Multi-mode four-tracked robot for rescue missions

Abstract

The application discloses a multi-mode four-tracked robot for a rescue task, and belongs to the technical field of robots. In order to solve the problems that existing rescue robots have a single movement mode, limited passing capacity in narrow space and extreme terrain conditions, and lack of limit climbing capacity, the application adopts a four-tracked configuration design of a serial chain topological structure, so that the robot has multiple operation modes, including a normal tracked moving mode on a flat or semi-flat road surface, a four-footed gait mode for crossing obstacles, a straight-through mode in a narrow space, a limit climbing mode across floors based on a guide rail, and a patrol and operation capacity after adding relevant sensors or an execution mechanical arm according to a task requirement. Through mutual cooperation of the multiple movement modes, the movement capacity of the robot is obviously improved. The application is mainly used for robots in emergency rescue tasks such as natural disasters, industrial accidents and fires.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a multi-mode four-tracked leg robot for a rescue task. BACKGROUND

[0002] In emergency rescue scenes such as natural disasters and industrial accidents, rescue robots have attracted widespread attention because they can replace humans to enter dangerous environments. At present, rescue robots are mainly divided into three categories: wheeled, tracked and legged. Among them, wheeled robots have simple structure and convenient control, but have limited terrain adaptability and obstacle crossing ability; tracked robots have strong terrain adaptability and stability, but have limited mobility and passability; legged robots have good mobility and adaptability, but have low energy utilization efficiency and high control difficulty.

[0003] In the prior art, there are many research results on hybrid mobile mechanisms:

[0004] 1. Patent CN114013524 A-2022 proposes a mobile mechanism that combines wheels and tracks, which improves the passability of the robot, but the mechanism conversion process is complex, and the adaptability in narrow spaces is still insufficient.

[0005] 2. Patent CN105383586A-2016 designs a wheel-track-leg composite mobile robot, which realizes multi-modal motion, but its structure is complex, the maintenance cost is high, and the reliability needs to be improved.

[0006] 3. Patent CN111874118A-2020 proposes an obstacle crossing robot based on a wheel-track-leg chassis, which has some innovation in obstacle crossing ability, but has low energy efficiency and long mode switching time.

[0007] 4. Patent CN117047801A-2023 proposes a dedicated inspection robot scheme, but it is mainly designed for flat ground and simple obstacle environments, and has obvious shortcomings in complex terrain adaptability.

[0008] 5. Patent CN107364506A-2017's foot-track composite four-legged robot has some breakthroughs in motion flexibility, but its control system is complex, the operation is difficult, and there are problems of instability in actual application.

[0009] The current rescue robots generally have the following main problems:

[0010] 1. Single motion mode is difficult to adapt to complex and variable rescue environments;

[0011] 2. Limited passability in narrow spaces and extreme terrain conditions;

[0012] 3. The mechanism conversion process is complicated, affecting the rescue efficiency;

[0013] 4. Lack of ability to climb steep ladders (about 60 degrees) and 90-degree straight ladders;

[0014] Therefore, it is urgent to develop a new type of rescue robot that can integrate the advantages of multiple motion modes, can climb across floors, and can quickly switch according to environmental needs. SUMMARY

[0015] The present application solves the problems of single motion mode, limited passing ability in narrow space and extreme terrain conditions, and lack of extreme climbing ability of existing rescue robots, and further provides a multi-mode four-track leg robot for rescue tasks.

[0016] A multi-mode four-track leg robot for rescue tasks, the robot includes a body and four leg units, the four leg units are evenly divided into two groups, the two groups of leg units are respectively arranged at the front and rear ends of the body, the two leg units in each group of leg units are symmetrically arranged along the center line of the width direction of the body, and one end of each leg unit is mounted on the body and rotationally connected with the body, each leg unit is provided with a sliding rail groove wheel, each leg unit is matched with the corresponding sliding rail groove through the sliding rail groove wheel, and the sliding rail groove wheel assists the leg unit to move along the length extension direction of the sliding rail groove;

[0017] Further, two rotating motors are provided on each end of the body, and the two rotating motors are symmetrically arranged along the center line of the width direction of the body, the housing of each rotating motor is fixedly connected with the body through a motor mounting seat, and the axis of the power output shaft of each rotating motor is perpendicular to the end face of the body, each leg unit is correspondingly mounted on the power output shaft of a rotating motor, and the rotating motor serves as a power source to drive the corresponding leg unit to rotate relative to the body;

[0018] Further, the leg unit includes a leg assembly and a track foot, the leg assembly is a multi-joint structure, one end of the leg assembly is mounted on the power output shaft of a rotating motor, the track foot is mounted on the other end of the leg assembly, and the sliding rail groove wheel is mounted on the leg assembly, and the sliding rail groove wheel assists the leg unit to move along the length extension direction of the sliding rail groove;

[0019] Further, the leg assembly comprises a thigh link, a hip joint, a thigh link, a knee joint, a shank link and an ankle joint, one end of the thigh link is mounted on the power output shaft of the corresponding rotating motor, one end of the thigh link is arranged on the other end of the thigh link and is rotatably connected to the thigh link through the hip joint, one end of the shank link is arranged on the other end of the thigh link and is rotatably connected to the thigh link through the knee joint, the track shoe is arranged on the other end of the shank link and is rotatably connected to the shank link through the ankle joint, the slide rail groove wheel is arranged directly above the track shoe, and the slide rail groove wheel is mounted on the extended end of the knee joint;

[0020] Further, the track shoe comprises a track, a main support frame, a driving wheel assembly and a driven wheel assembly, the main support frame is arranged on the other end of the shank link and is rotatably connected to the shank link through the ankle joint, the driving wheel assembly and the driven wheel assembly are respectively mounted on the two ends of the main support frame, and the axis of the driving wheel assembly and the axis of the driven wheel assembly are arranged in parallel, the track is sleeved on the driving wheel assembly and the driven wheel assembly and is tensioned on the driving wheel assembly and the driven wheel assembly through N weight wheel assemblies, N is a positive even number;

[0021] Further, the main support frame comprises a driving wheel mounting portion, a weight wheel mounting portion and a driven wheel mounting portion, the driving wheel mounting portion and the driven wheel mounting portion are oppositely arranged on the two ends of the weight wheel mounting portion, and the driving wheel mounting portion, the weight wheel mounting portion and the driven wheel mounting portion are integrally formed, the driving wheel assembly is correspondingly mounted on the driving wheel mounting portion, the driven wheel assembly is correspondingly mounted on the driven wheel mounting portion, the N weight wheel assemblies are evenly divided into two groups, the two groups of weight wheel assemblies are oppositely arranged on the two sides of the weight wheel mounting portion, and the N weight wheel assemblies are all mounted on the weight wheel mounting portion;

[0022] Further, the value range of N is 2-8;

[0023] Further, the driving wheel assembly comprises a driving wheel and a rotating motor, the rotating motor is embedded in the driving wheel mounting portion, the shell of the rotating motor is fixedly connected with the main support frame, the power output shaft of the rotating motor extends out of the main support frame, the driving wheel is sleeved on the power output shaft of the rotating motor, and the rotating motor drives the driving wheel to rotate forward or reversely as a power source;

[0024] Further, the driven wheel assembly comprises a driven wheel and a hub bearing, the hub bearing is embedded in the driven wheel mounting portion, the bearing outer ring of the hub bearing is fixedly connected with the main support frame, the axis of the hub bearing is arranged in parallel with the axis of the power output shaft in the rotating motor, the driven wheel is provided with an axle, the axle of the driven wheel is inserted into the bearing inner ring of the hub bearing, and the driven wheel is rotatably connected with the main support frame through the hub bearing;

[0025] Further, the load wheel assembly comprises a load wheel frame and a load wheel, the load wheel frame is arranged on the load wheel mounting portion and fixedly connected with the main support frame through bolts, and the load wheel is mounted on the load wheel frame, and the outer wheel surface of the load wheel is in close contact with the inner ring surface of the track (14);

[0026] The application has the following beneficial effects relative to the prior art:

[0027] The multi-mode four-tracked robot for rescue tasks provided by the application adopts a four-tracked configuration design of a series chain topology, and can have multiple operation modes: a conventional tracked moving mode on flat and semi-flat surfaces, a four-foot gait mode for crossing obstacles, a straight-through mode in narrow spaces, a cross-floor limit climbing mode based on a guide rail, and a patrol + operation ability after adding relevant sensors or an execution mechanical arm according to task needs. Through the cooperation of multiple motion modes, the motion ability of the robot can be significantly improved.

[0028] The multi-mode four-tracked robot for rescue tasks provided by the application adopts a modular design, is convenient to maintain, and only needs to replace the corresponding hardware module when a fault occurs, so that the maintenance time is greatly reduced. In addition, through a high-integration high-reuse lightweight design, the weight of the whole machine is reduced compared with similar products with the same function, which is beneficial to improve the motion flexibility and motion efficiency of the product. At the same time, the modular structure also makes the robot structure intuitive and simple, so that the user and the maintenance personnel can quickly master the product function. The body structure can be equipped with a controller and a sensor, so that the robot has multiple working modes such as autonomous task, personnel instruction operation, and remote operation, and has good ease of use and reliability. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 FIG. 1 is a structural schematic diagram of the multi-mode four-tracked robot;

[0030] Figure 2 FIG. 2 is a structural schematic diagram of the leg-foot unit in the multi-mode four-tracked robot;

[0031] Figure 3 FIG. 3 is a structural schematic diagram of the tracked foot in the multi-mode four-tracked robot;

[0032] Figure 4 FIG. 4 is a structural schematic diagram of the main support frame in the multi-mode four-tracked robot

[0033] Figure 5 FIG. 5 is a working schematic diagram of the multi-mode four-tracked robot when performing large-angle slope climbing;

[0034] Figure 6 FIG. 6 is a working schematic diagram of the multi-mode four-tracked robot when performing vertical climbing;

[0035] Figure 7 Fig. 1 is a schematic view of the working of the multi-mode four-track robot of the present application in vertical climbing;

[0036] Fig. 1 is a schematic view of the working of the multi-mode four-track robot of the present application in vertical climbing; DETAILED DESCRIPTION

[0037] Specific embodiment one: in combination Figures 1 to 7 In this embodiment, a multi-mode four-track robot for rescue tasks is provided, which includes a body 1 and four leg units 2. The four leg units 2 are evenly divided into two groups, and the two groups of leg units 2 are arranged at the front and rear ends of the body 1, respectively. The two leg units 2 in each group of leg units 2 are symmetrically arranged along the center line of the width direction of the body 1, and one end of each leg unit 2 is mounted on the body 1 and rotationally connected with the body 1. Each leg unit 2 is provided with a slide groove wheel 7, and each leg unit 2 is matched with the corresponding slide groove through the slide groove wheel 7. The slide groove wheel 7 assists the leg unit 2 to move along the length extension direction of the slide groove.

[0038] In this embodiment, the body 1 is installed with a robot control system, a power supply system, and related hardware devices such as external sensors, and the four leg units 2 are controlled by the system module integrated in the body 1. The slide groove wheel 7 extends into the slide groove during work and clamps the slide groove together with the foot in the leg unit 2. On the one hand, it plays a role in motion guidance, and on the other hand, it strengthens the close cooperation between the foot in the leg unit 2 and the slide groove, thereby improving the stability of the robot in large-angle climbing or vertical climbing.

[0039] Specific embodiment two: in combination Figures 1 to 7 In this embodiment, the difference from the specific embodiment one is that two rotary motors are arranged on each end of the body 1, and the two rotary motors are symmetrically arranged along the center line of the width direction of the body 1. The housing of each rotary motor is fixedly connected with the body 1 through a motor mounting seat, and the axis of the power output shaft of each rotary motor is arranged perpendicular to the end face of the body 1. Each leg unit 2 is correspondingly mounted on the power output shaft of a rotary motor, and the rotary motor serves as a power source to drive the corresponding leg unit 2 to rotate relative to the body 1. The other components and connection modes are the same as those of the specific embodiment one.

[0040] In this embodiment, the leg-foot unit 2 can swing left and right relative to the body 1 by rotating the motor to form a body joint between the leg-foot unit 2 and the body 1, and the three-dimensional position of the foot end can be controlled by the cooperation of the body joint, the hip joint, and the knee joint, thereby improving the degree of freedom of the leg-foot unit 2 during operation and expanding the working range of the rescue robot, so that the rescue robot can move more flexibly in a small area.

[0041] Specific embodiment three: combination Figures 1 to 7 In this embodiment, the leg-foot unit 2 includes a leg assembly and a track foot 10. The leg assembly is a multi-joint structure. One end of the leg assembly is installed on the power output shaft of a rotating motor. The track foot 10 is installed on the other end of the leg assembly. The slide rail groove wheel 7 is installed on the leg assembly and assists the leg-foot unit 2 to move along the length direction of the slide rail groove. The other components and connection modes are the same as those in the second specific embodiment.

[0042] Specific embodiment four: combination Figures 1 to 7 In this embodiment, the leg assembly includes a thigh link 3, a hip joint 4, a thigh link 5, a knee joint 6, a calf link 8, and an ankle joint 9. One end of the thigh link 3 is installed on the power output shaft of a corresponding rotating motor. One end of the thigh link 5 is arranged on the other end of the thigh link 3 and is rotatably connected to the thigh link 3 through the hip joint 4. One end of the calf link 8 is arranged on the other end of the thigh link 5 and is rotatably connected to the thigh link 5 through the knee joint 6. The track foot 10 is arranged on the other end of the calf link and is rotatably connected to the calf link 8 through the ankle joint 9. The slide rail groove wheel 7 is arranged directly above the track foot 10 and is installed on the extension end of the knee joint 6. The other components and connection modes are the same as those in the third specific embodiment.

[0043] Specific embodiment five: combination Figures 1 to 7 In this embodiment, the track foot 10 includes a track 14, a main support frame 19, a driving wheel assembly, and a driven wheel assembly. The main support frame 19 is arranged on the other end of the calf link and is rotatably connected to the calf link 8 through the ankle joint 9. The driving wheel assembly and the driven wheel assembly are installed on the two ends of the main support frame 19, respectively. The axis of the driving wheel assembly is arranged in parallel with the axis of the driven wheel assembly. The track 14 is sleeved on the driving wheel assembly and the driven wheel assembly and is tensioned by the N weight wheel assemblies. N is a positive even number. The other components and connection modes are the same as those in the fourth specific embodiment.

[0044] Specific embodiment six: combination Figures 1 to 7The difference between the embodiment and the fifth embodiment is that the main support frame 19 comprises the driving wheel mounting portion 11, the load wheel mounting portion 12, and the driven wheel mounting portion 13, the driving wheel mounting portion 11 and the driven wheel mounting portion 13 are oppositely arranged at both ends of the load wheel mounting portion 12, and the driving wheel mounting portion 11, the load wheel mounting portion 12, and the driven wheel mounting portion 13 are integrally formed, the driving wheel assembly is correspondingly arranged on the driving wheel mounting portion 11, the driven wheel assembly is correspondingly arranged on the driven wheel mounting portion 13, the N load wheel assemblies are evenly divided into two groups, the two groups of load wheel assemblies are oppositely arranged on both sides of the load wheel mounting portion 12, and the N load wheel assemblies are arranged on the load wheel mounting portion 12. The other components and connection modes are the same as those in the fifth embodiment.

[0045] It is illustrated in combination with the third embodiment to the sixth embodiment that the joint structures involved in the leg assembly are all rotor motors, each joint structure can improve one degree of freedom of the leg-foot unit 2, cooperates with the body joints on the body 1, and combines the driving end of the driving wheel assembly to make the leg-foot unit 2 have a total of five degrees of freedom for adjustment and transformation, so as to improve the adaptability of the leg-foot unit 2 to different working environments, the design of the track foot 10 can effectively increase the contact area between the foot end and the running plane, and ensure the stability of the biped or quadruped when moving the robot, the slide rail groove wheel 7 is inserted in the slide rail groove when working, and the track 14 in the track foot 10 is tightly attached to the slide rail groove through the load wheel assembly, and the slide rail groove is clamped inside and outside by the slide rail groove wheel 7 and the track 14, thereby ensuring the accuracy of the robot motion trajectory.

[0046] The seventh embodiment is described as follows. Figures 1 to 7 The difference between the embodiment and the sixth embodiment is that the value of N is 2-8. The other components and connection modes are the same as those in the sixth embodiment.

[0047] The eighth embodiment is described as follows. Figures 1 to 7 The difference between the embodiment and the seventh embodiment is that the driving motor 16 is embedded in the driving wheel mounting portion 11, the shell of the driving motor 16 is fixedly connected with the main support frame 19, the power output shaft of the driving motor 16 extends out of the main support frame 19, the driving wheel 15 is sleeved on the power output shaft of the driving motor 16, and the driving motor 16 drives the driving wheel 15 to rotate forward or reversely as a power source. The other components and connection modes are the same as those in the seventh embodiment.

[0048] The ninth embodiment is described as follows. Figures 1 to 7The embodiment is described, and the difference between the embodiment and the eighth embodiment is that the driven wheel assembly includes a driven wheel 20 and a hub bearing 21, the hub bearing 21 is embedded in the driven wheel mounting portion 13, the bearing outer ring of the hub bearing 21 is fixedly connected with the main support frame 19, the axis of the hub bearing 21 is arranged in parallel with the axis of the power output shaft in the driving motor 16, the wheel shaft on the driven wheel 20 is inserted into the bearing inner ring of the hub bearing 21, and the driven wheel 20 is rotationally connected with the main support frame 19 through the hub bearing 21. The other components and connection modes are the same as those in the eighth embodiment.

[0049] The tenth embodiment is described. Figures 1 to 7 The embodiment is described, and the difference between the embodiment and the ninth embodiment is that the load wheel assembly includes a load wheel frame 17 and a load wheel 18, the load wheel frame 17 is arranged on the load wheel mounting portion 12 and fixedly connected with the main support frame 19 through bolts, the load wheel 18 is mounted on the load wheel frame 17, and the outer wheel surface of the load wheel 18 is in close contact with the inner annular surface of the track 14. The other components and connection modes are the same as those in the ninth embodiment.

[0050] In the embodiment, the load wheel frame 17 is a groove structure with a U-shaped end face, the closed end of the load wheel frame 17 is fixedly connected with the main support frame 19 through bolts, and the load wheel 18 is embedded on the open end of the load wheel frame 17. In actual application, the load wheel 18 can be multiple, which can simultaneously tension and support the track 14 through multiple load wheels 18, and is also beneficial to improve the tensioning effect and ensure the stability of the cooperation between the track 14 and the slide rail groove wheel 7.

[0051] The application has been disclosed as above in the preferred embodiments, however, not for limiting the application, any person skilled in the art can make some changes or modifications to the above-mentioned disclosed structures and technical contents without departing from the technical solution range of the application to obtain equivalent embodiments with equivalent changes, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the application are still within the technical solution range of the application.

[0052] Working principle

[0053] In use, first, the components are assembled together according to the connection relationship described in the first embodiment to the tenth embodiment to form a multi-mode four-tracked robot. According to several working conditions in actual application, the corresponding working modes of the robot are described as follows:

[0054] First, when moving in a plane, the robot structure of the application can refer to Figure 1In the state described in the above, the overall height of the robot is adjusted by adjusting the folding state of the leg assembly corresponding to each track foot 10 to achieve the purpose of effective obstacle avoidance;

[0055] Second: when climbing a large angle slope or vertically, the robot structure of the present application can refer to Figures 5 to 7 In the state described in the above, the two front leg foot units 2 in the robot move preferentially, and the posture of the leg assembly is adjusted by driving each joint in the leg assembly, the purpose of which is to ensure that the slide rail groove wheel 7 accurately corresponds to the slide rail groove while the track foot 10 contacts the working surface of the slide rail groove. When the track foot 10 moves along the length extension direction of the slide rail groove, the slide rail groove wheel 7 will accurately embed into the slide rail groove and guide the movement trajectory of the robot. When the four track feet 10 in the robot move on the slide rail groove, each slide rail groove wheel 7 cooperating with the track 14 of the corresponding track foot 10 can provide a certain clamping force to the slide rail groove. The gravity of the robot is overcome by the clamping force and the friction force between the track and the slide rail groove to ensure the stability of the climbing movement or the climbing movement.

Claims

1. A multi-mode four-track robot for rescue missions, the robot comprising a body (1) and four leg units (2), characterized in that: Four leg units (2) are evenly divided into two groups, and the two groups of leg units (2) are arranged at the front and rear ends of the fuselage (1) respectively. Two leg units (2) in each group of leg units (2) are symmetrically arranged along the center line of the width direction of the fuselage (1), and one end of each leg unit (2) is mounted on the fuselage (1) and rotatably connected with the fuselage (1). Each leg unit (2) comprises a leg assembly and a track foot (10). A sliding rail groove wheel (7) is arranged on each leg unit (2), and the sliding rail groove wheel (7) is mounted on the leg assembly. Each leg unit (2) cooperates with the corresponding sliding rail groove through the sliding rail groove wheel (7), and the sliding rail groove wheel (7) assists the leg unit (2) to move along the length extension direction of the sliding rail groove.

2. The multi-mode four-tracked robot for rescue missions according to claim 1, characterized in that: Two rotating motors are arranged on each end of the fuselage (1), and the two rotating motors are symmetrically arranged along the center line of the width direction of the fuselage (1). The housing of each rotating motor is fixedly connected with the fuselage (1) through a motor mounting seat, and the axis of the power output shaft of each rotating motor is arranged perpendicularly to the end face of the fuselage (1). Each leg unit (2) is correspondingly mounted on the power output shaft of a rotating motor, and the rotating motor drives the corresponding leg unit (2) to rotate relative to the fuselage (1) as a power source.

3. The multi-mode four-tracked robot for rescue missions according to claim 1, characterized in that: The leg assembly is a multi-joint structure, one end of the leg assembly is mounted on the power output shaft of a rotating motor, and the track foot (10) is mounted on the other end of the leg assembly.

4. The multi-mode four-tracked robot for rescue missions according to claim 3, characterized in that: The leg assembly comprises a thigh link (3), a hip joint (4), a thigh link (5), a knee joint (6), a calf link (8) and an ankle joint (9). One end of the thigh link (3) is mounted on the power output shaft of the corresponding rotating motor. One end of the thigh link (5) is arranged on the other end of the thigh link (3) and rotatably connected with the thigh link (3) through the hip joint (4). One end of the calf link (8) is arranged on the other end of the thigh link (5) and rotatably connected with the thigh link (5) through the knee joint (6). The track foot (10) is arranged on the other end of the calf link and rotatably connected with the calf link (8) through the ankle joint (9). The sliding rail groove wheel (7) is arranged directly above the track foot (10), and the sliding rail groove wheel (7) is mounted on the extended end of the knee joint (6).

5. The multi-mode four-tracked robot for rescue missions according to claim 4, characterized in that: The track foot (10) comprises a track (14), a main support frame (19), a driving wheel assembly and a driven wheel assembly. The main support frame (19) is arranged on the other end of the calf link and rotatably connected with the calf link (8) through the ankle joint (9). The driving wheel assembly and the driven wheel assembly are mounted on the two ends of the main support frame (19) respectively, and the axis of the driving wheel assembly is arranged in parallel with the axis of the driven wheel assembly. The track (14) is sleeved on the driving wheel assembly and the driven wheel assembly and is tensioned on the driving wheel assembly and the driven wheel assembly through N weight wheel assemblies, and N is a positive even number.

6. The multi-mode four-tracked robot for rescue missions according to claim 5, characterized in that: The main support frame (19) comprises a driving wheel mounting portion (11), a load wheel mounting portion (12) and a driven wheel mounting portion (13), the driving wheel mounting portion (11) and the driven wheel mounting portion (13) are oppositely arranged at two ends of the load wheel mounting portion (12), and the driving wheel mounting portion (11), the load wheel mounting portion (12) and the driven wheel mounting portion (13) are integrally formed, the driving wheel assembly is correspondingly mounted on the driving wheel mounting portion (11), the driven wheel assembly is correspondingly mounted on the driven wheel mounting portion (13), and the N load wheel assemblies are evenly divided into two groups, the two groups of load wheel assemblies are oppositely arranged at two sides of the load wheel mounting portion (12), and the N load wheel assemblies are all mounted on the load wheel mounting portion (12).

7. The multi-mode four-tracked robot for rescue missions according to claim 6, characterized in that: The value range of N is 2-8.

8. The multi-mode four-tracked robot for rescue missions according to claim 7, characterized in that: The driving wheel assembly comprises a driving wheel (15) and a driving motor (16), the driving motor (16) is embedded in the driving wheel mounting portion (11), the shell of the driving motor (16) is fixedly connected with the main support frame (19), the power output shaft of the driving motor (16) extends out of the main support frame (19), the driving wheel (15) is sleeved on the power output shaft of the driving motor (16), and the driving motor (16) drives the driving wheel (15) to rotate in a forward direction or a reverse direction as a power source.

9. The multi-mode four-tracked robot for rescue missions according to claim 8, characterized in that: The driven wheel assembly comprises a driven wheel (20) and a hub bearing (21), the hub bearing (21) is embedded in the driven wheel mounting portion (13), the bearing outer ring of the hub bearing (21) is fixedly connected with the main support frame (19), the axis of the hub bearing (21) is arranged in parallel with the axis of the power output shaft in the driving motor (16), the driven wheel (20) is provided with an axle, the axle of the driven wheel (20) is inserted into the bearing inner ring of the hub bearing (21), and the driven wheel (20) is rotationally connected with the main support frame (19) through the hub bearing (21).

10. The multi-mode four-tracked robot for rescue missions according to claim 9, characterized in that: The load wheel assembly comprises a load wheel frame (17) and a load wheel (18), the load wheel frame (17) is arranged on the load wheel mounting portion (12) and is fixedly connected with the main support frame (19) through bolts, the load wheel (18) is mounted on the load wheel frame (17), and the outer wheel surface of the load wheel (18) is in close contact with the inner annular surface of the track (14).

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