Self-adaptive tracked robot for deep-water rugged road surface

Abstract

The invention discloses a deep-water rugged road surface self-adaptive tracked robot, relates to the technical field of deep-sea operation equipment, and aims to solve the technical problems that a tracked chassis of an existing deep-water tracked robot has no self-adaptive adjustment function and has no vibration reduction connection with an upper layer structure. The robot comprises a buoyancy structure, a main body frame, a crawler belt structure, an angle adjusting assembly, a suspension mechanism, a four-wheel drive system and a vibration reduction connecting structure. The crawler belt structure adopts a variable terrain fitting angle design and is matched with a four-wheel drive system to remarkably improve driving force and traction force, and efficient vibration reduction is achieved through a vibration reduction connecting structure; through cooperative work of all functional parts, the attachment degree of the crawler belt and the complex submarine topography reaches 90% or above, the ground sinking degree is reduced by 65% or above, the vibration transmission amplitude is reduced by 75%, the trafficability, stability and operation efficiency of the robot in the deep sea complex environment are greatly improved, the service life of equipment is prolonged, and reliable technical support is provided for deep sea resource development and scientific detection.

Description

Technical Field

[0001] This invention belongs to the field of deep-sea operation equipment technology, specifically relating to an adaptive tracked robot for deep-sea rugged terrain. Background Technology

[0002] Deep-sea robots play an irreplaceable and crucial role in fields such as deep-sea exploration and resource development. Tracked robots, with their unique advantages of large ground contact area and strong adhesion, have significant application value in rugged seabed terrain. However, existing deep-sea tracked robots still face many technical bottlenecks in adapting to complex and rugged terrain.

[0003] Currently, some deep-sea tracked robots use a dual-track structure, such as common deep-sea mining vehicles. However, the seabed topography is extremely complex and contains a large amount of soft seabed material. When these robots encounter rugged terrain, the tracks cannot fully conform to the ground slope, often resulting in localized contact. This leads to concentrated ground stress, exacerbates ground subsidence, and significantly increases the risk of the robot getting stuck. Even with some devices employing simple four-track locomotives, replacing the longer track on one side with a shorter dual track, the track's contact with the terrain slope has not been fundamentally improved.

[0004] From the perspective of suspension structure, traditional tracked chassis mostly employ a fixed suspension design. When the robot traverses complex terrain, obstacles, and ramps with "V"-shaped, "A"-shaped, or uneven slopes on both sides, the suspension system angle cannot be flexibly adjusted. This results in a significant reduction in chassis stability, uneven stress on the suspension system, and severe track deformation. Even slight deformation can cause track damage or derailment; in severe cases, uneven stress on the left and right track structures can lead to vehicle damage or even rollover, greatly threatening the service life of the tracked chassis and posing a serious challenge to the robot's mobility and obstacle-crossing capabilities.

[0005] To improve the ability of tracked chassis to traverse complex terrains, existing technologies mainly employ two improvement schemes. First, a mechanical lifting mechanism is used, adjusting the chassis height by changing the length of hydraulic rods to achieve obstacle avoidance. For example, the adjustable track device disclosed in patent number 201810575356.6 improves the passability of tracked chassis to some extent, but its function is relatively limited. Second, the tilt angle of the shock-absorbing suspension system is changed, such as the adaptive leveling chassis disclosed in patent number 201610975634.8. This utilizes the cooperation between the wheels and suspension to adaptively adjust the height of each suspension, reducing the changes in chassis roll and pitch angles caused by terrain variations, thus achieving dynamic leveling of the chassis. However, these existing technologies can only adjust the chassis height or tilt angle, and can only achieve leveling of the chassis's working angle. They cannot fundamentally solve the problem of adaptive obstacle crossing on complex and rugged terrain, and are insufficient to meet the requirements for efficient and stable robot operation in deep-water and complex environments.

[0006] The core limitations of existing technologies are mainly reflected in two aspects: first, most tracked chassis are fixed structures, unable to flexibly adapt to terrain, and lack adaptive adjustment capabilities; second, the tracked chassis and the upper structure are connected by fixed methods such as welding and bolting, lacking vibration damping capabilities. To address these problems, this invention overcomes three major technical challenges: vibration damping structure, hydraulically driven tracked chassis, and adaptive conforming mechanical structure design. It provides a high-performance adaptive tracked robot for deep-water, rugged terrain, possessing significant technological innovation value and practical application significance. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive tracked robot for deep-sea rugged terrain. This invention solves the technical problems of existing deep-sea tracked robots having no adaptive adjustment function for the tracked chassis and no vibration damping connection with the superstructure, thereby improving the robot's passability, stability and operating efficiency in complex and rugged deep-sea terrain and extending the service life of the equipment.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A deep-water, rugged terrain adaptive tracked robot includes a buoyancy structure (1), a main frame (2), a track structure (3), an angle adjustment component, a suspension mechanism (4), a four-wheel drive system, and a vibration damping connection structure. The buoyancy structure (1) is installed on the top of the main frame (2) to provide underwater buoyancy to balance the robot's gravity. The track structure (3) is connected to the main frame (2) through the angle adjustment component and the suspension mechanism (4). There are four sets of track structures (3), each set of track structures (3) is a variable terrain-adaptive angle structure, which are symmetrically installed on the front and rear positions of both sides of the main frame (2) through the suspension mechanism (4) to form a four-wheel drive track structure. The four-wheel drive system is connected to the track structure (3) to provide independent power to each track structure (3). The vibration damping connection structure is set on the angle adjustment component and the main frame (2) to achieve vibration damping and buffering.

[0010] In a preferred embodiment of the present invention, the angle adjustment assembly includes a hydraulic drive rod (5), a first rotating joint (7-1), and a second rotating joint (7-2). The hydraulic drive rod (5) is fixed to the lug (4-2) on the top of the suspension mechanism (4) via a first rotating shaft (6). One end of the first rotating joint (7-1) is connected to the middle of the suspension mechanism (4) via a second rotating shaft (11-1). The other end of the first rotating joint (7-1) is connected to the top of the connecting plate (8) of the four-wheel drive system via a third rotating shaft (11-3). The second rotating joint... One end of the second rotating joint (7-2) is connected to the bottom of the suspension mechanism (4) via the fourth pivot (11-3); the other end of the second rotating joint (7-2) is connected to the middle of the connecting plate (8) of the four-wheel drive system via the fifth pivot (11-4); the middle component (7-21) of the second rotating joint (7-2) is connected to the telescopic end of the hydraulic drive rod (5); the second rotating joint (7-2) is equipped with an angle sensor, which is used to detect the tilt angle of the track structure (3) in real time and feed it back to the control system to adjust the telescopic amount of the hydraulic drive rod (7-1).

[0011] In a preferred embodiment of the present invention, the four-wheel drive system includes four independent hydraulic motors (9) and a rotating shaft (10). The hydraulic motors (9) are fixed on two collars (8-1) on the connecting plate (8). The power output of the hydraulic motors (9) is connected to the rotating shaft (10). The rotating shaft (10) is connected to the transmission gear set of the track structure (3). Each hydraulic motor (9) is controlled by an independent hydraulic control system to achieve precise adjustment of speed and torque.

[0012] In a preferred embodiment of the present invention, the vibration damping connection structure includes a helical spring and a rubber damping pad. The helical spring is sleeved on the second rotating shaft (11-1) located outside the first rotating joint (7-1) to achieve vibration damping and buffering when the first rotating joint (7-1) moves in the up and down direction. The rubber damping pad is disposed at both ends of the helical spring.

[0013] In a preferred embodiment of the present invention, the suspension mechanism (4) includes an elastic suspension arm (4-1) and a lug (4-2). The bottom of the elastic suspension arm (4-1) is fixedly connected to the main frame (2), and the lug (4-2) is provided on its top. A hydraulic drive rod (5) is connected to the lug (4-2) through a first rotating shaft (6).

[0014] In a preferred embodiment of the present invention, the main frame (2) includes a top plate (2-1), a mounting base (2-2), a longitudinal beam (2-3), and a side frame (2-4), with the ends of the longitudinal beam (2-3) and the side frame (2-4) respectively welded to the top plate (2-1) and the mounting base (2-2).

[0015] In a preferred embodiment of the present invention, the vibration damping connection structure further includes a damper and a hollow structure on the frame (2-4). The damper is disposed between the two side walls of the elastic suspension arm (4-1) to enhance the overall stability of the elastic suspension arm (4-1).

[0016] In a preferred embodiment of the present invention, the track structure (3) includes a track (3-1) and a side plate (3-2). The circular hole on the side plate (3-2) is used to fix the rotating shaft (10) through a bearing. The side plate (3-2) is provided with a plurality of drainage holes. The track (3-1) is provided with anti-slip protrusions with a height of 20-30mm, which are evenly distributed along the length of the track (3-1).

[0017] In a preferred embodiment of the present invention, the device further includes an attitude sensor and a control system. The attitude sensor is mounted on the main frame (2) and is used to detect the robot's tilt angle, pitch angle and height information. The control system is electrically connected to the angle adjustment component, the four-wheel drive system and the vibration damping connection structure to achieve adaptive control.

[0018] In a preferred embodiment of the present invention, the buoyancy structure (1) is made of polyurethane foam with a density of 300-400 kg / m³. 3 It is arranged in the buoyancy material fixing groove at the top of the main frame (2).

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) Direct effect of variable terrain-fitting track: The track fitting angle can be adjusted through the three-dimensional model, which increases the fit of the track to complex seabed terrain slopes with different slopes on both sides to more than 90%, effectively avoiding the problem of ground force concentration caused by local contact of traditional tracks. According to simulation test, the degree of ground depression is reduced by more than 65% compared with traditional tracks, which significantly reduces the risk of the robot getting stuck.

[0021] (2) Direct effect of four-wheel drive track drive: In view of the underwater weight of deep-sea mining vehicles exceeding five tons, the four-track drive mode is adopted. Compared with dual track drive, the driving force is increased by 80%, and the traction is increased by 70% in the seabed silt environment. It can easily cope with the driving resistance caused by soft bottom material and ensure that the mining vehicle can move stably in complex seabed terrain.

[0022] (3) Direct effect of angle adjustment component: Abandoning the traditional fixed connection method of welding and bolts between track chassis and upper structure, the angle adjustment component with vibration reduction function is used for connection. After vibration test, the vibration amplitude transmitted to the upper structure can be reduced by up to 75%, reducing the probability of track deformation caused by vibration, reducing track damage rate by 60%, reducing track drop rate by 85%, and avoiding vehicle damage and overturning problems caused by uneven force on the left and right track structures.

[0023] (4) This invention solves the problem of "no adaptive adjustment of the tracked chassis and no vibration damping connection with the upper structure" in deep-sea tracked robots on rugged terrain, and has key technical and practical application value. Technically, it overcomes the design challenges of vibration damping structures, hydraulically driven tracked chassis, and adaptive fit mechanical structures, filling the technical gap in dynamic adaptation and vibration damping for deep-sea tracked equipment. It promotes the integration and innovation of multiple disciplines such as mechanical design and hydraulic control, forming equipment technology solutions specifically for complex deep-sea environments, and providing core technical support for the research and development of high-end marine equipment. In terms of application, it enables robots to achieve track fit and vibration damping in complex deep-sea terrain, significantly reducing the risk of getting stuck, overturning, and component damage, improving operational stability and efficiency, and facilitating the efficient implementation of deep-sea resource development and scientific exploration tasks. It also extends equipment lifespan, reduces maintenance costs, provides reliable technical support for my country's deep-sea engineering and marine strategy implementation, and promotes the development of deep-sea development towards a more efficient and stable direction. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This invention provides a perspective view of an adaptive tracked robot for deep-water, rugged terrain.

[0026] Figure 2 This invention provides another perspective view of an adaptive tracked robot for deep-water, rugged terrain.

[0027] Figure 3 This invention provides a half-sectional schematic diagram of an adaptive tracked robot for deep water and rugged terrain.

[0028] Figure 4 This is a perspective view of an angle adjustment component and a track structure provided in an embodiment of the present invention.

[0029] Figure 5This is a structural schematic diagram of an angle adjustment component and a suspension mechanism provided in an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the structure of an angle adjustment component provided in an embodiment of the present invention.

[0031] Figure 7 A schematic diagram of the main frame is provided for an embodiment of the present invention.

[0032] Figure 8 This invention provides a schematic diagram of a track structure.

[0033] Figure 9 This is a schematic diagram of a buoyancy structure provided in an embodiment of the present invention.

[0034] Figure 10 This is a schematic diagram of the connecting plate structure of a four-wheel drive system provided in an embodiment of the present invention.

[0035] Figure 11 This invention provides a schematic diagram of the hydraulic motor structure of a four-wheel drive system.

[0036] Figure 12 A schematic diagram of a first rotary joint structure is provided for an embodiment of the present invention.

[0037] Figure 13 A schematic diagram of a second rotary joint structure is provided for an embodiment of the present invention.

[0038] Figure 14 This invention provides a schematic diagram of a suspension mechanism structure. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The terms "upper," "lower," "front," "rear," "left," and "right," etc., used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation shown in the accompanying drawings. They are merely for convenience of description, used to distinguish the relative positions of various components or directions, and do not represent the orientation of the device or functional component in this embodiment during use.

[0040] like Figures 1-14As shown, this embodiment of the invention provides an adaptive tracked robot for deep water and rugged terrain, including a buoyancy structure 1, a main frame 2, a track structure 3, an angle adjustment component, a suspension mechanism 4, a four-wheel drive system, and a vibration reduction connection structure; the various structural components work together to achieve multiple functions such as adaptive conforming to the terrain, enhanced power output, and efficient vibration reduction.

[0041] The buoyancy structure 1 is mounted on top of the main frame 2 to provide underwater buoyancy and balance the robot's weight. The track structure 3 is connected to the main frame 2 via an angle adjustment assembly and a suspension mechanism 4. There are four sets of track structures 3, each with a variable terrain-adaptive angle. These are symmetrically mounted on both sides of the main frame 2 at the front and rear positions via the suspension mechanism, forming a four-wheel drive track structure. The four-wheel drive system is connected to the track structure 3, providing independent power to each track structure 3. A vibration-damping connection structure is installed on the angle adjustment assembly and the main frame 2 to achieve vibration damping.

[0042] like Figure 4 , Figure 5 , Figure 6 , Figure 10 , Figure 12 and Figure 13 As shown, the angle adjustment assembly includes a hydraulic drive rod 5, a first rotating joint 7-1, and a second rotating joint 7-2. The hydraulic drive rod 5 is fixed to the lug 4-2 on the top of the suspension mechanism 4 via a first rotating shaft 6. One end of the first rotating joint 7-1 is connected to the middle of the suspension mechanism 4 via a second rotating shaft 11-1; the other end of the first rotating joint 7-1 is connected to the top of the connecting plate 8 of the four-wheel drive system via a third rotating shaft 11-3. One end of the second rotating joint 7-2 is connected to the bottom of the suspension mechanism 4 via a fourth rotating shaft 11-3. The other end of the second rotating joint 7-2 is connected to the middle of the connecting plate 8 of the four-wheel drive system via a fifth rotating shaft 11-4. The intermediate component 7-21 of the second rotating joint 7-2 is connected to the telescopic end of the hydraulic drive rod 5. An angle sensor is installed in the second rotating joint 7-2 to detect the tilt angle of the track structure 3 in real time and feed it back to the control system to adjust the telescopic amount of the hydraulic drive rod 7-1. The preferred telescopic stroke of the hydraulic drive rod 5 is 0-500mm, and the angle adjustment range is -30° to 30°.

[0043] like Figure 6 , Figure 8 and Figure 11As shown. The four-wheel drive system includes four independent hydraulic motors 9 and rotating shafts 10. The hydraulic motors 9 are fixed on two collars 8-1 on the connecting plate 8. The power output of the hydraulic motors 9 is connected to the rotating shafts 10, which are connected to the transmission gear set of the track structure 3. Each hydraulic motor 9 is controlled by an independent hydraulic control system to achieve precise adjustment of speed and torque. The rated power of the hydraulic motors 8 is 50-80kW, the rated torque is 2000-3000N・m, and the speed adjustment range is 0-30r / min. Compared with the traditional dual-track drive system, the four-wheel drive track structure increases the driving force by 80% and enhances the traction by 70% in the seabed silt environment.

[0044] The vibration damping connection structure includes a helical spring and rubber damping pads. The helical spring is sleeved on the second rotating shaft 11-1, located outside the first rotating joint 7-1, to achieve vibration damping and buffering when the first rotating joint 7-1 moves in the vertical direction. The helical spring has a stiffness coefficient of 50-100 N / mm, and the rubber damping pads are set at both ends of the helical spring, with a Shore hardness of 50-70 HA and a compression of 20-50 mm.

[0045] The suspension mechanism 4 includes an elastic suspension arm 4-1 and a lug 4-2. The bottom of the elastic suspension arm 4-1 is fixedly connected to the main frame 2, and the top is provided with a lug 4-2. A hydraulic drive rod 5 is connected to the lug 4-2 through a first rotating shaft 6.

[0046] like Figure 7 As shown, the main frame 2 includes a top plate 2-1, a mounting base 2-2, longitudinal beams 2-3, and a side frame 2-4. The longitudinal beams 2-3 and the side frame 2-4 are welded to the top plate 2-1 and the mounting base 2-2 at both ends, respectively. The vibration damping connection structure includes a damper and a perforated structure on the side frame 2-4. The damper is positioned between the two side walls of the elastic suspension arm 4-1 to enhance the overall stability of the elastic suspension arm 4-1. The damping coefficient is adjustable from 1000 to 5000 N·s / m, effectively attenuating vibration energy.

[0047] Buoyancy structure 1 is made of polyurethane foam with a density of 300~400 kg / m³. 3 It is placed in the buoyancy material fixing groove at the top of the main frame 2 to provide underwater buoyancy to balance the robot's weight and ensure that the robot maintains a stable working posture underwater.

[0048] like Figure 8 As shown, the track structure 3 includes a track 3-1 and a side plate 3-2. The round hole on the side plate 3-2 is used to fix the rotating shaft 10 through the bearing. The side plate 3-2 is provided with multiple drainage holes. The track 3-1 is provided with anti-slip protrusions 8-2, which are 20-30mm high and are evenly distributed along the length of the track 3-1 to effectively reduce the degree of sinking on soft bottom.

[0049] This deep-water, rugged-terrain adaptive tracked robot also includes attitude sensors and a control system. The attitude sensors, mounted on the main frame 2, detect the robot's roll angle, pitch angle, and height. The control system is electrically connected to the angle adjustment component, the four-wheel drive system, and the vibration-damping connection structure to achieve adaptive control. Preferably, the attitude sensors employ MEMS inertial measurement units, capable of real-time detection of the robot's roll angle, pitch angle, and height, with measurement accuracies of ±0.05°, ±0.05°, and ±10mm, respectively. The control system uses a PLC controller, electrically connected to the angle adjustment component, the four-wheel drive system, and the vibration-damping connection structure. It receives detection signals from the attitude and angle sensors and uses a preset algorithm to regulate the extension and retraction of the hydraulic drive rod and the speed and torque of the hydraulic motor to achieve adaptive control.

[0050] This invention fundamentally solves the adaptation and vibration reduction challenges of existing deep-sea tracked robots on complex and rugged terrain through the coordinated design of variable terrain-adapting four-wheel drive tracks, angle adjustment components, and vibration-damping connection structures. It achieves a comprehensive effect of adaptive terrain adaptation, enhanced power, and efficient vibration reduction, significantly improving the robot's passability, obstacle-crossing ability, and driving stability in deep-sea environments. It also significantly extends the service life of the tracked chassis and the overall equipment, reducing equipment maintenance costs and providing reliable technical support for the efficient and stable operation of deep-sea robots in deep-sea exploration, resource development, and other fields.

[0051] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tracked robot that adapts to rough terrain in deep water, characterized in that, The system includes a buoyancy structure (1), a main frame (2), a track structure (3), an angle adjustment component, a suspension mechanism (4), a four-wheel drive system, and a vibration damping connection structure. The buoyancy structure (1) is installed on the top of the main frame (2) to provide underwater buoyancy to balance the robot's gravity. The track structure (3) is connected to the main frame (2) through the angle adjustment component and the suspension mechanism (4). There are four sets of track structures (3), each set of track structures (3) is a variable terrain-adaptive angle structure, which are symmetrically installed on the front and rear positions of both sides of the main frame (2) through the suspension mechanism (4) to form a four-wheel drive track structure. The four-wheel drive system is connected to the track structure (3) to provide independent power to each track structure (3). The vibration damping connection structure is set on the angle adjustment component and the main frame (2) to achieve vibration damping and buffering.

2. The deep-water rugged terrain adaptive tracked robot according to claim 1, characterized in that, The angle adjustment assembly includes a hydraulic drive rod (5), a first rotating joint (7-1), and a second rotating joint (7-2); the hydraulic drive rod (5) is fixed to the lug (4-2) on the top of the suspension mechanism (4) via a first rotating shaft (6); one end of the first rotating joint (7-1) is connected to the middle of the suspension mechanism (4) via a second rotating shaft (11-1); the other end of the first rotating joint (7-1) is connected to the top of the connecting plate (8) of the four-wheel drive system via a third rotating shaft (11-3); the second rotating joint (7-2) One end of the second rotating joint (7-2) is connected to the bottom of the suspension mechanism (4) via the fourth pivot (11-3); the other end of the second rotating joint (7-2) is connected to the middle of the connecting plate (8) of the four-wheel drive system via the fifth pivot (11-4); the middle component (7-21) of the second rotating joint (7-2) is connected to the telescopic end of the hydraulic drive rod (5); the second rotating joint (7-2) is equipped with an angle sensor, which is used to detect the tilt angle of the track structure (3) in real time and feed it back to the control system to adjust the telescopic amount of the hydraulic drive rod (7-1).

3. The deep-water rugged terrain adaptive tracked robot according to claim 2, characterized in that, The four-wheel drive system includes four independent hydraulic motors (9) and rotating shafts (10). The hydraulic motors (9) are fixed on two collars (8-1) on the connecting plate (8). The power output of the hydraulic motors (9) is connected to the rotating shafts (10). The rotating shafts (10) are connected to the transmission gear set of the track structure (3). Each hydraulic motor (9) is controlled by an independent hydraulic control system to achieve precise adjustment of speed and torque.

4. The adaptive tracked robot for deep-water rugged terrain according to claim 3, characterized in that, The vibration damping connection structure includes a helical spring and a rubber damping pad. The helical spring is sleeved on the second rotating shaft (11-1) and located on the outside of the first rotating joint (7-1) to achieve vibration damping and buffering when the first rotating joint (7-1) moves in the up and down direction. The rubber damping pad is disposed at both ends of the helical spring.

5. The deep-water rugged terrain adaptive tracked robot according to claim 4, characterized in that, The suspension mechanism (4) includes an elastic suspension arm (4-1) and a lug (4-2). The bottom of the elastic suspension arm (4-1) is fixedly connected to the main frame (2), and the lug (4-2) is provided on its top. A hydraulic drive rod (5) is connected to the lug (4-2) through a first rotating shaft (6).

6. The deep-water rugged terrain adaptive tracked robot according to claim 5, characterized in that, The main frame (2) includes a top plate (2-1), a mounting base (2-2), a longitudinal beam (2-3), and a side frame (2-4). The two ends of the longitudinal beam (2-3) and the side frame (2-4) are respectively welded to the top plate (2-1) and the mounting base (2-2).

7. The adaptive tracked robot for deep-water rugged terrain according to claim 6, characterized in that, The vibration damping connection structure also includes a damper and a hollow structure on the frame (2-4). The damper is disposed between the two side walls of the elastic suspension arm (4-1) to enhance the overall stability of the elastic suspension arm (4-1).

8. The deep-water rugged terrain adaptive tracked robot according to claim 7, characterized in that, The track structure (3) includes a track (3-1) and a side plate (3-2). The circular holes on the side plate (3-2) are used to fix the rotating shaft (10) through bearings. The side plate (3-2) is provided with multiple drainage holes. The track (3-1) is provided with anti-slip protrusions with a height of 20-30mm, which are evenly distributed along the length of the track (3-1).

9. The deep-water rugged terrain adaptive tracked robot according to claim 8, characterized in that, It also includes an attitude sensor and a control system. The attitude sensor is mounted on the main frame (2) and is used to detect the robot's tilt angle, pitch angle and height information. The control system is electrically connected to the angle adjustment component, the four-wheel drive system and the vibration damping connection structure to realize adaptive control.

10. The deep-water rugged terrain adaptive tracked robot according to claim 1, characterized in that, The buoyancy structure (1) is made of polyurethane foam with a density of 300-400 kg / m³. 3 It is arranged in the buoyancy material fixing groove at the top of the main frame (2).

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