A remotely operated heavy-duty rescue robot system with automatic equipment changing and control method

Abstract

This invention discloses a remotely operated heavy-duty rescue robot system with automatic loading and unloading capabilities. It includes an electrically controlled arm, a hydraulic arm, and a tool magazine. The tool magazine includes a slide fixed to the vehicle body, a tooling bracket that moves along the slide, and an adjusting hydraulic rod hinged between the vehicle body and the tooling bracket. The tool magazine includes several large-load and small-load operating heads placed on the tooling bracket. Both the large-load and small-load operating heads are equipped with quick-change connectors (first docking parts). The electrically controlled arm and the hydraulic arm are each equipped with quick-change connectors (second docking parts). The electrically controlled arm engages with the small-load operating head, and the hydraulic arm engages with the large-load operating head. The electrically controlled arm and the hydraulic arm are controlled via a remote control console for operation and quick-change of operating heads. Through the coordinated operation of both arms and automatic loading and unloading, this system changes the traditional fixed rescue mode of robots, enabling the robot to make reasonable adjustments according to different situations during a rescue operation, thereby significantly improving the success rate of rescues.

Description

Technical Field

[0001] This invention relates to unmanned rescue robots, specifically to a remotely operated heavy-duty rescue robot system and control method with automatic equipment changing capability. Background Technology

[0002] In collapse scenarios, the uncertainty and complexity of the environment pose significant risks. Direct entry by rescue personnel could expose them to hazardous conditions and present numerous safety hazards. Furthermore, complex terrain and harsh environments hinder the rapid arrival of rescue personnel and equipment, thus prolonging the rescue process. Existing rescue robots, on the other hand, have limited functionality and efficiency. Summary of the Invention

[0003] Purpose of the invention: To address the above problems, this invention provides an automated, remotely operated, heavy-duty rescue robot system and control method for improving rescue efficiency.

[0004] The present invention also provides a control method for the above-mentioned teleoperated heavy-duty rescue robot system.

[0005] Technical Solution: To solve the above problems, this invention employs an automatically changing, remotely operated heavy-duty rescue robot system, including a vehicle body, an electrically controlled arm, a hydraulic arm, and a tool magazine mounted on the vehicle body. The tool magazine includes a slide fixedly mounted on the vehicle body, a tooling bracket that moves along the slide, and an adjusting hydraulic rod. One end of the adjusting hydraulic rod is hinged to the vehicle body, and the other end is hinged to the tooling bracket. The extension and retraction of the adjusting hydraulic rod drives the tooling bracket to move along the slide. The tool magazine includes several large-load operating heads and small-load operating heads placed on the tooling bracket. Both the main operating head and the small-load operating head are equipped with quick-change connectors with first docking parts. The ends of the electric control arm and the hydraulic arm are equipped with quick-change connectors with second docking parts. The second docking part of the quick-change connector of the electric control arm mates with the first docking part of the quick-change connector of the small-load operating head, and the second docking part of the quick-change connector of the hydraulic arm mates with the first docking part of the quick-change connector of the large-load operating head. The electric control arm and the hydraulic arm are controlled by a remote control console to perform operations and quick-change of operating heads. When the electric control arm or the hydraulic arm changes the operating head, the extension and retraction of the hydraulic rod drives the tooling bracket to unfold along the side of the vehicle body.

[0006] Furthermore, the first mating part of the quick-connect coupling includes a mounting base plate, mounting side plates fixedly disposed on both sides of the mounting base plate extending in the same direction, a mating shaft, and a first mating valve block. The two mounting side plates are symmetrically arranged, the mating shaft passes through the two mounting side plates, and the first mating valve block is fixedly disposed on the mounting base plate, with a mating rod having an axis parallel to the mounting base plate on the first mating valve block. The second mating part of the quick-connect coupling includes two fixedly and symmetrically arranged mating side plates and a second mating valve block. The two mating side plates are symmetrically arranged and have mating grooves. The upper mating valve block includes a component fixedly connected to the mating side plates. The quick-connect coupling consists of a fixed part, a driving hydraulic rod, and a docking part. One end of the driving hydraulic rod is connected to the fixed part, and the other end is connected to the docking part. The driving hydraulic rod drives the docking part to move closer to or away from the fixed part. The docking part is provided with a docking hole that mates with the docking rod. When the second docking part of the quick-connect coupling mates with the first docking part of the quick-connect coupling, the docking groove is positioned on the docking shaft. The docking side plate rotates around the docking shaft until the extension direction of the docking rod is parallel to the extension direction of the docking hole. The driving hydraulic rod drives the docking part away from the fixed part while moving closer to the first docking valve block. The docking rod is inserted into the docking hole to achieve docking.

[0007] Furthermore, the docking part is fixedly connected to the guide rod, the fixing part is provided with a through hole for the guide rod to pass through, and the guide rod is sleeved with a spring, which is located between the fixing part and the docking part.

[0008] Furthermore, the large-load operating head includes a hydraulic clamp and a rotary drilling bit, while the small-load operating head includes a mechanical gripper and an auxiliary robot. The auxiliary robot is equipped with a life detector. The mechanical gripper assists rescuers in efficient rescue operations, including using its precise gripping and positioning functions to grab obstacles around the trapped person, creating a rescue path, or accurately delivering rescue supplies to the trapped person. The auxiliary robot enables precise search and rescue of trapped individuals, ensuring accuracy and effectiveness through adjustments to the robot's posture and position. The life detector captures and analyzes weak life signals emitted by the trapped person. The rotary drilling bit effectively breaks down hard materials such as rocks and concrete through its high-speed rotation and powerful impact. The hydraulic clamp, with its strong gripping and shearing forces, quickly breaks down obstacles to create a path for rescuers.

[0009] Furthermore, the tool library includes a left tool library and a right tool library, which are symmetrically arranged on both sides of the vehicle body. The left tool library includes a left slide, a left tooling bracket set on the left slide, and a left adjusting hydraulic rod. The right tool library includes a right slide, a right tooling bracket set on the right slide, and a right adjusting hydraulic rod. The left and right slides are fixedly and symmetrically arranged on both sides of the vehicle body. One end of the left adjusting hydraulic rod is hinged to the vehicle body, and the other end is hinged to the left tooling bracket. One end of the right adjusting hydraulic rod is hinged to the vehicle body, and the other end is hinged to the right tooling bracket. The left tooling bracket is used to place the mechanical gripper and the auxiliary robot, and the right tooling bracket is used to place the hydraulic clamp and the rotary drilling bit.

[0010] Furthermore, the auxiliary robot includes several articulated robotic arms to achieve control of 6 degrees of freedom, including the degree of freedom of movement along the X-axis, Y-axis, and Z-axis, and the degree of freedom of rotation around the X-axis, Y-axis, and Z-axis.

[0011] Furthermore, the electrically controlled arm includes a first base, a first upper arm, a first lower arm, and a first connecting piece disposed on the vehicle body. The first base rotates relative to the vehicle body around a vertical axis. One end of the first upper arm is hinged to the first base, and the other end is hinged to the first lower arm. One end of the first lower arm is hinged to the first connecting piece. The upper arm shaft is connected to the first base via an electric telescopic rod. The extension and retraction of the electric telescopic rod causes the upper arm to rotate around the first base. One end of the first lower arm is connected to the upper arm shaft via an electric telescopic rod. The extension and retraction of the electric telescopic rod causes the lower arm to rotate around the upper arm. The other end of the first connecting piece is connected to the lower arm shaft via an electric telescopic rod. The extension and retraction of the electric telescopic rod causes the connecting piece to rotate around the lower arm. The other end of the first connecting piece is hinged to the docking side plate of the second docking part of the quick-connect coupling via a connecting rod. The docking side plate is hinged to the lower arm. The rotation of the first connecting piece around the lower arm causes the docking side plate to rotate around the lower arm.

[0012] Furthermore, the hydraulic arm includes a second base, a second upper arm, a second lower arm, and a second connecting plate mounted on the vehicle body. The second base rotates relative to the vehicle body around a vertical axis. One end of the second upper arm is hinged to the second base, and the other end is hinged to the second lower arm. One end of the second lower arm is hinged to the second connecting plate. The upper arm is connected to the second base via a hydraulic rod. The extension and retraction of the hydraulic rod causes the upper arm to rotate around the second base. One end of the second lower arm is connected to the upper arm via a hydraulic rod. The extension and retraction of the hydraulic rod causes the lower arm to rotate around the upper arm. The other end of the second connecting plate is connected to the lower arm via a hydraulic rod. The extension and retraction of the hydraulic rod causes the connecting plate to rotate around the lower arm. The other end of the second connecting plate is hinged to the docking side plate of the second docking part of the quick-connect coupling via a connecting rod. The docking side plate is hinged to the lower arm. The rotation of the second connecting plate around the lower arm causes the docking side plate to rotate around the lower arm.

[0013] Furthermore, a positioning device and a vision device are installed on the vehicle body. The positioning device is used to obtain the real-time position of the vehicle body, and the vision device is used to obtain environmental images in front of the vehicle body.

[0014] This invention also employs a control method for a remotely operated heavy-duty rescue robot system, comprising the following steps:

[0015] Step 1: Two drones scan the collapse scene to build a three-dimensional model, thereby obtaining the terrain information of the disaster area. The remote control console acquires the data collected by the positioning and vision devices to obtain the real-time position of the vehicle and the environmental image in front of the vehicle.

[0016] Step 2: Determine the required operation based on the environmental image in front of the vehicle, and select the appropriate operating head for the electric control arm and hydraulic arm based on the required operation;

[0017] Step 3: When it is necessary to change the operating head, control the tool magazine to extend outward according to the selected operating head, control the electric or hydraulic arm to rotate to the tool magazine, place the unnecessary operating head on the tooling bracket, disconnect the second docking part of the quick-change connector from the first docking part of the quick-change connector, and select the required operating head to dock the second docking part of the quick-change connector from the first docking part of the quick-change connector.

[0018] Step 4: Perform the corresponding operations for the rescue environment according to the selected operating head;

[0019] Step 5: Repeat steps 1 and 4 until the rescue operation is completed.

[0020] First, two drones scanned the collapse site to construct a 3D model, thus obtaining terrain information of the disaster area. A BeiDou GNSS receiver was also installed on the rescue robot. The receiver received signals from BeiDou satellites and calculated the precise location of the rescue robot. Furthermore, the BeiDou GNSS receiver was integrated with the robot's navigation system to achieve real-time path planning and guidance. The rescue robot was transported two kilometers away from the disaster area, and then autonomously drove into the disaster area according to the planned route.

[0021] Once the rescue robot enters the scene, it transmits the real-time environmental data to the control terminal via a remote control console. The operator then controls the robot from a remote cockpit. The robot's two arms are electrically driven and hydraulically driven, respectively. The electrically driven arm is mainly equipped with an auxiliary robot, a life detector, and a mechanical gripper; the hydraulic arm is equipped with hydraulic clamps and a rotary drill bit. The operator can control the robot to autonomously change tools from the tool magazine based on the situation. To avoid singularities during tool changes, the tool magazine is designed to extend to both sides, facilitating tool changes by both arms. Both arms are equipped with quick-change connectors to ensure rapid tool changes during operation. The multi-degree-of-freedom design avoids the clumsy movements of traditional robot arms, allowing the operator to adjust the robot's posture according to the environment, thus penetrating deeper into the landslide area and increasing the rescue success rate.

[0022] The rescue robot is equipped with four types of tooling: a mechanical gripper, a life detector, a hydraulic shears, and a rotary drill bit. The first two are mounted on the electrically controlled arm, while the latter two are mounted on the hydraulic arm. The tooling on the two arms can be used in pairs as needed to improve rescue efficiency.

[0023] The remote cockpit is a new driving mode that combines virtual reality (VR) technology and remote communication technology, allowing operators to control rescue robots remotely via VR devices.

[0024] Beneficial Effects: Compared to existing technologies, the significant advantage of this invention is that by using two arms to work collaboratively and automatically change equipment, it changes the traditional fixed rescue mode of robots. This allows the robot to make reasonable adjustments according to different situations during a rescue process, thereby greatly improving the success rate of the rescue. At the first moment of a collapse, the remote rescue robot enters the site based on satellite positioning to collect information and feeds it back to the control terminal in real time. Rescue personnel then rationally allocate personnel and resources based on this information. This greatly improves rescue efficiency and saves rescue time, while also ensuring the safety of rescue personnel. The remote VR cockpit integrates VR headsets, control handles, and remote communication modules to enable real-time control between the driver and the rescue robot. After wearing the VR device, the driver can experience the driving environment of the rescue robot in an immersive way and control the robot using the control handles. The remote communication module is responsible for transmitting the driver's commands to the robot in real time and simultaneously feeding back the robot's real-time status to the driver. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the remotely operated heavy-duty rescue robot system in this invention.

[0026] Figure 2 This is a schematic diagram of the overall structure of the remotely operated heavy-duty rescue robot in this invention.

[0027] Figure 3 This is a top view of the teleoperated heavy-duty rescue robot of the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the robotic arm in this invention.

[0029] Figure 5 This is a schematic diagram of the structure of the robot hydraulic arm in this invention.

[0030] Figure 6 This is a schematic diagram of the overall structure of the tooling bracket in this invention.

[0031] Figure 7 This is a three-dimensional structural diagram of the small-load operating head placed on the tooling bracket in this invention.

[0032] Figure 8 This is a three-dimensional structural diagram of the large-load operating head placed on the tooling bracket in this invention.

[0033] Figure 9 This is a schematic diagram of the quick-change tooling connector in this invention.

[0034] Figure 10 This is a schematic diagram of the tooling quick-change mechanism for the electric control arm in this invention. Detailed Implementation

[0035] Depend on Figure 1 and Figure 2 As shown, this embodiment presents an automatically changing, remotely operated heavy-duty rescue robot system, including a left electric control arm 1, a right hydraulic arm 2, a remote control console 3, a vehicle body 4, and a tool magazine. The operator remotely operates the rescue robot from the cockpit 100.

[0036] like Figure 3 As shown, the tool library includes a left tool library 5 and a right tool library 20. The left tool library 5 and the right tool library 20 are symmetrically arranged on both sides of the vehicle body. The left tool library 5 includes a left slide 9, a left tooling bracket 7 set on the left slide 9, and a left adjusting hydraulic rod 10. The right tool library 20 includes a right slide 24, a right tooling bracket 23 set on the right slide 24, and a right adjusting hydraulic rod 25.

[0037] The left tooling bracket 7 is fixed on the left tool magazine 5 and moves together with the tool magazine. The mechanical gripper 6 and the life detector 8 are placed on the left tooling bracket 7 to facilitate quick equipment changes for the rescue robot.

[0038] The left slide 9 includes a slider 12 and a fixing block 13; the left hydraulic rod 10 includes a sliding rod 14, a sleeve 15, and a fixing rod 27. The fixing block 13 in the left slide 9 is fixed to the vehicle body 4, providing both support for the left tool magazine 5 and a platform for the slider 12 to move. The slider 12 extends along the fixing block 13 to both sides, ensuring the stability of the left tool magazine 5 when opened. Under the action of the fixing rod 27, the sleeve 15 of the left hydraulic rod 10 can rotate at a certain angle, while the sliding rod 14 can extend, allowing the left tool magazine 5 to open smoothly.

[0039] like Figure 3 As shown, the right tooling bracket 23 is fixed on the right tool magazine 20 and moves together with the tool magazine. The hydraulic shears 21 and the rotary drill bit 22 are placed on the right tooling bracket 23 for easy loading and unloading by the rescue robot.

[0040] The right slide 24 includes a slider 19 and a fixed block 18; the right hydraulic rod 25 includes a slide rod 17, a sleeve 16, and a fixed rod 27. The motion principle is the same as that on the left side.

[0041] like Figure 4 As shown, the left electrically controlled arm 11 includes a first base 29, a first guide cylinder 30, a first electric telescopic rod 31, a first upper arm 32, a first lower arm 33, a first connecting piece 34, a second guide cylinder 36, a second electric telescopic rod 37, a third guide cylinder 38, a third electric telescopic rod 39, a quick-connect coupling 35, an auxiliary robot 99, and a life detector 8. The first upper arm 32 and the first guide cylinder 30 are mounted on the first base 29, and the first upper arm 32 can rotate around the first base 29. The first electric telescopic rod 31 connects the first upper arm 32 and the first guide cylinder 30, realizing the lifting and lowering of the first upper arm 32. The second guide cylinder 36 is fixed on the first upper arm 32 and connected to the first lower arm 33 through the second electric telescopic rod 37, thereby realizing the movement of the first lower arm 33 along the Z direction. The third guide tube 38 is fixed on the first forearm 33 and connected to the quick-change connector 35 through the third electric telescopic rod 39. The first connecting piece 34 connects the first forearm 33 and the third electric telescopic rod 39. Through coordination, the end life detector 8 can change various postures to complete the rescue mission.

[0042] like Figure 5As shown, the hydraulic arm 26 of the right hydraulic arm 2 includes a second base 40, a first sleeve 41, a first hydraulic rod 42, a second upper arm 43, a second sleeve 44, a second hydraulic rod 45, a second lower arm 46, a third sleeve 47, a third hydraulic rod 48, a second connecting piece 49, a quick-connect coupling 35, and a hydraulic clamp 21. The second upper arm 43 and the first sleeve 41 are mounted on the second base 40, and the second upper arm 43 can rotate around the second base 40. The first hydraulic rod 42 connects the second upper arm 43 and the first sleeve 41, realizing the lifting and lowering of the second upper arm 43. The second sleeve 44 is fixed on the second upper arm 43 and connected to the second lower arm 46 through the second hydraulic rod 45, thereby realizing the movement of the second lower arm 46 along the Z direction. The third sleeve 47 is fixed on the second forearm 46 and connected to the quick-change connector 35 via the third hydraulic rod 48. The second connecting piece 49 connects the second forearm 46 and the third hydraulic rod 48. Through coordination, the end hydraulic clamp 21 can change various postures to complete the rescue mission.

[0043] like Figure 6 As shown, the left tool magazine 5 and the right tool magazine 20 have identical structures, differing only in the placement of the tooling. The automatic tool magazine includes a housing 69 and a tooling bracket 65. The tooling bracket includes a mounting block 64, a support frame 65, a support plate 66, and a fixing block 67. The mounting block 64 is fixed to the housing 69, and the support frame 65 is connected to the mounting block 64 and the support plate 66. The fixing block 67 is mounted above the support plate 66.

[0044] like Figure 7 As shown, the left tool magazine 5 of the electric control arm 11 includes a quick-change connector 35, a mechanical gripper 6, and a life detector 8. The life detector 8 and the mechanical gripper 6 are placed on the work support 65, and the quick-change connector 35 is installed on the life detector 8 and the mechanical gripper 6 to facilitate the automatic changing of tooling by the electric control arm 11.

[0045] like Figure 8 As shown, the right tool magazine 20 of the hydraulic arm 26 includes a quick-change connector 35, a hydraulic tongs 21, and a rotary drilling bit 22. The hydraulic tongs 21 and the rotary drilling bit 22 are placed on the work support 65, and the quick-change connector 35 is installed on the hydraulic tongs 21 and the rotary drilling bit 22 to facilitate automatic tooling changes by the electric control arm 11.

[0046] like Figure 9As shown, the quick-connect coupling 35 includes a first docking portion 351 and a second docking portion 352. The first docking portion 351 includes a mounting base plate 51, mounting side plates 52 fixedly disposed on both sides of the mounting base plate 51 extending in the same direction, a docking shaft 53, and a first docking valve block 54. The two mounting side plates 52 are symmetrically arranged, and the docking shaft 53 passes through the two mounting side plates 52. The first docking valve block 54 is fixedly disposed on the mounting base plate 51, and a docking rod 511 with an axis parallel to the mounting base plate 51 is provided on the first docking valve block 54. The second docking portion includes two fixedly and symmetrically arranged docking side plates 61 and a second docking valve block 62. The two docking side plates 61 are symmetrically arranged and are provided with docking grooves 611. The system includes a fixing part 621 fixedly connected to the docking side plate 61, a driving hydraulic rod 622, and a docking part 623. One end of the driving hydraulic rod 622 is connected to the fixing part 621, and the other end is connected to the docking part 623. The driving hydraulic rod 622 drives the docking part 623 to move closer to or away from the fixing part 621. The docking part 623 is provided with a docking hole that mates with the docking rod 511. When the second docking part of the quick-change connector mates with the first docking part of the quick-change connector, the docking groove is positioned on the docking shaft 53. The docking side plate 61 rotates around the docking shaft 53 until the extension direction of the docking rod is parallel to the extension direction of the docking hole. The driving hydraulic rod 622 drives the docking part away from the fixing part 621 while moving closer to the first docking valve block 54. The docking rod is inserted into the docking hole to achieve docking. A spring, a slider, and a guide sleeve are all fitted outside the guide rod 624. The spring provides shock absorption, the slider provides support, and the guide sleeve provides guidance.

[0047] like Figure 10 As shown, the driver sends an automatic tooling change command to the rescue robot via a remote cockpit. Upon receiving the command, the left slide 9 begins to unfold to the left along the vehicle body 4. Simultaneously, under the action of the fixed rod 27, the sleeve 15 of the left hydraulic rod 10 can rotate at a certain angle, and the slide rod 14 can extend, allowing the left tool magazine 5 to open smoothly. At this time, the electric control arm 11 moves to the top of the left tool magazine 5, ready to change the tooling. The electric control arm 11 adjusts its posture to align the end quick-change connector 35 with the quick-change head 35 on the mechanical gripper 6, and then descends to lock the quick-change connector 35, thus completing the automatic tooling change operation.

[0048] The basic execution flow of a remotely operated heavy-duty rescue robot system with automatic equipment changing is as follows:

[0049] The first step is terrain surveying. Two drones scan the collapse scene to build a three-dimensional model and obtain terrain information of the disaster area.

[0050] The second step is to enter the site. The rescue robot autonomously drives into the disaster area according to the route planned by the Beidou GNSS receiver, while transmitting the site environment in real time.

[0051] The third step involves determining the required operation based on the environmental image in front of the vehicle and selecting the appropriate operating heads for the electric control arm and hydraulic arm. The tooling is automatically changed: first, the left slide 9 and right slide 24 of the rescue robot extend to both sides; then, the left hydraulic rod 10 and right hydraulic rod 25 push the left and right worktables 5 and 26 to extend to both sides; the electric control arm 11 and hydraulic arm 26 move to the top of the worktables. Simultaneously, the first forearm 33 moves downward, aligning the first docking part 351 and the second docking part 352 of the quick-change connector, thus completing the automatic quick-change of tooling. The electric control arm 11 is fitted with the life detector 8, and the hydraulic arm 26 is fitted with the hydraulic clamp 21.

[0052] The fourth step is to locate the trapped personnel. The first large arm 32 of the electric control arm 11 rotates within a 180° range around it. The first small arm 33 continuously adjusts the end-effector six-degree-of-freedom small robot 99 to adjust the posture of the life detector 8 by cooperating with the third sleeve 47, the third hydraulic rod 48, and the second connecting piece 49.

[0053] Fifth, the two arms work together. When demolition is required, the operator remotely controls the two-arm rescue robot to replace the mechanical gripper 6 and the rotary drill bit 22 for demolition. While operating the rescue operation from the remote control, the rescue operator can simultaneously ascertain whether there are any living beings under and around the obstacles in the area to be excavated, as well as the approximate depth coordinates of such beings. This allows for targeted measures to be taken. For example, when the life detector 8 detects a living being close to the rescue robot, multiple small-scale operations can be performed to effectively prevent the rescue robot from causing secondary injury to the trapped person. Conversely, when the life detector 8 does not detect a living being or the detected being is far away, multiple small-scale operations can be performed to ensure that the obstacles above the trapped person are quickly cleared, greatly improving rescue efficiency.

Claims

1. A remotely operated heavy-duty rescue robot system with automatic equipment changing capability, characterized in that, The system includes a vehicle body (4), an electric control arm (11), a hydraulic arm (26), and a tool magazine mounted on the vehicle body. The tool magazine includes a slide fixedly mounted on the vehicle body, a tooling bracket that moves along the slide, and an adjusting hydraulic rod. One end of the adjusting hydraulic rod is hinged to the vehicle body (4), and the other end is hinged to the tooling bracket. The extension and retraction of the adjusting hydraulic rod drives the tooling bracket to move along the slide. The tool magazine includes several large-load operating heads and small-load operating heads placed on the tooling bracket. Both the large-load and small-load operating heads are equipped with a quick-connect joint first mating part (351). The electric control arm (11) and the hydraulic arm (26) are... Both ends are provided with a second quick-change connector (352). The second quick-change connector (352) of the electric control arm (11) is connected to the first quick-change connector (351) of the small load operating head. The second quick-change connector (352) of the hydraulic arm (26) is connected to the first quick-change connector (351) of the large load operating head. The electric control arm (11) and the hydraulic arm (26) are controlled by the remote control console (3) to perform operations and quick-change of operating heads. When the electric control arm (11) or the hydraulic arm (26) changes the operating head, the hydraulic rod is adjusted to extend and retract, driving the tooling bracket to unfold along the side of the vehicle body. The large load operating head includes a hydraulic clamp (21) and a rotary drilling bit (22), and the small load operating head includes a mechanical gripper (6) and an auxiliary robot (99). The auxiliary robot (99) is equipped with a life detector (8). The tool magazine includes a left tool magazine (5) and a right tool magazine (20), which are symmetrically arranged on both sides of the vehicle body. The left tool magazine (5) includes a left slide (9), a left tooling bracket (7) mounted on the left slide (9), and a left adjusting hydraulic rod (10). The right tool magazine (20) includes a right slide (24), a right tooling bracket (23) mounted on the right slide (24), and a right adjusting hydraulic rod (25). The right slide (24) is fixedly and symmetrically arranged on both sides of the vehicle body. One end of the left adjusting hydraulic rod (10) is hinged to the vehicle body, and the other end is hinged to the left tooling bracket (7). One end of the right adjusting hydraulic rod (25) is hinged to the vehicle body, and the other end is hinged to the right tooling bracket (23). The left tooling bracket (7) is used to place the mechanical gripper (6) and the auxiliary robot (99). The right tooling bracket (23) is used to place the hydraulic clamp (21) and the rotary drilling bit (22).

2. The remotely operated heavy-duty rescue robot system according to claim 1, characterized in that, The first docking part (351) of the quick-connect coupling includes a mounting base plate (51), mounting side plates (52) fixedly disposed on both sides of the mounting base plate (51) extending in the same direction, a docking shaft (53), and a first docking valve block (54). The two mounting side plates (52) are symmetrically arranged, the docking shaft (53) passes through the two mounting side plates (52), and the first docking valve block (54) is fixedly disposed on the mounting base plate (51), and a docking rod (511) with an axis parallel to the mounting base plate (51) is provided on the first docking valve block (54). The second docking part of the quick-connect coupling includes two fixedly symmetrically arranged docking side plates (61) and a second docking valve block (62). The two docking side plates (61) are symmetrically arranged and are provided with docking grooves (611). The second docking valve block (62) includes a fixed connection with the docking side plates (61). The quick-connect coupling has a fixed part (621), a driving hydraulic rod (622), and a docking part (623). One end of the driving hydraulic rod (622) is connected to the fixed part (621), and the other end is connected to the docking part (623). The driving hydraulic rod (622) drives the docking part (623) to move closer to or away from the fixed part (621). The docking part (623) is provided with a docking hole that cooperates with the docking rod (511). When the second docking part of the quick-connect coupling is docked with the first docking part of the quick-connect coupling, the docking groove is positioned on the docking shaft (53). The docking side plate (61) rotates around the docking shaft (53) until the extension direction of the docking rod is parallel to the extension direction of the docking hole. The driving hydraulic rod (622) drives the docking part away from the fixed part (621) and closes to the first docking valve block (54). The docking rod is inserted into the docking hole to achieve docking.

3. The remotely operated heavy-duty rescue robot system according to claim 2, characterized in that, The docking part is fixedly connected to the guide rod (624). The fixing part is provided with a through hole for the guide rod (624) to pass through. The guide rod (624) is sleeved with a spring, which is located between the fixing part and the docking part.

4. The remotely operated heavy-duty rescue robot system according to claim 1, characterized in that, The auxiliary robot (99) includes several articulated robotic arms to achieve control of 6 degrees of freedom, including the degree of freedom of movement along the X-axis, Y-axis and Z-axis and the degree of freedom of rotation around the X-axis, Y-axis and Z-axis.

5. The remotely operated heavy-duty rescue robot system according to claim 4, characterized in that, The electric control arm (11) includes a first base (29), a first upper arm (32), a first lower arm (33), and a first connecting piece (34) mounted on the vehicle body. The first base (29) rotates relative to the vehicle body around a vertical axis. One end of the first upper arm (32) is hinged to the first base (29), and the other end is hinged to the first lower arm (33). One end of the first lower arm (33) is hinged to the first connecting piece (34). The shaft of the first upper arm (32) is connected to the first base (29) via an electric telescopic rod. The extension and retraction of the electric telescopic rod drives the first upper arm (32) to rotate around the first base (29). The first lower arm (33) rotates relative to the vehicle body. One end of the first connecting piece (34) is connected to the first upper arm (32) via an electric telescopic rod. The electric telescopic rod extends and retracts, causing the first lower arm (33) to rotate around the first upper arm (32). The other end of the first connecting piece (34) is connected to the first lower arm (33) via an electric telescopic rod. The electric telescopic rod extends and retracts, causing the first connecting piece (34) to rotate around the first lower arm (33). The other end of the first connecting piece (34) is hinged to the docking side plate of the second docking part of the quick-change connector via a connecting rod. The docking side plate is hinged to the first lower arm (33). The rotation of the first connecting piece (34) around the first lower arm (33) causes the docking side plate to rotate around the first lower arm (33).

6. The remotely operated heavy-duty rescue robot system according to claim 4, characterized in that, The hydraulic arm (26) includes a second base (40), a second upper arm (43), a second lower arm (46), and a second connecting piece (49) mounted on the vehicle body. The second base (40) rotates relative to the vehicle body around a vertical axis. One end of the second upper arm (43) is hinged to the second base (40), and the other end is hinged to the second lower arm (46). One end of the second lower arm (46) is hinged to the second connecting piece (49). The shaft of the second upper arm (43) is connected to the second base (40) via a hydraulic rod. The extension and retraction of the hydraulic rod drives the second upper arm (43) to rotate around the second base (40). The second lower arm (46) rotates relative to the vehicle body. 46) One end is connected to the second upper arm (43) via a hydraulic rod. The extension and retraction of the hydraulic rod causes the second lower arm (46) to rotate around the second upper arm (43). The other end of the second connecting piece (49) is connected to the second lower arm (46) via a hydraulic rod. The extension and retraction of the hydraulic rod causes the second connecting piece (49) to rotate around the second lower arm (46). The other end of the second connecting piece (49) is hinged to the docking side plate of the second docking part of the quick-change joint via a connecting rod. The docking side plate is hinged to the second lower arm (46). The rotation of the second connecting piece (49) around the second lower arm (46) causes the docking side plate to rotate around the second lower arm (46).

7. The remotely operated heavy-duty rescue robot system according to claim 1, characterized in that, The vehicle body is equipped with a positioning device and a vision device. The positioning device is used to obtain the real-time position of the vehicle body, and the vision device is used to obtain environmental images in front of the vehicle body.

8. A control method for a teleoperated heavy-duty rescue robot system as described in claim 7, characterized in that, Includes the following steps: Step 1: Two drones scan the collapse scene to build a three-dimensional model, thereby obtaining the terrain information of the disaster area. The remote control console acquires the data collected by the positioning and vision devices to obtain the real-time position of the vehicle and the environmental image in front of the vehicle. Step 2: Determine the required operation based on the environmental image in front of the vehicle, and select the appropriate operating head for the electric control arm and hydraulic arm based on the required operation; Step 3: When it is necessary to change the operating head, control the tool magazine to extend outward according to the selected operating head, control the electric or hydraulic arm to rotate to the tool magazine, place the unnecessary operating head on the tooling bracket, disconnect the second docking part of the quick-change connector from the first docking part of the quick-change connector, and select the required operating head to dock the second docking part of the quick-change connector from the first docking part of the quick-change connector. Step 4: Perform the corresponding operations for the rescue environment according to the selected operating head; Step 5: Repeat steps 1 and 4 until the rescue operation is completed.

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