Dorsal fin blade; 6-6. Gasket; 6-7. Dorsal fin blade fixing screw; 7. Tail assembly; 7-1. Tail; 7-2. Propeller; 7-3. Connecting bracket; 7-4. Propeller fixing connector; 7-5. Tail connector; 7-6. Side bracket; 7-7. Front bracket; 7-8. Buckle. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] like Figures 1 to 14 This embodiment provides an amphibious robot for polar environments, including a hydrodynamic shell 1, a main frame 2, a control cabin 3, a head assembly 4, an amphibious foot fin drive device 5, a retractable dorsal fin blade device 6 and a tail assembly 7.

[0025] In some specific embodiments, such as Figure 1 The hydrodynamic shell 1 of the polar environment amphibious robot adopts a streamlined design as a whole, showing symmetry in the vertical and horizontal directions, thus having excellent hydrodynamic performance. The central part of the hydrodynamic shell 1 is convex and the surrounding areas are lower to optimize the fluid dynamic characteristics. The middle protrusion of the hydrodynamic shell 1 is equipped with a retractable dorsal fin blade device 6. This design is intended to provide support during movement on the ice surface and prevent the propeller from colliding with the ground. In addition, the surface of the hydrodynamic shell 1 is provided with multiple holes and grooves for easy installation and maintenance, and is divided into upper and lower parts along its central symmetry plane, and is firmly connected to the main frame 2 by bolts.

[0026] like Figure 3 In some specific embodiments, the main frame 2 is composed of an inner main beam 2-1, an outer main beam 2-2, and joint modules 2-3, symmetrically arranged along the robot's main axis. The inner main beam 2-1 and the outer main beam 2-2 are made of carbon fiber sheets. These sheets are formed by impregnating and hardening carbon fibers aligned in the same direction with resin, resulting in high tensile strength, excellent corrosion resistance, shock resistance, and impact resistance.

[0027] In some specific embodiments, the joint module 2 - 3 is specifically a motor, which is used to drive the amphibious fin driving device 5 to rotate.

[0028] In some specific embodiments, the control cabin 3 includes a high-power cabin 3-1 and a main cabin 3-2. A 12S model aircraft battery is installed in the high-power cabin 3-1, and a 6S lithium polymer battery is arranged in the main cabin 3-2. By controlling the switch relay, the regulation, isolation and safety protection functions of the high-voltage circuit are realized by the low-voltage signal. The battery in the control cabin 3 provides the required power for the entire polar environment amphibious robot and supports the realization of the robot's motion control and communication functions. The control cabin 3 is connected to the underwater connector through a short plug waterproof terminal installed on the end face of the cabin body. Specifically, the bulkheads of the high-power cabin 3-1 and the main cabin 3-2 of the control cabin 3 are provided with waterproof terminal mounting holes. The short plug waterproof terminal extends through the mounting holes. The waterproof terminal is connected to the underwater connectors of other electrical devices, thereby realizing electrical connection with other components. The high-power cabin 3-1 and the main cabin 3-2 are both fixed to the inner main beam 2-1 by screws to ensure the stability and reliability of the structural connection.

[0029] like Figure 4~Figure 5 In some specific embodiments, the front end of the head assembly 4 is provided with a carbon fiber panel 4-6 for securing the head components. Arranged on this carbon fiber panel 4-6, from left to right, are a laser rangefinder 4-1, an underwater camera 4-2, a waterproof light 4-3, and a sonar 4-4. A waterproof light 4-3 and underwater camera 4-2 are also mounted on the bottom of the carbon fiber panel 4-6 to detect the ice bottom environment after the robot flips. The laser rangefinder 4-1, underwater camera 4-2, waterproof light 4-3, and sonar 4-4 are all bolted to the panel fixing fixture 4-7 via a probe fixing fixture 4-8. The carbon fiber panel 4-6 of the head assembly 4 is also bolted to the bracket fixing beam 4-9 via the panel fixing fixture 4-7, ensuring a secure assembly of the overall structure.

[0030] like Figure 15As shown, in this embodiment, a positioning device 4-11 is installed on the abdomen of the polar environment amphibious robot's hydrodynamic shell 1. This positioning device 4-11 is used to achieve precise positioning in an underwater environment. Specifically, this positioning device 4-11 uses a Doppler Velocity Log (DVL), but is not limited to this type; any device that can achieve the same positioning function should fall within the technical scope disclosed in this embodiment.

[0031] In some specific embodiments, the head assembly 4 is further provided with a probe group bracket 4-10, to which the bracket fixing crossbeam 4-9 is fixedly mounted; the probe group bracket 4-10 is further connected to the inner main beam 2-1 in the main frame 2, providing a stable structural support. To facilitate adjustment of the center of gravity of the entire machine, a counterweight block 4-5 is provided at the front end of the head assembly 4, fixed between two panel fixings 4-7, and can be adjusted in position according to actual needs. Through the sensors and detection devices arranged in the head assembly 4, the robot can obtain real-time information about the surrounding environment in underwater and ice-bottom environments, thereby adopting corresponding control strategies based on actual working conditions, improving the system's adaptability and operating efficiency.

[0032] In some specific embodiments, the polar environment amphibious robot, through the underwater camera 4-2 and waterproof light 4-3 mounted on the carbon fiber mask 4-6 at the front end of the head assembly 4, as well as the underwater camera 4-2 and waterproof light 4-3 located at the lower end of the head assembly 4, can effectively detect the underwater and ice-bottom environments during low-speed movement and determine whether cross-medium movement conditions are met. On this basis, combined with the measurement data of the laser rangefinder 4-1, sonar 4-4, and positioning device 4-11, precise positioning in the underwater environment can be achieved, and the robot's position and posture in the water can be further adjusted to prepare for subsequent cross-medium movement out of the water, thereby improving the robot's adaptability and movement reliability in complex polar environments.

[0033] In some specific embodiments, the cross-medium water exit of the polar environment amphibious robot of this embodiment is divided into three stages: first, when the cross-medium movement conditions are met, the polar environment amphibious robot enters the underwater cruising stage, at which time the propeller 7-2 provided by the tail assembly 7 drives the robot forward, and stably navigates to the designated position according to the predetermined path; followed by the accelerated ascent stage, when the polar environment amphibious robot arrives at the preset position, the propeller 7-2 and the amphibious fin drive devices 5 on both sides of the body work together to adjust the posture and climb up quickly; finally, in the water exit stage, when the robot approaches the water surface, it jumps out of the water with the help of its own inertia, and completes the aerial jump and landing action, realizing the cross-medium transition from underwater to the ice surface.

[0034] like Figure 1 、 Figures 6-8 In some specific embodiments, multiple groups of amphibious fin drive devices 5 are provided on both sides of the polar environment amphibious robot, and the amphibious fin drive devices 5 on both sides are symmetrically arranged, and the amphibious fin drive devices 5 include multiple groups of shrapnel feet. Preferably, three groups of shrapnel feet are provided on each side. The amphibious fin drive devices 5 on one side are shrapnel feet, extended shrapnel feet and shrapnel feet from front to back. The shrapnel feet are mainly composed of an arc plate 5-1, a connecting plate 5-3, a carbon fiber shrapnel 5-4, an end plate 5-5 and a connector 5-6. In the non-working state, the surfaces of all structural parts are parallel and have protrusions and are connected by connectors. The extended shrapnel feet are mainly composed of an extended arc plate 5-2, a connecting plate 5-3, a carbon fiber shrapnel 5-4, an end plate 5-5 and a connector 5-6. Through holes are provided on the arc plate 5-1 and the extended arc plate 5-2, which are connected to the joint module 2-3 in the main frame 2 by bolts to achieve effective transmission of power and torque.

[0035] In some specific embodiments, the end plate 5-5, connecting plate 5-3, curved plate 5-1, and extended curved plate 5-2 are each provided with protrusions that connect to adjacent structural plates via connectors 5-6. Connectors 5-6, consisting of a sleeve 5-6-1, a connecting washer 5-6-2, a thin screw 5-6-3, and a nut 5-6-4, serve as a pivot and connect adjacent structural components. Threaded sealant can be added for securement during installation as needed. During the clapping motion, connectors 5-6 act as a pivot, allowing adjacent structural plates to rotate relative to each other, thus achieving flexible movement.

[0036] like Figure 1 、 Figure 9 In some specific embodiments, the hydrodynamic shell 1 of the polar environment amphibious robot is provided with a retractable dorsal fin blade assembly 6 on the upper and lower protrusions. The retractable dorsal fin blade assembly 6 primarily comprises a base 6-1, a base fixing screw 6-2, a pin 6-3, a spring 6-4, a dorsal fin blade 6-5, a gasket 6-6, and a dorsal fin blade fixing screw 6-7. Specifically, the dorsal fin blade 6-5 utilizes a U-shaped groove structure, with a tuna fin-like blade at the top, all oriented in the same direction, and an opening at the bottom of the groove. A pin 6-3 passes through the opening and connects to the base 6-1. The top of the pin 6-3 is secured by the dorsal fin blade fixing screw 6-7 and gasket 6-6 to the dorsal fin blade 6-5. The pin 6-3 is surrounded by a spring 6-4 to support and hold the dorsal fin blade 6-5 in place. The base 6-1 is provided with openings, and the retractable dorsal fin blade assembly 6 is secured to the upper and lower protrusions of the hydrodynamic shell 1 via the base fixing screw 6-2. The retractable dorsal fin blade 6 works together with the ice blades installed on the tail 7-1 to support the robot and ensure its stable movement on the ice. The dorsal fin blade 6-5 is designed with reference to the shape of tuna fins to optimize structural strength and movement performance.

[0037] like Figures 10-11 In some specific embodiments, the tail assembly 7 of the polar environment amphibious robot is equipped with a tail wing 7-1, and an ice blade is installed at the end of the tail wing 7-1, which is used to support the entire robot together with the retractable dorsal fin blade device 6 when moving on the ice. The tail wing 7-1 is connected to the inner main beam 2-1 of the main frame 2 through the tail wing connector 7-5, and is symmetrically distributed at the upper left, lower left, upper right and lower right. When sailing underwater, the tail wing 7-1 plays a beaming role, optimizing the direction of water flow to improve propulsion efficiency. In addition, the thruster 7-2 is not only symmetrically placed, but also set at an inclination angle of 10~11° in the direction of the main axis of the hydrodynamic shell 1, which further enhances the beaming effect and improves the overall navigation performance.

[0038] In some specific embodiments, an ice blade is installed at the end of the tail fin, which cooperates with the retractable dorsal fin blade device 6 when moving on the ice surface to jointly support the robot and ensure its stable movement on the ice surface. The propeller 7-2 of the tail assembly 7 is symmetrically arranged in the four directions of up, down, left and right, and the tail fin 7-1 and the propeller 7-2 are symmetrically distributed as a whole to improve stability and maneuverability during underwater navigation. The propeller 7-2 is connected to the side bracket 7-6 and the front bracket 7-7 respectively through the buckle 7-8, and the side bracket 7-6 and the front bracket 7-7 are then connected to the propeller fixed connector 7-4 through bolts. Figure 14 The propeller fixed connector 7-4 is connected to the inner main beam 2-1 in the main frame 2 through the connecting bracket 7-3, thereby achieving a stable assembly of the propulsion system and the main structure.

[0039] like Figures 11-12 When the polar environment amphibious robot is working underwater, the thruster 7-2 serves as the main power source to provide propulsion. The tail wing 7-1 and the thruster 7-2 are arranged symmetrically, which plays a beaming role during underwater navigation, optimizes the direction of water flow, and improves propulsion efficiency. The shrapnel foot and the extended shrapnel foot in the amphibious fin drive device 5 are connected to the output shaft of the joint module 2-3 through the arc plate 5-1 and the extended arc plate 5-2 respectively, and the overall shape and flexibility of the fin structure are maintained by the carbon fiber shrapnel 5-4.

[0040] During low-speed underwater navigation, the robot uses the motors in the joint modules 2-3 to swing the amphibious fin actuators 5, providing auxiliary propulsion. Different control strategies are used to achieve steering and attitude adjustments during navigation. By adjusting the swing angle of the amphibious fin actuators 5, the robot can perform a roll underwater, turning its bottom side upward. The underwater camera 4-2 and waterproof light 4-3 mounted on the lower end of the head assembly 4 monitor the ice bottom environment.

[0041] Furthermore, an underwater camera 4-2 and a waterproof light 4-3 are mounted on the carbon fiber panel 4-6 at the front of the robot's head assembly 4. Another underwater camera 4-2 and waterproof light 4-3 are also located at the lower end of the head assembly 4. These cameras enable real-time detection of the underwater and ice-bottom environments during low-speed movement, determining whether conditions for cross-medium movement are met. Subsequently, combined with data from the laser rangefinder 4-1, sonar 4-4, and positioning device 4-11, the robot's underwater position and posture are precisely determined and adjusted, preparing for subsequent cross-medium movement.

[0042] When moving on the water surface, the motor on the joint module 2-3 rotates a full circle to drive the amphibious fin driving device 5 to paddle the water, and the reaction force of the water serves as the driving force for the robot to move forward.

[0043] During the movement on the ice, the polar environment amphibious robot is mainly supported by the ice blades installed on the tail 7-1 and the retractable dorsal fin blade device 6 to ensure that the propeller 7-2 does not contact the ice surface to avoid damage. The main power for movement on the ice surface comes from the slapping action of the amphibious foot fin drive device 5. During the slapping action of the amphibious foot fin drive device 5, the shrapnel foot contacts the ground and undergoes elastic deformation: the end plate 5-5 first contacts the ground, and the carbon fiber shrapnel 5-4 is deformed accordingly. The connecting plate 5-3 rotates around the connecting piece 5-6 under the action of the carbon fiber shrapnel 5-4, and the elastic recovery force of the carbon fiber shrapnel 5-4 is used to provide the polar environment amphibious robot with forward propulsion.

[0044] Furthermore, when moving on snowy, icy surfaces or sloped terrain, the motors on the joint modules 2-3 drive the amphibious fin actuators 5 to switch to an operating mode suitable for ice support. The amphibious fin actuators 5 possess high strength and toughness, and their strategic placement within the robot body enables stable support and reliable movement in complex icy environments, enhancing the robot's adaptability to the changing terrain of polar regions.

[0045] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. An amphibious robot for polar environments, characterized in that: include: A hydrodynamic housing (1) having a raised central portion and a mounting hole groove provided on the surface, and divided into an upper and a lower portion along a central symmetric plane; A main frame (2) is fixed in the hydrodynamic shell and includes a symmetrically arranged inner main beam (2-1), an outer main beam (2-2) and a joint module (2-3); A control cabin (3) fixed to the inner main beam (2-1) comprises a high-power cabin (3-1) and a main cabin (3-2); A head assembly (4) having a carbon fiber mask (4-6) at the front end, connected to the inner main beam (2-1) via a probe assembly bracket (4-10); Amphibious fin drive devices (5) are symmetrically arranged on both sides of the robot and are connected to the output shaft of the joint module (2-3) via an arc plate (5-1) or an extended arc plate (5-2); A retractable dorsal fin blade device (6) is mounted on the protruding portions at the upper and lower ends of the hydrodynamic housing (1); The tail assembly (7) includes a tail wing (7-1) and a propeller (7-2), wherein the tail wing (7-1) is connected to the inner main beam (2-1) via a tail wing connector (7-5).

2. The polar environment amphibious robot according to claim 1, characterized in that: The mounting holes of the hydrodynamic housing (1) are evenly distributed along the central symmetry plane, and the protruding portions at the upper and lower ends are each provided with an assembly interface for fixing the base (6-1) of the retractable dorsal fin blade device (6).

3. The polar environment amphibious robot according to claim 1, characterized in that: The inner main beam (2-1) and the outer main beam (2-2) of the main frame (2) are unidirectional carbon fiber plates, and the carbon fibers are formed by resin impregnation and hardening; the output shaft of the joint module (2-3) passes through the through hole of the arc plate (5-1) or the extended arc plate (5-2) and is fixedly connected by bolts.

4. The polar environment amphibious robot according to claim 1, characterized in that: The bulkheads of the high-power cabin (3-1) and the main cabin (3-2) of the control cabin (3) are provided with waterproof terminal mounting holes, and the short plug waterproof terminal penetrates the mounting holes; the bottom of the cabin body is fixed to the threaded holes of the inner main beam (2-1) by screws; The high-power compartment (3-1) of the control compartment (3) is equipped with a 12S aircraft model battery, and the main compartment (3-2) is equipped with a 6S lithium polymer battery.

5. The polar environment amphibious robot according to claim 1, characterized in that: The front end of the carbon fiber mask (4-6) of the head assembly (4) is provided with four sets of probe fixing fixtures (4-8), which clamp the laser distance measuring device (4-1), the underwater camera (4-2), the waterproof light (4-3) and the sonar (4-4) in sequence from left to right; two sets of probe fixing fixtures (4-8) are provided at the bottom of the carbon fiber mask (4-6) to fix the underwater camera (4-2) and the waterproof light (4-3); the probe fixing fixtures (4-8) are connected to the two mask fixing pieces (4-7) by bolts penetrating the groove wall; and a rectangular counterweight block (4-5) is provided between the mask fixing pieces (4-7).

6. The polar environment amphibious robot according to claim 1, characterized in that: The amphibious fin driving device (5) comprises three shrapnel feet on one side, which are, from front to back, a shrapnel foot, an extended shrapnel foot, and a shrapnel foot; the shrapnel foot is composed of an arc plate (5-1), a connecting plate (5-3), a carbon fiber shrapnel (5-4), and an end plate (5-5) connected in series via a connecting piece (5-6); The extended spring foot is mainly composed of an extended arc plate (5-2), a connecting plate (5-3), a carbon fiber spring (5-4), and an end plate (5-5) connected in series through a connecting piece (5-6); The connecting member (5-6) forms a rotating shaft through a shaft sleeve (5-6-1), a connecting gasket (5-6-2) and a thin screw (5-6-3), and the protruding parts of each plate rotate relatively around the connecting member (5-6); Through holes are provided on the arc-shaped plate (5-1) and the extended arc-shaped plate (5-2), and are connected to the joint module (2-3) in the main frame (2) via bolts.

7. The polar environment amphibious robot according to claim 1, characterized in that: The retractable dorsal fin blade device (6) comprises a base (6-1), a pin (6-3), a spring (6-4) and a dorsal fin blade (6-5); the dorsal fin blade (6-5) adopts a U-shaped groove structure, a tuna fin-shaped blade is provided at the top, and all the blades are in the same direction; an opening is provided at the bottom of the U-shaped groove structure of the dorsal fin blade (6-5); the pin (6-3) passes through the opening and is connected to the base (6-1); a dorsal fin blade fixing screw (6-7) and a gasket (6-6) are provided at the top of the pin (6-3) to limit the dorsal fin blade (6-5); the spring (6-4) is sleeved on the outside of the pin (6-3) to support the dorsal fin blade (6-5); an opening is provided on the base (6-1), and the retractable dorsal fin blade device (6) is fixed to the protrusions at the upper and lower ends of the hydrodynamic shell (1) through the base fixing screw (6-2).

8. The polar environment amphibious robot according to claim 1, characterized in that: An ice blade is installed at the end of the tail wing (7-1), and the thrusters (7-2) are symmetrically arranged in the up, down, left, and right directions of the main axis and are inclined at an angle of 10 to 11 degrees to the main axis of the hydrodynamic shell (1). The thrusters are connected to the side brackets (7-6) and the front brackets (7-7) through buckles (7-8), and the side brackets (7-6) and the front brackets (7-7) are fixed to the inner main beam (2-1) through thruster fixing connectors (7-4) and connecting brackets (7-3).

9. The polar environment amphibious robot according to claim 1, characterized in that: A positioning device (4-11) is provided on the belly of the hydrodynamic shell (1).

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