Complex cross-domain environment reconfigurable and recombined metamorphic mobile robot and moving method

Abstract

The invention discloses a complex cross-domain environment reconfigurable and recombined metamorphic mobile robot which comprises a robot body assembly, an underwater module assembly is fixed to the inner side of the robot body assembly, a metamorphic chassis assembly is fixed to the bottom of the robot body assembly through bolts, and the four corners of the metamorphic chassis assembly are connected with four track supporting leg assemblies through bolts correspondingly. The invention further discloses a moving method of the reconfigurable and recombined metamorphic mobile robot in the complex cross-domain environment, and the moving method specifically comprises the steps that when the robot operates in a normal mode, the motors drive the four track supporting leg assemblies to move; when mode underwater operation is carried out, movement in a water area is completed through the underwater module assembly; when the posture changes, the posture changes are achieved through the metamorphic chassis assembly and the machine body assembly. According to the robot, the trafficability on the unstructured complex land area ground and the soft mud flat complex cross-domain road surface is improved, the height of the robot body can be increased through metamorphism, and meanwhile the robot body can be subjected to structural deformation.

Description

Technical Field

[0001] The present invention belongs to the technical field of mobile robot devices, and specifically relates to a reconfigurable, recombinable, and variable-cell mobile robot for complex cross-domain environments, and also relates to a moving method for the reconfigurable, recombinable, and variable-cell mobile robot for complex cross-domain environments. Background Art

[0002] A robot for a complex cross-domain environment is a special construction machinery that can move and operate on land, in water, and across land and water domains; the transitional area between land and water involves near-shore shallow waters as well as soft, muddy, and marshy road surfaces, and the robot also needs to adapt to unstructured complex land surfaces such as gullies, steep slopes, and rough terrains. A variable-cell mechanism is a multi-degree-of-freedom kinematic chain that presents different topological structures at different working stages and uses the different performances generated by these different topological structure changes to complete specific tasks. Variable-cell mechanisms have been widely used in structural design. Robots for complex cross-domain environments need to complete land operations and water operations. The main land moving mechanisms include wheeled, legged, and tracked types; wheeled ones are fast, but have poor terrain adaptability; legged ones are flexible and maneuverable, but are slow and difficult to control; tracked ones have strong obstacle-crossing capabilities, but have high energy consumption and difficult steering. Most of the current mature water moving mechanisms are composed of thrusters with different numbers and layouts. Since land operations and water operations are two different sets of mechanisms and electronic control systems, the current robots for complex cross-domain environments have complex and redundant structures. Summary of the Invention

[0003] The purpose of the present invention is to provide a reconfigurable, recombinable, and variable-cell mobile robot for complex cross-domain environments. By means of the variable-cell mechanism, the height of the fuselage can be increased, and at the same time, the structure of the fuselage can be deformed.

[0004] Another purpose of the present invention is to provide a moving method for the reconfigurable, recombinable, and variable-cell mobile robot for complex cross-domain environments.

[0005] The technical solution adopted by the present invention is that a reconfigurable, recombinable, and variable-cell mobile robot for complex cross-domain environments includes a fuselage assembly. An underwater module assembly is fixed inside the fuselage assembly. A variable-cell chassis assembly is fixed to the bottom of the fuselage assembly by bolts. Four crawler leg assemblies are respectively connected to the four corners of the variable-cell chassis assembly by bolts.

[0006] The characteristics of the present invention also lie in that

[0007] The fuselage assembly includes two front fuselage side plates and two rear fuselage side plates. A waterproof slider is connected up and down at one end of the front fuselage side plate. Waterproof slide rails adapted to the waterproof slider are connected to the upper side and the lower side of the rear fuselage side plate. The front fuselage side plate can slide onto the rear fuselage side plate through the waterproof slide rails.

[0008] The variable cell chassis assembly includes variable cell chassis leg structures arranged symmetrically, and the two variable cell chassis leg structures are connected by a central chassis plate.

[0009] Each variable cell chassis leg structure includes a U-shaped front chassis fuselage. There are frame pads arranged on both sides of the U-shaped front chassis fuselage. One U-shaped front chassis fuselage is connected to the bottom ends of two front fuselage side plates far from the waterproof slider through the frame pads; the other U-shaped front chassis fuselage is connected to the bottom ends of two rear fuselage side plates through the frame pads; both open ends of the U-shaped front chassis fuselage are connected to the servo assembly.

[0010] The servo assembly includes a first double-axis waterproof servo, a second double-axis waterproof servo, a third double-axis waterproof servo, a fourth double-axis waterproof servo, and a fifth double-axis waterproof servo; the open end of the U-shaped front chassis fuselage is connected to the first double-axis waterproof servo, the first double-axis waterproof servo is connected to one end of the chassis variable cell plate a, the other end of the chassis variable cell plate a is connected to the second double-axis waterproof servo, both sides of the second double-axis waterproof servo are connected to the third double-axis waterproof servo through servo fixing plates, the third double-axis waterproof servo is connected to one end of the chassis variable cell plate b, and the other end of the chassis variable cell plate b is connected to the fourth double-axis waterproof servo; the two fourth double-axis waterproof servos in the same plane are connected by the central chassis plate;

[0011] Both the top and bottom of the two servo fixing plates are connected by an auxiliary bracket; the auxiliary bracket includes a cross plate. The two cross plates are respectively located at the top and bottom of the servo fixing plate. One end of the cross plate is fixed on the servo fixing plate, and the other end of the cross plate is fixed with an auxiliary plate that slopes upward. The end of the auxiliary plate is connected to the thigh servo fixing plate. A fifth double-axis waterproof servo is fixed between the two thigh servo fixing plates. There are servo discs symmetrically connected to both sides of the fifth double-axis waterproof servo. The two servo discs are connected to the two open ends of the U-shaped reversing block. The closed end of the U-shaped reversing block is connected to the middle of the closed end of the U-shaped connecting block.

[0012] The crawler leg assembly includes calf frames arranged symmetrically. An idler wheel, four road wheels, two idler wheels for supporting the track, and a drive wheel are arranged between the two calf frames. The idler wheel is connected to the idler wheel shaft, and the drive wheel is connected to the drive wheel shaft. Both ends of the idler wheel shaft are respectively connected to the inner walls of the two calf frames, and both ends of the drive wheel shaft are respectively connected to the inner walls of the two calf frames; the idler wheel, four road wheels, two idler wheels for supporting the track, and the drive wheel are all engaged with the teeth on the inner side of the crawler; each two road wheels are connected by a road wheel shaft, and both ends of the road wheel shaft are respectively connected to the inner walls of the calf frames; the idler wheel for supporting the track is connected to the idler wheel shaft for supporting the track, and both ends of the idler wheel shaft for supporting the track are respectively connected to the inner walls of the calf frames; it also includes a sixth double-axis waterproof servo. There are servo discs connected to both sides of the sixth double-axis waterproof servo; the two open ends of the U-shaped connecting block are connected to the servo discs on both sides of the sixth double-axis waterproof servo; there are also fixing plates arranged on both sides of the end of the sixth double-axis waterproof servo. The ends of the two fixing plates are connected by an L-shaped fixing block, and the end of the L-shaped fixing block is arranged on the outer side of one of the calf frames.

[0013] The underwater module assembly includes an I-shaped thruster front support plate and a thruster rear support plate. Both ends of the thruster front support plate and the thruster rear support plate are arranged at the upper inner side of the rear fuselage side frame plate. A third underwater thruster and a sixth underwater thruster are also arranged between the thruster front support plate and the thruster rear support plate. On both sides below the thruster front support plate, a first underwater thruster and a second underwater thruster are connected. On both sides below the thruster rear support plate, a fourth underwater thruster and a fifth underwater thruster are connected. The first underwater thruster and the fifth underwater thruster are symmetrically arranged. The second underwater thruster and the fourth underwater thruster are symmetrically arranged. The inner bottom of the rear fuselage side frame plate is connected through an electronic compartment support plate, and an underwater electronic compartment is fixed in the middle of the electronic compartment support plate.

[0014] Another technical solution adopted by the present invention is a moving method for a reconfigurable and recombinable metamorphic mobile robot in a complex cross-domain environment, specifically:

[0015] When operating in the normal mode, the four crawler leg assemblies are driven by motors to move. When operating in the underwater mode, the underwater module assembly is used to complete the movement in the water area. When the attitude changes, the metamorphic chassis assembly and the fuselage assembly are used to achieve the attitude change.

[0016] The beneficial effects of the present invention are:

[0017] The reconfigurable and recombinable metamorphic mobile robot in a complex cross-domain environment of the present invention improves the passability on unstructured complex land surfaces and soft mudflat complex cross-domain road surfaces. Through metamorphosis, the height of the fuselage can be increased, and the structure of the fuselage can be deformed to reduce the resistance of the robot in water, and different postures can also be transformed through metamorphosis. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the metamorphic robot in a complex cross-domain environment of the present invention;

[0019] Figure 2 is a schematic structural diagram of the fuselage assembly of the metamorphic robot in a complex cross-domain environment of the present invention;

[0020] Figure 3 is a schematic diagram of the underwater module assembly of the metamorphic robot in a complex cross-domain environment of the present invention;

[0021] Figure 4 is a schematic diagram of the metamorphic chassis leg structure of the metamorphic robot in a complex cross-domain environment of the present invention;

[0022] Figure 5 is a schematic diagram of the crawler leg assembly structure of the metamorphic robot in a complex cross-domain environment of the present invention;

[0023] Figure 6It is a schematic diagram of the crawler structure of the variable cell robot in the complex cross - domain environment of the present invention;

[0024] Figure 7 It is a schematic diagram of the high chassis structure of the variable cell robot in the complex cross - domain environment of the present invention;

[0025] Figure 8 It is a simplified diagram of the high - low chassis deformation structure of the variable cell robot in the complex cross - domain environment of the present invention;

[0026] Figure 9 It is a simplified diagram of the 90° steering gait of the variable cell robot in the complex cross - domain environment of the present invention.

[0027] In the figure, 1. Crawler leg assembly, 2. Body assembly, 3. Variable cell chassis assembly, 4. Underwater module assembly; 201. Induction wheel, 202. Induction wheel shaft, 203. Road wheel, 204. Road wheel shaft, 205. Sixth double - axis waterproof servo, 206. Fixed plate, 207. Driving wheel, 208. Driving wheel shaft, 209. Carry - idler wheel, 210. Carry - idler wheel shaft, 211. Calf bracket, 212. Crawler; 301. L - shaped support plate, 302. Thigh servo fixed plate, 303. Cross plate, 304. U - shaped front chassis body, 305. Chassis pad, 306. First double - axis waterproof servo, 307. Chassis variable cell plate a, 308. Second double - axis waterproof servo, 309. Servo fixed plate, 310. Third double - axis waterproof servo, 311. Chassis variable cell plate b, 312. Fourth double - axis waterproof servo, 313. Central chassis plate, 314. U - shaped connecting block, 315. Fifth double - axis waterproof servo, 316. U - shaped reversing block; 51. Rear body side frame plate, 52. Waterproof slide rail, 53. Front body side frame plate, 54. Waterproof slider; 701. First underwater thruster, 702. Electronic compartment support plate, 703. Underwater electronic compartment, 704. Second underwater thruster, 705. Third underwater thruster, 706. Fourth underwater thruster, 707. Fifth underwater thruster, 708. Thruster rear support plate, 709. Sixth underwater thruster, 710. Thruster front support plate. Detailed implementation manners

[0028] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0029] Embodiment 1

[0030] The reconfigurable and recombinable variable cell mobile robot in the complex cross - domain environment of the present invention, as Figure 1As shown in the figure, it includes a fuselage assembly 2. The fuselage assembly 2 is a frame structure, which reduces the weight of the fuselage assembly 2 and also reduces the resistance during underwater travel. An underwater module assembly 4 is fixed inside the fuselage assembly 2. The bottom of the fuselage assembly 2 is fixed with a metamorphic chassis assembly 3 through bolts. Four crawler leg assemblies 1 are respectively connected to the four corners of the metamorphic chassis assembly 3 through bolts. Through the cooperation of the crawler leg assembly and the metamorphic chassis assembly 3, the robot can complete the movement on flat and unstructured roads on land, as well as the movement on soft, muddy and other roads and waters during the water-land cross-domain.

[0031] Embodiment 2

[0032] Furthermore, as Figure 2 shown in the figure, the fuselage assembly 2 includes two front fuselage side plates 53 and two rear fuselage side plates 51. At one end of the front fuselage side plate 53, waterproof sliders 54 are respectively connected through bolts up and down. Waterproof slide rails 52 adapted to the waterproof sliders 54 are connected to the upper and lower sides of the rear fuselage side plate 51 through bolts. The front fuselage side plate 53 can slide onto the rear fuselage side plate 51 through the waterproof slide rails 52. The waterproof slide rails 52 and the waterproof sliders 54 cooperate to shorten the length of the fuselage through the lower pair movement of the slide rail plane;

[0033] As Figure 3 shown in the figure, the underwater module assembly 4 includes an I-shaped thruster front support plate 710 and a thruster rear support plate 708. The thruster front support plate 710 and the thruster rear support plate 708 are arranged side by side with a spacing therebetween. Both ends of the thruster front support plate 710 and the thruster rear support plate 708 are arranged at the upper part inside the rear fuselage side plate 51. Arc-shaped grooves are provided at both ends of the I-shaped thruster front support plate 710 and the thruster rear support plate 708 that are close to each other. There are four arc-shaped grooves. Third underwater thrusters 705 and sixth underwater thrusters 709 are also provided on both sides of the front fuselage side plate 53. The third underwater thrusters 705 and the sixth underwater thrusters 709 are respectively located between two adjacent arc-shaped grooves;

[0034] On both sides below the thruster front support plate 710, a first underwater thruster 701 and a second underwater thruster 704 are connected through bolts. On both sides below the thruster rear support plate 708, a fourth underwater thruster 706 and a fifth underwater thruster 707 are connected through bolts. The first underwater thruster 701 and the fifth underwater thruster 707 are symmetrically arranged; the second underwater thruster 704 and the fourth underwater thruster 706 are symmetrically arranged; the bottom inside the rear fuselage side plate 51 is connected through an electronic compartment support plate 702, and an underwater electronic compartment 703 is fixed through bolts in the middle of the electronic compartment support plate 702;

[0035] The first underwater thruster 701, the second underwater thruster 704, the third underwater thruster 705, the fourth underwater thruster 706, the fifth underwater thruster 707 and the sixth underwater thruster 709 are all composed of thruster blades and fairings. The thruster blades are installed inside the thruster fairings. By different motion strategies, controlling the first underwater thruster 701, the second underwater thruster 704, the third underwater thruster 705, the fourth underwater thruster 706, the fifth underwater thruster 707 and the sixth underwater thruster 709 of the robot to cooperate with each other can enable the robot to complete translational motions along its own x, y, and z axes and rotational motions along its own x and z axes.

[0036] As Figure 4 and 5 shown, the metamorphic chassis assembly 3 includes symmetrically arranged metamorphic chassis leg structures, and the two metamorphic chassis leg structures are connected by a central chassis plate 313;

[0037] Each metamorphic chassis leg structure includes a U-shaped front chassis fuselage 304. On both sides of the U-shaped front chassis fuselage 304, there are frame pads 305. One of the U-shaped front chassis fuselages 304 is connected to the bottom ends of the two front fuselage side plates 53 far from the waterproof slider 54 through the frame pads 305; the other U-shaped front chassis fuselage 304 is connected to the bottom ends of the two rear fuselage side plates 51 far from the underwater electronic compartment 703 through the frame pads 305;

[0038] The two open ends of the U-shaped front chassis fuselage 304 are connected to the servo assemblies; the servo assemblies include a first double-axis waterproof servo 306, a second double-axis waterproof servo 308, a third double-axis waterproof servo 310, a fourth double-axis waterproof servo 312, and a fifth double-axis waterproof servo 315; on both sides of the first double-axis waterproof servo 306, the second double-axis waterproof servo 308, the third double-axis waterproof servo 310, the fourth double-axis waterproof servo 312, and the fifth double-axis waterproof servo 315, the double axes are respectively symmetrically connected with servo discs through splines;

[0039] The open end of the U-shaped front chassis fuselage 304 is connected to the first double-axis waterproof servo 306 through bolts. The servo discs on both sides of the first double-axis waterproof servo 306 are connected to one end of the chassis metamorphic plate a307 through bolts. The other end of the chassis metamorphic plate a307 is connected to the servo discs on both sides of the second double-axis waterproof servo 308 through bolts. The two sides of the second double-axis waterproof servo 308 are connected to the third double-axis waterproof servo 310 through servo fixing plates 309. The servo discs on both sides of the third double-axis waterproof servo 310 are connected to one end of the chassis metamorphic plate b311 through bolts. The other end of the chassis metamorphic plate b311 is connected to the servo discs on both sides of the fourth double-axis waterproof servo 312 through bolts;

[0040] The top and bottom of the two servo fixing plates 309 are connected by auxiliary brackets;

[0041] The auxiliary support includes a cross plate 303 disposed on the steering gear fixing plate 309. The two cross plates 303 are respectively located at the top and bottom of the steering gear fixing plate 309, and the inner walls of the cross plates 303 are connected to the inner walls of the steering gear fixing plate 309 through L-shaped support plates 301;

[0042] One end of the cross plate 303 is fixed to the steering gear fixing plate 309, and an auxiliary plate is fixedly provided at the other end of the cross plate 303 in an upwardly inclined manner. The end of the auxiliary plate is connected to the thigh steering gear fixing plate 302. A fifth double-axis waterproof steering gear 315 is fixed between the two thigh steering gear fixing plates 302. The fifth double-axis waterproof steering gear 315 is located at the side of the steering gear fixing plate 309;

[0043] Both axes on both sides of the fifth double-axis waterproof steering gear 315 are symmetrically connected to steering wheels through splines respectively. The two steering wheels are connected to the two open ends of the U-shaped reversing block 316, and the closed end of the U-shaped reversing block 316 is connected to the middle of the closed end of the U-shaped connecting block 314;

[0044] Two fourth double-axis waterproof steering gears 312 in the same plane are connected through a central chassis plate 313;

[0045] The crawler leg assembly 1 includes a guide wheel 201, four road wheels 204, a drive wheel 207, two idlers 209, a crawler 212, and calf frames 211 arranged symmetrically; the guide wheel 201, four road wheels 204, two idlers 209, and the drive wheel 207 are all meshed with the teeth on the inner side of the crawler 212 to transmit power; the drive wheel 207 is meshed with the teeth on the inner side of the crawler 212 to transmit power, the gear of the guide wheel 201 is meshed with the crawler 212 to correct the direction of the crawler, the four road wheels 204 increase the contact area between the crawler 212 and the ground, and the two idlers 209 are used to support the crawler 212;

[0046] A guide wheel 201, four road wheels 204, two idlers 209, and a drive wheel 207 are arranged between the two calf frames 211. The guide wheel 201 is connected to the guide wheel shaft 202 through a key, the drive wheel 207 is connected to the drive wheel shaft 208 through a key, both ends of the guide wheel shaft 202 are respectively connected to the inner walls of the two calf frames 211, and both ends of the drive wheel shaft 208 are respectively connected to the inner walls of the two calf frames 211.

[0047] Every two road wheels 204 are connected through a road wheel shaft 203. The road wheel 204 is connected to the road wheel shaft 203 through a key, and both ends of the road wheel shaft 203 are respectively connected to the inner walls of the calf frames 211; the idler 209 is connected to the idler shaft 210 through a key, and both ends of the idler shaft 210 are respectively connected to the inner walls of the calf frames 211; the road wheels 204 and the idlers 209 are arranged in a triangular shape on the calf frames 211;

[0048] It also includes a sixth double-axis waterproof servo 205. The double axes on both sides of the sixth double-axis waterproof servo 205 are symmetrically connected with steering wheels through splines respectively; the two open ends of the U-shaped connecting block 314 are connected to the steering wheels on both sides of the sixth double-axis waterproof servo 205; fixed plates are also arranged on both sides of the end of the sixth double-axis waterproof servo 205, and the ends of the two fixed plates 206 are connected through an L-shaped fixing block, and the end of the L-shaped fixing block is arranged on the outer side of one of the calf frames 211.

[0049] For the reconfigurable and recombinable metamorphic mobile robot in the complex cross-domain environment of the present invention, the four crawler leg assemblies can not only help the robot travel on flat roads, but also endow the robot with good obstacle-crossing ability, enabling it to climb steps of a certain height and cross ditches of a certain width. Due to the large contact area with the ground, the robot can pass through near-shore shallow waters and soft, muddy and muddy roads; the metamorphic chassis assembly of the robot can not only cooperate with the fuselage equipped with waterproof slide rails and sliders to shorten the length of the robot and increase the height of the robot, but also enable the robot to flexibly perform actions such as turning due to its unique thigh and calf structure; the six-thruster layout of the robot can enable the robot to complete translational motions along its own x, y, and z axes and rotational motions along its own x and z axes.

[0050] Embodiment 3

[0051] The moving method of the reconfigurable and recombinable metamorphic mobile robot in the complex cross-domain environment of the present invention is specifically as follows:

[0052] When operating in the normal mode, the four crawler leg assemblies 1 are driven by motors to move;

[0053] When operating in the underwater mode, the underwater module assembly 4 is used to complete the movement in the water area;

[0054] When the attitude changes, the metamorphic chassis assembly 3 and the fuselage assembly 2 are used to achieve the attitude change.

[0055] Embodiment 4

[0056] For the reconfigurable and recombinable metamorphic mobile robot in the complex cross-domain environment of the present invention, its working principle is:

[0057] When driving on a flat structured road surface, the robot can complete the moving action through the crawler mechanism. The specific power transmission route is as follows: A waterproof motor that rotates the drive wheel shaft 208 is fixed in the L-shaped fixing block at the end of the fixing plate 206. The rotation of the waterproof motor transmits power to the drive wheel 207 through a key connected to the drive wheel shaft 208, so that the drive wheels 207 rotate synchronously. The circumferential direction of the drive wheels 207 has teeth, and each tooth cooperates with the grooves between two crawler links on the crawler 212 to transmit the power of the drive wheels 207 to the crawler 212. The mutual frictional force between the crawler 212 and the ground causes the robot to receive a forward or backward force to drive the entire robot to move forward or backward. The idler wheel 201 connected to the idler wheel shaft 202 is used to tension the crawler and correct the direction of the crawler at the same time. The function of the carrier wheel 209 on the carrier wheel shaft 210 is to support the crawler links to prevent the crawler from being too loose and causing interference between the upper and lower crawlers. The function of the road wheel 204 connected to the road wheel shaft 203 is to increase the contact area between the crawler and the road surface to increase the frictional force.

[0058] When the robot is underwater, it completes the movement in the water with the help of six underwater thrusters. The six thrusters are divided into two groups in pairs. The first underwater thruster 701 and the second underwater thruster 704 are in a group, the fourth underwater thruster 706 and the fifth underwater thruster 707 are in a group, and the third underwater thruster 705 and the sixth underwater thruster 709 are in a group. It is stipulated that the forward and backward direction of the crawler in the normal state of the robot is the x-axis, and the direction perpendicular to the ground is the z-axis. When the robot moves along the x-axis in the water, the first underwater thruster 701 and the second underwater thruster 704 need to rotate forward at the same time to drive the robot to move forward in the water or the fourth underwater thruster and the fifth underwater thruster rotate forward at the same time to drive the robot to move backward in the water; when the robot moves along the y-axis, the first underwater thruster 701 and the fifth underwater thruster 707 need to rotate forward or the second underwater thruster 704 and the fourth underwater thruster 706 rotate forward; when the robot moves along the z-axis in the water, the third underwater thruster 705 and the sixth underwater thruster 709 rotate forward or backward at the same time; when the robot wants to achieve rotational movement along the x-axis, the third underwater thruster 705 needs to rotate forward while the sixth underwater thruster 709 rotates backward; when the robot wants to achieve rotational movement along the z-axis, the first underwater thruster 701 and the fourth underwater thruster 706 need to rotate forward at the same time or the second underwater thruster 704 and the fifth underwater thruster 707 rotate forward at the same time;

[0059] Embodiment 5

[0060] As Figure 8 shown is a simplified diagram of the variable chassis deformation structure of the robot. The dotted line posture is the simplified diagram of the structure before transformation, and the solid line is the simplified diagram of the structure after transformation. When the robot needs to lift the fuselage, it can complete the lifting action of the fuselage with the help of the metamorphic chassis: The low chassis form is as Figure 1As shown in the figure, it means that the first double-axis waterproof servo 306, the second double-axis waterproof servo 308, the third double-axis waterproof servo 310, and the fourth double-axis waterproof servo 312 are all on a plane. The deformation process of switching from a low chassis to a high chassis is as follows: The double axis of the first double-axis waterproof servo 306 rotates 90° so that the U-shaped front chassis body 304 forms a 90° angle with the chassis metamorphic plate a307. The double axis of the second double-axis waterproof servo 308 rotates 90° so that the servo fixing plate 309 forms a 90° angle with the chassis metamorphic plate a307. The double axis of the third double-axis waterproof servo 310 rotates -90° so that the servo fixing plate 309 forms a -90° angle with the chassis metamorphic plate b311. The double axis of the fourth double-axis waterproof servo 312 rotates -90° so that the central chassis plate 313 forms a -90° angle with the chassis metamorphic plate b311. At this time, the metamorphic chassis assembly 3 will lift the height of the distance between the rotation axes at both ends of the chassis metamorphic plate 307 of the fuselage. At this time, the U-shaped front chassis body 304 and the central chassis plate 313 are still on a plane, and the two form a new fuselage chassis plane. The plane where the second double-axis waterproof servo 308 and the servo fixing plate 309 are located is parallel to the new fuselage chassis plane formed by the plane where the U-shaped front chassis body 304 and the central chassis plate 313 are located. Since the length of the new fuselage chassis is shorter than that of the fuselage chassis before deformation, the fuselage assembly also needs to change accordingly. The changes reflected on the fuselage are the front fuselage side frame plate 53 and the rear fuselage side frame plate 51. Through the relative sliding of the waterproof slider 54 and the waterproof slide rail 52, a part of the front fuselage side frame plate 53 is located on the rear fuselage side frame plate 51. By performing the above transformations on the metamorphic mechanisms attached to the four crawler leg assemblies 1, the robot can be changed into a high-chassis posture, as Figure 7 shown. Compared with the low-chassis form, the chassis height of the metamorphic robot in the high-chassis form is lifted by about 33%, and the total length of the fuselage is shortened by about 33%.

[0061] Embodiment 6

[0062] As Figure 9 shown is the 90° turning gait of the robot. The dotted-line posture is the structural diagram before transformation, and the solid line is the structural diagram after transformation. The posture represented by the dotted line is the high-chassis posture of the robot after deformation through the metamorphic chassis structure. The structural diagram is as Figure 7 shown. Taking the left front leg as an example, the transformation process of the figure will be described in detail: First, the sixth double-axis waterproof servo 205 needs to rotate 3° to 5° to lift the fuselage. After lifting, the contact between the crawler and the ground changes from surface-to-surface contact to line-to-surface contact. This measure is to prevent the crawler 212 from shifting and falling off the drive wheel 207, idler wheel 201, carrier wheel 209, and road wheel 204 due to the large contact area between the crawler and the ground when the fifth double-axis waterproof servo 315 rotates. Subsequently, the fifth double-axis waterproof servo 315 rotates 90° to drive the crawler to perform a ground-scraping action. After the crawler steering is completed, the sixth double-axis waterproof servo 205 rotates -3° to -5° in the reverse direction to lay the fuselage flat, and the 90° turning action of the robot is completed, asFigure 9 The shown solid-line structural sketch. Different from ordinary tracked chassis robots in the turning gait, the body orientation of this robot does not change, and special tasks such as data collection on both sides can be completed in combination with the camera in the underwater electronic compartment.

Claims

1. A reconfigurable metamorphic mobile robot for complex cross-domain environments, characterized by: The invention comprises a fuselage assembly (2), an underwater module assembly (4) is fixed on the inner side of the fuselage assembly (2), a metamorphic chassis assembly (3) is fixed on the bottom of the fuselage assembly (2) by bolts, and four crawler leg assemblies (1) are respectively connected to the four corners of the metamorphic chassis assembly (3) by bolts.

2. The complex cross-domain environment reconfigurable metamorphic mobile robot according to claim 1, characterized in that: The fuselage assembly (2) comprises two front fuselage side frame plates (53) and two rear fuselage side frame plates (51), one end of the front fuselage side frame plate (53) is connected to a waterproof slider (54) at the top and bottom, and the upper and lower sides of the rear fuselage side frame plate (51) are connected to waterproof slide rails (52) adapted to the waterproof slider (54), and the front fuselage side frame plate (53) can slide onto the rear fuselage side frame plate (51) via the waterproof slide rails (52).

3. The complex cross-domain environment reconfigurable metamorphic mobile robot according to claim 2, characterized in that: The metamorphic chassis assembly (3) comprises symmetrically arranged metamorphic chassis leg structures, and the two metamorphic chassis leg structures are connected via a central chassis plate (313).

4. The complex cross-domain environment reconfigurable metamorphic mobile robot according to claim 3, characterized in that: Each of the metamorphic chassis leg structures comprises a U-shaped front chassis body (304), and rack pads (305) are arranged on both sides of the U-shaped front chassis body (304), one of the U-shaped front chassis bodies (304) is connected to the bottom ends of the two front fuselage side frame plates (53) away from the waterproof slider (54) through the rack pads (305); the other U-shaped front chassis body (304) is connected to the bottom ends of the two rear fuselage side frame plates (51) through the rack pads (305); and the two open ends of the U-shaped front chassis body (304) are connected to the steering gear assembly.

5. The complex cross-domain environment reconfigurable metamorphic mobile robot according to claim 4, characterized in that: The steering gear assembly comprises a first dual-axis waterproof steering gear (306), a second dual-axis waterproof steering gear (308), a third dual-axis waterproof steering gear (310), a fourth dual-axis waterproof steering gear (312), and a fifth dual-axis waterproof steering gear (315); the opening end of the U-shaped front chassis fuselage (304) is connected to the first dual-axis waterproof steering gear (306), the first dual-axis waterproof steering gear (306) is connected to one end of the chassis variable cell plate a (307), and the other end of the chassis variable cell plate a (307) is connected to The second dual-axis waterproof steering gear (308) is connected to the third dual-axis waterproof steering gear (310) via a steering gear fixing plate (309) at both sides, the third dual-axis waterproof steering gear (310) is connected to one end of the chassis variable cell plate b (311), and the other end of the chassis variable cell plate b (311) is connected to the fourth dual-axis waterproof steering gear (312); the two fourth dual-axis waterproof steering gears (312) located on the same plane are connected via a central chassis plate (313); The top and bottom of the two steering gear fixing plates (309) are connected by an auxiliary bracket; the auxiliary bracket comprises a transverse plate (303), the two transverse plates (303) are respectively located at the top and bottom of the steering gear fixing plate (309), one end of the transverse plate (303) is fixed on the steering gear fixing plate (309), the other end of the transverse plate (303) is upwardly tiltedly fixed with an auxiliary plate, the end of the auxiliary plate is connected to the thigh steering gear fixing plate (302), a fifth double-axis waterproof steering gear (315) is fixed between the two thigh steering gear fixing plates (302), the double axes on both sides of the fifth double-axis waterproof steering gear (315) are symmetrically connected with steering discs, the two steering discs are connected to the two open ends of a U-shaped reversing block (316), and the closed end of the U-shaped reversing block (316) is connected to the middle of the closed end of the U-shaped connecting block (314).

6. The complex cross-domain environment reconfigurable metamorphosis mobile robot according to claim 5, characterized in that: The crawler leg assembly (1) comprises a symmetrically arranged shank frame (211), an inducer wheel (201), four road wheels (204), two track rollers (209), and a driving wheel (207) are arranged between two shank frames (211), the inducer wheel (201) is connected to the inducer wheel shaft (202), the driving wheel (207) is connected to the driving wheel shaft (208), the two ends of the inducer wheel shaft (202) are respectively connected to the inner walls of the two shank frames (211), and the two ends of the driving wheel shaft (208) are respectively connected to the inner walls of the two shank frames (211); the inducer wheel (201), the four road wheels (204), the two track rollers (209), and the driving wheel (207) are all meshed with the teeth on the inner side of the crawler track (212); every two road wheels (204) The two sides of the calf frame (211) are connected by a road wheel shaft (203), and the two ends of the road wheel shaft (203) are respectively connected to the inner wall of the calf frame (211); the track roller (209) is connected to the track roller shaft (210), and the two ends of the track roller shaft (210) are respectively connected to the inner wall of the calf frame (211); it also includes a sixth double-axis waterproof steering gear (205), and the double axes on both sides of the sixth double-axis waterproof steering gear (205) are connected to the steering disc; the two open ends of the U-shaped connecting block (314) are connected to the steering discs on both sides of the sixth double-axis waterproof steering gear (205); the ends of the sixth double-axis waterproof steering gear (205) are also provided with fixing plates, and the ends of the two fixing plates (206) are connected by an L-shaped fixing block, and the end of the L-shaped fixing block is arranged on the outer side of one of the calf frames (211).

7. The complex cross-domain environment reconfigurable metamorphic mobile robot according to claim 6, characterized in that: The underwater module assembly (4) comprises an I-shaped front propeller support plate (710) and a rear propeller support plate (708), both ends of which are arranged on the inner upper part of the rear fuselage side frame plate (51); a third underwater propeller (705) and a sixth underwater propeller (709) are also arranged between the front propeller support plate (710) and the rear propeller support plate (708), and the first underwater propeller (701) and the second underwater propeller (709) are connected to the two sides below the front propeller support plate (710). The thruster (704) is connected to a fourth underwater thruster (706) and a fifth underwater thruster (707) on both sides below the thruster rear support plate (708); the first underwater thruster (701) and the fifth underwater thruster (707) are symmetrically arranged; the second underwater thruster (704) and the fourth underwater thruster (706) are symmetrically arranged; the inner bottom of the rear fuselage side frame plate (51) is connected via an electronic warehouse support plate (702), and the middle part of the electronic warehouse support plate (702) is fixed with an underwater electronic warehouse (703).

8. The method for moving a complex cross-domain environment reconfigurable metamorphic mobile robot as claimed in claim 7, characterized in that: Specifically: When operating in normal mode, the four crawler leg assemblies (1) are driven by motors to move; when operating in underwater mode, the movement in the water area is completed by the underwater module assembly (4); when changing the posture, the posture change is achieved by the metamorphic chassis assembly (3) and the fuselage assembly (2).

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