A multi-source energy supply tri-hull unmanned scientific research platform for polar regions

Abstract

The present application relates to the technical field of extreme environment unmanned system, and more particularly to a multi-source energy supply triphibian unmanned scientific research platform for polar regions, comprising a shell, a counterweight and a cover plate fixedly connected in the shell, a working cavity arranged between the shell and the cover plate, a central processing and control module and a scientific research module arranged in the working cavity, a rotating ring rotatably connected between the counterweight and the cover plate, the rotating ring being provided with an oscillating rod, the oscillating rod being sealingly and limitingly slidably connected with an extension rod, and the extension rod being provided at an end away from the rotating ring with a counterweight ball. The present application controls the relative position of the counterweight ball and the counterweight by the rotation of the rotating ring and the extension rod in the oscillating rod, and further changes the position of the platform gravity center, so that the platform gravity center can be adjusted according to the environment and the work demand of the platform, thereby reducing the probability of platform overturning. In addition, the wind-solar-wave composite power generation reduces the probability of energy shortage of the platform during the operation, and ensures the scientific research operation.

Description

Technical Field

[0001] This invention relates to the field of unmanned systems technology for extreme environments, and in particular to a multi-source powered amphibious unmanned research platform for polar regions. Background Technology

[0002] Unmanned research platforms used in marine scientific expeditions are autonomous equipment developed to overcome the safety and endurance bottlenecks of human operations in extreme marine environments (especially polar ice areas). Their core significance lies in replacing or assisting research vessels in performing long-term, high-risk, and repetitive environmental monitoring and sampling tasks, significantly reducing personnel risks and operating costs. Currently used unmanned research platforms mostly adopt a low center of gravity design to save energy. Although this design can meet most driving requirements, it is still prone to capsizing when operating in broken ice areas, ice ridges, and strong wind areas. Once capsized, if it is not equipped with a self-righting function, it can easily lead to equipment getting trapped and the scientific expedition failing. Moreover, when conducting research operations, sampling tools such as robotic arms are usually used. The extension and movement of the robotic arms can cause the center of gravity of the research platform to shift dynamically, making the platform unstable and increasing the probability of operational failure and platform capsizing. Summary of the Invention

[0003] This invention provides a multi-source powered amphibious unmanned scientific research platform for polar regions, overcoming the shortcomings of existing scientific research platforms that fail to operate due to overturning.

[0004] The technical solution is: a multi-source powered amphibious unmanned scientific research platform for polar regions, comprising: a shell, a track module and a propulsion module installed on the lower side of the shell, a counterweight fixedly connected to the lower side inside the shell, a cover plate fixedly connected inside the shell, a working cavity provided between the shell and the cover plate, a wind power generation module, a wave power generation module, a photovoltaic power generation module, a central processing and control module, and a scientific research operation module provided inside the working cavity, a rotating ring rotatably connected between the counterweight and the cover plate, a swing rod provided on the rotating ring, an extension rod sealed and limitedly slidably connected inside the swing rod, and a counterweight ball provided at the end of the extension rod away from the rotating ring.

[0005] Furthermore, a first motor is mounted on the cover plate, and a first gear is fixedly connected to the output shaft of the first motor. A gear ring is fixedly connected to the rotating ring, and the gear ring meshes with the first gear. A mounting component is provided on the swing rod near the counterweight ball, and a second motor is mounted on the mounting component. A second gear is fixedly connected to the output shaft of the second motor, and a rack is fixedly connected to the side of the extension rod near the second gear. The second gear is used to transmit power to the rack.

[0006] Furthermore, an elastic ring is fixedly connected to the counterweight and rotatably connected to the rotating ring. A locking groove and two symmetrically distributed moving grooves are provided on the lower side of the rotating ring. The two moving grooves are located on both sides of the locking groove and are connected to the locking groove. A limiting ball is placed in the locking groove. In the vertical direction, the maximum distance between the locking groove and the elastic ring is less than the maximum distance between the moving groove and the elastic ring.

[0007] Furthermore, the depth of the moving groove is greater than the radius of the limiting ball, and the depth of the locking groove is less than the radius of the limiting ball.

[0008] Furthermore, a strip-shaped liquid bladder is fixedly connected to the end of the swing rod away from the counterweight ball. The strip-shaped liquid bladder contains a fluid medium. A through hole communicating with the strip-shaped liquid bladder is provided at the end of the swing rod away from the counterweight ball. An elastic ball is embedded in the through hole of the swing rod. The elastic ball is used to block the through hole of the swing rod. Symmetrically distributed elastic strips are fixedly connected to the elastic ball. The elastic strips are respectively fixed to the inner and outer sides of the swing rod. The elastic strips are used to pull the corresponding elastic ball to return to its original position.

[0009] Furthermore, the inner side of the through hole on the swing rod is provided with an annular arc surface, which facilitates the sliding of the elastic ball within the through hole of the swing rod.

[0010] Furthermore, a tension spring is fixedly connected between the swing rod and the extension rod, the mounting member is hinged to the swing rod, a bar magnet is fixedly connected to one end of the mounting member away from the hinge point with the swing rod, an electromagnet is fixedly connected to the swing rod near the bar magnet, the electromagnet is used to repel the bar magnet by magnetic repulsion, a torsion spring is fixedly connected between the mounting member and the swing rod, the torsion spring is used to maintain the stability of the relative position of the mounting member and the swing rod, and the counterweight ball is used to strike the counterweight block.

[0011] Furthermore, the elastic coefficient of the elastic ball is greater than that of the tension spring.

[0012] Furthermore, the counterweight ball is connected to a spring tube, a liquid pump connected to the outside is installed on the counterweight block, the spring tube passes through the counterweight block and is connected to the liquid pump, and the swing rod is hinged to the rotating ring.

[0013] Furthermore, a plurality of fixed metal hoops are arranged in a ring around the outer periphery of the counterweight ball. The fixed metal hoops are fixedly connected to one end of the extension rod near the counterweight ball. Both ends of the fixed metal hoops are slidably connected to movable metal hoops. The fixed metal hoops and the corresponding movable metal hoops form a ring.

[0014] In summary, this application includes at least one of the following beneficial technical effects: The present invention relies on the rotation of the rotating ring and the extension and retraction of the extension rod within the swing rod to control the relative position of the counterweight ball and the counterweight block, thereby changing the position of the platform's center of gravity. This allows the platform's center of gravity to be adjusted according to the platform's environment and operational needs, reducing the probability of platform overturning. In addition, the use of wind power generation modules, wave power generation modules, and photovoltaic power generation modules to continuously supply power to the platform reduces the probability of insufficient energy during operation, ensuring the progress of scientific research operations.

[0015] When the platform is about to overturn, the second gear and rack are disengaged by the swing of the mounting components, and the extension rod is quickly extended by the pulling action of the tension spring to quickly adjust the position of the counterweight ball. At the same time, after the platform has overturned, the track module and propeller module are retracted into the housing, and the rapid movement of the counterweight ball impacts the edge of the counterweight block, causing the platform to shake and roll, thereby freeing the platform from the overturned state.

[0016] By pumping external fluids into the counterweight sphere, the platform's draft and grip are altered, thereby enhancing its adaptability to polar environments. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the cover plate and rotating ring of the present invention; Figure 3 This is a three-dimensional structural diagram of the counterweight and rotating ring of the present invention; Figure 4 This is a three-dimensional structural diagram of the swing rod and counterweight ball of the present invention; Figure 5 This is a three-dimensional structural diagram of the counterweight ball and spring tube of the present invention; Figure 6 This is a three-dimensional structural cross-sectional view of the swing rod and extension rod of the present invention; Figure 7 This is a three-dimensional structural diagram of the mounting component and electromagnet of the present invention; Figure 8 This is a three-dimensional structural cross-sectional view of the rotating ring and elastic ring of the present invention; Figure 9 This is a three-dimensional structural diagram of the counterweight ball and fixed metal hoop of the present invention.

[0018] Reference numerals: 1-Shell, 101-Working chamber, 2-Track module, 3-Thruster module, 4-Counterweight, 5-Cover plate, 6-Rotating ring, 7-Swing rod, 8-Extension rod, 9-Counterweight ball, 10-First motor, 11-First gear, 12-Gear ring, 13-Mounting component, 14-Second motor, 15-Second gear, 16-Rack, 17-Elastic ring, 18-Limiting ball, 181-Locking groove, 182-Moving groove, 19-Strip-shaped liquid bladder, 20-Elastic ball, 21-Elastic strip, 22-Tension spring, 23-Strip magnet, 24-Electromagnet, 25-Torsion spring, 26-Bourdon tube, 27-Liquid pump, 28-Fixed metal clamp, 29-Moving metal clamp. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] Example 1 This embodiment discloses a multi-source powered amphibious unmanned scientific research platform for polar regions, which solves the problem that existing scientific research platforms may fail to operate due to overturning.

[0021] See Figures 1 to 6 A multi-source powered amphibious unmanned research platform for polar regions includes: a shell 1, which is a spherical shell structure; a track module 2 and a propeller module 3 mounted on the lower side of the shell 1; both the track module 2 and the propeller module 3 can be retracted into the shell 1 by a robotic arm; the specific structures of the track module 2 and the propeller module 3 are not shown in the attached drawings; a counterweight 4 is fixedly connected to the lower side inside the shell 1, and an energy storage module is embedded in the counterweight 4. The presence of the counterweight 4 restricts the center of gravity of the shell 1 to its bottom, making the shell 1... The body is formed into a low-center-of-gravity sphere in the shape of a roly-poly toy; a cover plate 5 is fixedly connected inside the shell 1, and a working chamber 101 is set between the shell 1 and the cover plate 5. The working chamber 101 is equipped with a wind power generation module, a wave power generation module, a photovoltaic power generation module, a central processing and control module, and a scientific research operation module. A rotating ring 6 is rotatably connected between the counterweight block 4 and the cover plate 5. The rotating ring 6 is equipped with a swing rod 7. An extension rod 8 is sealed and slidably connected inside the swing rod 7. A counterweight ball 9 is set at the end of the extension rod 8 away from the rotating ring 6.

[0022] The above setup enables the relative position of the counterweight ball 9 and the counterweight block 4 to be controlled by the rotation of the rotating ring 6 and the extension of the extension rod 8 within the swing rod 7, thereby changing the position of the platform's center of gravity. This allows the platform's center of gravity to be adjusted according to the environment and operational needs, reducing the probability of platform overturning. In addition, the use of wind power generation modules, wave power generation modules, and photovoltaic power generation modules to continuously supply power to the platform reduces the probability of energy shortage during operation, ensuring the smooth progress of scientific research operations.

[0023] It should be noted that in this embodiment, the extension rod 8 and the counterweight ball 9 can be considered as fixedly connected, the rotating ring 6 and the swing rod 7 can be considered as fixedly connected, and the counterweight ball 9 is a solid sphere.

[0024] See Figures 3 to 5 and Figure 7 The cover plate 5 is equipped with a first motor 10, and the output shaft of the first motor 10 is fixedly connected to a first gear 11. A gear ring 12 is fixedly connected to the rotating ring 6, and the gear ring 12 meshes with the first gear 11. A mounting part 13 is provided on the swing rod 7 near the counterweight ball 9, and a second motor 14 is installed on the mounting part 13. Both the first motor 10 and the second motor 14 are polar-grade motors. The output shaft of the second motor 14 is fixedly connected to a second gear 15, and a rack 16 is fixedly connected to the side of the extension rod 8 near the second gear 15. The second gear 15 is used to transmit power to the rack 16.

[0025] It should be noted that in this embodiment, the relationship between the swing rod 7 and the mounting member 13 can be regarded as a fixed connection, and the second gear 15 and the rack 16 are always meshed.

[0026] See Figures 4 to 6 and Figure 8 The upper side of the counterweight 4 is fixed with an elastic ring 17 that is rotatably connected to the rotating ring 6. The elastic ring 17 can be made of low-temperature resistant elastic rubber, and here phenyl silicone rubber is selected. The lower side of the rotating ring 6 is provided with six equidistantly distributed limit balls 18. The lower side of the rotating ring 6 near all the limit balls 18 is provided with a locking groove 181 and two symmetrically distributed moving grooves 182. The two symmetrically distributed moving grooves 182 are located on both sides of the corresponding locking groove 181 and are connected to the corresponding locking groove 181. Initially, the limit balls 18 are located in the corresponding locking grooves 181. In the vertical direction, the maximum distance between the locking groove 181 and the elastic ring 17 is less than the maximum distance between the moving groove 182 and the elastic ring 17. The depth of the moving groove 182 is greater than the radius of the limit ball 18, and the depth of the locking groove 181 is less than the radius of the limit ball 18.

[0027] The above configuration enables the limiting ball 18 to roll on the elastic ring 17 during the rotation of the rotating ring 6. By controlling the movement of the limiting ball 18 within the locking groove 181 and the moving groove 182, the depth of the limiting ball 18 embedded in the elastic ring 17 is changed. In turn, the rotating ring 6 is limited by the engagement of the limiting ball 18 in the locking groove 181 and the friction between the limiting ball 18 and the elastic ring 17. This improves the stability of the rotating ring 6 under vibration conditions when the center of gravity does not need to be adjusted, thereby maintaining the stability of the counterweight ball 9.

[0028] See Figure 5 and Figure 6A strip-shaped liquid bladder 19 is fixedly connected to the end of the swing rod 7 away from the counterweight ball 9. The strip-shaped liquid bladder 19 contains a fluid medium, which can be made of polar cryogenic compound. become Oil; The end of the swing rod 7 away from the counterweight ball 9 is provided with a through hole communicating with the strip-shaped liquid bladder 19. An elastic ball 20 is embedded in the through hole of the swing rod 7. The elastic ball 20 can be made of low-temperature resistant elastic rubber material, and here phenyl silicone rubber is selected. The elastic ball 20 is used to block the through hole of the swing rod 7. The elastic ball 20 is fixedly connected to symmetrically distributed elastic strips 21. The elastic strips 21 can be made of elastic rubber material, and here phenyl silicone rubber is selected. The elastic strips 21 are fixedly connected to the inner and outer sides of the swing rod 7 respectively. The elastic strips 21 are used to pull the corresponding elastic ball 20 to reset. The elastic strips 21 are only used to limit the position of the elastic ball 20 and prevent the elastic ball 20 from completely detaching from the swing rod 7. The elastic force that the elastic strip 21 needs to overcome during the deformation process is negligible.

[0029] The above setup enables the following: when the extension rod 8 slides inside the swing rod 7, the space for storing the fluid medium inside the swing rod 7 changes. By using the elastic ball 20 to block the through hole on the swing rod 7, the flow path of the fluid medium is blocked, so that the volume of the fluid medium inside the swing rod 7 no longer changes. In this way, the relative position of the swing rod 7 and the extension rod 8 remains stable, and the position of the counterweight ball 9 remains stable when the center of gravity does not need to be adjusted.

[0030] See Figure 6 An annular arc surface is provided on the inner side of the through hole on the swing rod 7. This annular arc surface is used to guide the elastic ball 20 to slide in the through hole of the swing rod 7 on the one hand, and to reduce the wear of the elastic ball 20 during the sliding process in the through hole of the swing rod 7 on the other hand.

[0031] The scientific expedition process in the polar periglacial region (described below using the example of the platform traveling to an observation point on the ice sheet a few kilometers away): The platform departs from the mother ship. The central processing and control module first runs a prediction and dynamic scheduling algorithm for multi-source heterogeneous energy. Based on weather forecasts, it decides to prioritize wind power generation and charge the energy storage module in areas with strong winds along the route. Subsequently, the central processing and control module runs a global planning algorithm for amphibious paths that integrates energy, terrain, and risk. This algorithm also executes a terrain-adaptive energy-saving algorithm based on the recovery and utilization of gravitational potential energy. For example, if there is a path that requires climbing an ice ridge about 15 meters high but has a shorter total distance, the system will automatically select this path because the downhill section can recover a large amount of gravitational potential energy, and its total energy consumption is about 25% lower than that of the flat but soft alternative path.

[0032] When traveling on the sea, the platform moves forward using the propulsion module 3. When climbing ice ridges and walking on ice and land, the platform moves forward using the track module 2. After reaching the top of the ridge, during the descent, the central processing and control module controls the drive motor to enter the regenerative braking power generation state, converting gravitational potential energy into electrical energy in real time. During this period, the energy storage module achieves a net increase in power.

[0033] The steps for adjusting the center of gravity during platform movement are as follows: The central processing and control module sequentially starts the first motor 10 and the second motor 14. The first motor 10 drives the rotating ring 6 to rotate through the first gear 11 and the gear ring 12. The rotating ring 6 drives the swing rod 7, the extension rod 8 and the counterweight ball 9 to move, changing the position of the swing rod 7 and the extension rod 8. At the same time, the second motor 14 drives the extension rod 8 to move through the second gear 15 and the rack 16, so that the extension rod 8 extends relative to the swing rod 7. The extension rod 8 drives the counterweight ball 9 to move, changing the relative position of the counterweight ball 9 and the counterweight block 4. In this way, the overall center of gravity of the platform is changed. For example, when the platform is unstable due to wind during movement, the center of gravity of the platform is shifted towards the windward side to improve the stability of the platform during movement.

[0034] When the rotating ring 6 begins to rotate, the limiting ball 18 is pressed by the locking groove 181, causing the limiting ball 18 to roll along the elastic ring 17. Simultaneously, the limiting ball 18 moves from the corresponding locking groove 181 to the corresponding moving groove 182. After the limiting ball 18 moves into the corresponding moving groove 182, the pressing force of the limiting ball 18 on the elastic ring 17 decreases, and the embedding depth of the limiting ball 18 within the elastic ring 17 decreases, reducing the rotational resistance of the rotating ring 6. Thus, during the rotation of the rotating ring 6, the limiting ball 18 will abut against the side wall of the corresponding moving groove 182 and roll along the elastic ring 17. After rotating a specified angle, the rotating ring 6 continues to rotate by another angle (this angle is determined by the central angle corresponding to the midpoint of the locking groove 181 and the midpoint of the corresponding moving groove 182). Then, the rotating ring 6 rotates in the opposite direction by the above angle and stops rotating, so that the limiting ball 18 rolls along the corresponding moving groove 182 into the corresponding locking groove 181 under the action of the friction between it and the elastic ring 17. After the limiting ball 18 enters the corresponding locking groove 181, the depth of the limiting ball 18 embedded in the elastic ring 17 increases. By limiting the locking groove 181 with the limiting ball 18, the position of the rotating ring 6 is kept stable.

[0035] As the extension rod 8 extends outward relative to the swing rod 7, the space for the fluid medium inside the swing rod 7 increases, creating a pressure difference between the inside and outside of the through hole on the swing rod 7. Under the action of this pressure difference, the elastic ball 20 moves inward towards the swing rod 7, releasing the blockage of the through hole on the swing rod 7, allowing the fluid medium in the strip-shaped liquid bladder 19 to enter the swing rod 7 through the through hole. At the same time, the elastic strip 21 deforms, and after the extension rod 8 extends a specified length, it continues to extend a certain length (this length is determined by the diameter of the elastic ball 20). At this time, the elastic ball 20 is positioned relative to the elastic strip 21. Under the action of elastic force, it adheres to the annular arc surface of the through hole on the swing rod 7 and blocks the through hole of the swing rod 7 in one direction; then, it controls the extension rod 8 to retract into the swing rod 7 to the above length and then stops. During the process of the extension rod 8 retracting into the swing rod 7, the extension rod 8 squeezes the fluid medium inside the swing rod 7, causing the elastic ball 20 to move into the through hole of the swing rod 7. Finally, after deformation, the elastic ball 20 is stuck in the through hole of the swing rod 7, and at the same time, the center of the elastic ball 20 is located in the through hole of the swing rod 7. The deformation of the elastic ball 20 blocks the through hole of the swing rod 7 and locks the relative position of the extension rod 8 and the swing rod 7.

[0036] Example 2 This embodiment is a further optimization based on Embodiment 1.

[0037] See Figure 6 and Figure 7 A tension spring 22 is fixed between the swing rod 7 and the extension rod 8. When the extension rod 8 is fully extended out of the swing rod 7, the tension spring 22 is in an unstretched state. The elastic coefficient of the elastic ball 20 is greater than that of the tension spring 22. Without adjusting the center of gravity, the elastic force of the tension spring 22 cannot disengage the elastic ball 20 from the through hole of the swing rod 7. The mounting part 13 is hinged to the swing rod 7. A strip magnet 23 is fixed to one end of the mounting part 13 away from the hinge point with the swing rod 7. An electromagnet 24 is fixed to the swing rod 7 near the strip magnet 23. The electromagnet 24 is a low-temperature resistant electromagnet. The electromagnet 24 is used to repel the strip magnet 23 through magnetic repulsion, thereby causing the mounting part 13 to swing to disengage the second gear 15 from the rack 16. A torsion spring 25 is fixed between the mounting part 13 and the swing rod 7. The torsion spring 25 is used to maintain the stability of the relative position of the mounting part 13 and the swing rod 7. The counterweight ball 9 is used to strike the counterweight block 4.

[0038] The above configuration enables the following: when the platform is about to overturn, the second gear 15 is disengaged from the rack 16 by the swing of the mounting component 13, and the extension rod 8 is quickly extended by the pulling action of the tension spring 22 to quickly adjust the position of the counterweight ball 9. At the same time, after the platform has overturned, the track module 2 and the propeller module 3 are retracted into the housing 1, and the rapid movement of the counterweight ball 9 impacts the edge of the counterweight block 4, causing the platform to shake and roll, thereby freeing the platform from the overturned state.

[0039] After the platform overturns, the central processing and control module controls the track module 2 and the thruster module 3 to retract into the housing 1. Then, the second motor 14 drives the rotating ring 6 to rotate to adjust the subsequent movement path of the counterweight ball 9. The first motor 10 is started, causing the extension rod 8 to extend relative to the swing rod 7 until the elastic ball 20 releases the blockage on the through hole of the swing rod 7. At this time, the electromagnet 24 is activated, and the electromagnet 24 and the bar magnet 23 generate magnetic repulsion, pushing the mounting part 13 to swing. The mounting part 13 drives the second gear 15 to move and disengage from the rack 16. At this time, the extension rod 8 extends rapidly under the pulling action of the tension spring 22, and drives the counterweight ball 9 to move rapidly, impacting the counterweight block 4, causing the platform to shake and roll, and get out of the overturned state.

[0040] As the extension rod 8 extends relative to the swing rod 7, the fluid medium in the strip-shaped liquid bladder 19 enters the swing rod 7 through the through hole on the swing rod 7. After the counterweight ball 9 collides with the counterweight block 4, the platform shakes as a whole. To prevent the counterweight ball 9 from swinging freely within the platform and thus damping the platform's shaking, the position of the counterweight ball 9 is locked after it collides with the counterweight block 4. As the extension rod 8 extends relative to the swing rod 7, the elastic ball 20, under the elastic force of the corresponding elastic strip 21, adheres to the annular arc surface of the through hole on the swing rod 7. In this state, the fluid medium inside the strip-shaped liquid bladder 19 can flow by pushing the elastic ball 20, creating a gap between the elastic ball 20 and the through hole of the swing rod 7. However, when the fluid medium inside the swing rod 7 intends to pass through the through hole of the swing rod 7, it will push the elastic ball 20 to fit more tightly with the through hole of the swing rod 7. During this process, the elastic ball 20 plays a one-way blocking role on the fluid medium flowing through the through hole of the swing rod 7. Thus, after the counterweight ball 9 collides with the counterweight block 4, the extension rod 8 cannot retract into the swing rod 7 on its own, thereby achieving the function of locking the position of the counterweight ball 9.

[0041] Example 3 This embodiment is a further optimization based on embodiment 2.

[0042] See Figure 5 and Figure 9 The counterweight ball 9 is connected to a spring tube 26. A liquid pump 27 connected to the outside is installed on the counterweight block 4. The spring tube 26 passes through the counterweight block 4 and is connected to the liquid pump 27. The swing rod 7 is hinged to the rotating ring 6 to adapt to the volume change of the counterweight ball 9. The housing 1 is provided with a through hole connected to the outside. The liquid pump 27 is connected to the outside through the through hole on the housing 1. An insulation layer is provided on the outer periphery of the housing 1 so that the heat generated by the electronic components inside the housing 1 is stored in the housing 1. While preventing the electronic components inside the housing 1 from being damaged due to excessively low temperature, the fluid flow inside the counterweight ball 9 can be maintained by the heat generated by the operation of the electronic components.

[0043] The above setup enables the pump 27 to draw in external fluid and deliver it into the counterweight sphere 9, thereby changing the weight of the counterweight sphere 9, which in turn changes the platform's draft and grip, enhancing the platform's adaptability to the polar environment.

[0044] It should be noted that in this embodiment, the counterweight ball 9 is an elastically deformable spherical liquid bladder.

[0045] See Figure 5 and Figure 9 The outer periphery of the counterweight ball 9 is provided with several fixed metal hoops 28 arranged in a ring. The middle part of all fixed metal hoops 28 is fixedly connected to the end of the extension rod 8 near the counterweight ball 9. The fixed metal hoop 28 is composed of an arc strip and metal rings at both ends of the arc strip. The metal rings at both ends of the fixed metal hoop 28 are slidably connected to the arc strips of the corresponding movable metal hoop 29. The movable metal hoop 29 has the same shape as the fixed metal hoop 28 but is in the opposite direction. Similarly, the metal rings at both ends of the movable metal hoop 29 are slidably connected to the arc strips of the corresponding fixed metal hoop 28. The fixed metal hoop 28 and the corresponding The movable metal hoop 29 forms a ring, allowing the ring composed of the fixed metal hoop 28 and the corresponding movable metal hoop 29 to expand or shrink according to the volume change of the counterweight ball 9, thus supporting the counterweight ball 9. In this way, during the process of the extension rod 8 pushing the counterweight ball 9 to move rapidly, the fixed metal hoop 28 and the movable metal hoop 29 can disperse the squeezing force of the extension rod 8 on the counterweight ball 9, thereby preventing the counterweight ball 9 from being dented due to excessive local stress and maintaining the shape of the counterweight ball 9; both the fixed metal hoop 28 and the movable metal hoop 29 are made of elastic metal.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-source powered amphibious unmanned research platform for polar regions, characterized in that, include: A housing (1) is provided with a track module (2) and a thruster module (3) installed on the lower side of the housing (1). A counterweight block (4) is fixedly connected to the lower side of the housing (1). A cover plate (5) is fixedly connected to the housing (1). A working chamber (101) is provided between the housing (1) and the cover plate (5). A wind power generation module, a wave power generation module, a photovoltaic power generation module, a central processing and control module, and a scientific research operation module are provided in the working chamber (101). A rotating ring (6) is rotatably connected between the counterweight block (4) and the cover plate (5). A swing rod (7) is provided in the rotating ring (6). An extension rod (8) is sealed and slidably connected in the swing rod (7). A counterweight ball (9) is provided at the end of the extension rod (8) away from the rotating ring (6). The cover plate (5) is equipped with a first motor (10), the output shaft of the first motor (10) is fixedly connected to a first gear (11), the rotating ring (6) is fixedly connected to a gear ring (12), the gear ring (12) meshes with the first gear (11), the swing rod (7) is provided with a mounting part (13) near the counterweight ball (9), the mounting part (13) is equipped with a second motor (14), the output shaft of the second motor (14) is fixedly connected to a second gear (15), the extension rod (8) is fixedly connected to a rack (16) on the side near the second gear (15), the second gear (15) is used to transmit power to the rack (16); A tension spring (22) is fixed between the swing rod (7) and the extension rod (8). The mounting member (13) is hinged to the swing rod (7). A bar magnet (23) is fixed to one end of the mounting member (13) away from the hinge point with the swing rod (7). An electromagnet (24) is fixed to the swing rod (7) near the bar magnet (23). The electromagnet (24) is used to repel the bar magnet (23) by magnetic repulsion. A torsion spring (25) is fixed between the mounting member (13) and the swing rod (7). The torsion spring (25) is used to maintain the stability of the relative position between the mounting member (13) and the swing rod (7). The counterweight ball (9) is used to strike the counterweight block (4).

2. The multi-source powered amphibious unmanned research platform for polar regions according to claim 1, characterized in that, The counterweight (4) is fixed with an elastic ring (17) that is rotatably connected to the rotating ring (6). The lower side of the rotating ring (6) is provided with a locking groove (181) and two symmetrically distributed moving grooves (182). The two moving grooves (182) are located on both sides of the locking groove (181) and are connected to the locking groove (181). A limiting ball (18) is placed in the locking groove (181). In the vertical direction, the maximum distance between the locking groove (181) and the elastic ring (17) is less than the maximum distance between the moving groove (182) and the elastic ring (17).

3. The multi-source powered amphibious unmanned research platform for polar regions according to claim 2, characterized in that, The depth of the moving groove (182) is greater than the radius of the limiting ball (18), and the depth of the locking groove (181) is less than the radius of the limiting ball (18).

4. The multi-source powered amphibious unmanned research platform for polar regions according to claim 1, characterized in that, A strip-shaped liquid bladder (19) is fixedly connected to one end of the swing rod (7) away from the counterweight ball (9). The strip-shaped liquid bladder (19) contains a fluid medium. A through hole communicating with the strip-shaped liquid bladder (19) is provided at one end of the swing rod (7) away from the counterweight ball (9). An elastic ball (20) is embedded in the through hole of the swing rod (7). The elastic ball (20) is used to block the through hole of the swing rod (7). The elastic ball (20) is fixedly connected to symmetrically distributed elastic strips (21). The elastic strips (21) are fixedly connected to the inner and outer sides of the swing rod (7) respectively. The elastic strips (21) are used to pull the corresponding elastic ball (20) to reset.

5. A multi-source powered amphibious unmanned research platform for polar regions according to claim 4, characterized in that, The inner side of the through hole on the swing rod (7) is provided with an annular arc surface, which facilitates the sliding of the elastic ball (20) within the through hole of the swing rod (7).

6. The multi-source powered amphibious unmanned research platform for polar regions according to claim 4, characterized in that, The elastic coefficient of the elastic ball (20) is greater than that of the tension spring (22).

7. A multi-source powered amphibious unmanned research platform for polar regions according to claim 4, characterized in that, The counterweight ball (9) is connected to a spring tube (26), and a liquid pump (27) connected to the outside is installed on the counterweight block (4). The spring tube (26) passes through the counterweight block (4) and is connected to the liquid pump (27). The swing rod (7) is hinged to the rotating ring (6).

8. A multi-source powered amphibious unmanned research platform for polar regions according to claim 7, characterized in that, The outer periphery of the counterweight ball (9) is provided with a plurality of fixed metal hoops (28) arranged in a ring. The fixed metal hoops (28) are fixedly connected to one end of the extension rod (8) near the counterweight ball (9). The two ends of the fixed metal hoops (28) are slidably connected to movable metal hoops (29). The fixed metal hoops (28) and the corresponding movable metal hoops (29) form a ring.

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