Multi-mode four-leg climbing robot

Abstract

The invention discloses a multi-mode four-track-leg climbing robot, belongs to the technical field of robots, and aims at solving the problems that an existing climbing robot is low in efficiency, large in energy consumption, difficult to balance, capable of interfering the working environment and incapable of meeting the requirements for moving and climbing in the complex working environment and the narrow space. Through the bionic spine design and the four-track leg configuration design with the deformable wheels, the robot has multiple operation modes including a conventional track type moving mode on a flat and semi-flat road surface, a four-foot gait mode for crossing obstacles and a deformation passing mode in a narrow space; based on the cross-floor limit climbing mode of stairs and the inspection and operation capability after a related sensor is additionally installed or a mechanical arm is executed according to task requirements, the movement capability of the robot can be remarkably improved through mutual cooperation of multiple movement modes. The robot is mainly used for emergency rescue tasks such as natural disasters, industrial accidents and fire disasters.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, and particularly relates to a multi-mode four-track leg climbing robot. Background Art

[0002] Track leg robots have mobility similar to that of animals and good cross-country performance, and can perform tasks in complex environments. They have broad application prospects in both military and civilian fields. Using robots to replace humans to reach various dangerous environments for operations is of great significance in reality. Robots with a single movement behavior can no longer adapt to complex environments and narrow spaces. Therefore, it is necessary to seek multi-mode autonomous agile movement to achieve high adaptability, further expand the use scenarios of robots, and improve the working efficiency of robots.

[0003] Existing robots usually adopt an embedded method to achieve four-legged climbing of inclined ladders. For specific working environments, a few also achieve large-slope climbing through electromagnetic adsorption. The above-mentioned ladder climbing methods are inefficient, energy-consuming, difficult to balance, and will interfere with the working environment, and cannot meet the movement and climbing in complex working environments and narrow spaces. Therefore, there is an urgent need to develop a new type of climbing robot that can integrate the advantages of multiple movement modes, can climb across building floors extremely, and can quickly switch according to environmental requirements. Summary of the Invention

[0004] In order to solve the problems of existing climbing robots, such as low efficiency, high energy consumption, difficult balance, and interference with the working environment, and inability to meet the movement and climbing in complex working environments and narrow spaces, the present invention further provides a multi-mode four-track leg climbing robot.

[0005] A multi-mode four-track leg climbing robot, the robot includes a fuselage unit and four leg-foot units. The fuselage unit includes two fuselage components and a bionic spine. The bionic spine is arranged between the two fuselage components, and the two fuselage components are movably connected through the bionic spine. The four leg-foot units are evenly divided into two groups. Each group of leg-foot units is correspondingly arranged on the fuselage component. The two leg-foot units in each group of leg-foot units are relatively arranged on both sides of the fuselage component, and each leg-foot unit is rotatably connected to the corresponding fuselage component through a fuselage joint;

[0006] Further, the bionic spine is a universal joint;

[0007] Further, a binocular camera is installed at the front end of the front fuselage component in the fuselage unit, and a camera is installed at the rear end of the rear fuselage component in the fuselage unit;

[0008] Further, a side sensor is installed on each side of each fuselage component, and a laser head is provided above each side sensor. Each laser head is correspondingly installed on the side wall of the corresponding fuselage component;

[0009] Further, two pawl assemblies are embedded at the bottom of each fuselage member. The two pawl assemblies are symmetrically arranged along the center line of the width direction of the fuselage member where they are located. The driving end of each pawl assembly is installed in the fuselage member, and the working end of each pawl assembly extends out of the bottom of the fuselage member where it is located and is arranged outside the fuselage member where it is located.

[0010] Further, the pawl assembly includes a power motor, a driving sprocket, a chain, a plurality of climbing pawl bodies and a plurality of driven sprockets. The power motor is fixed in the fuselage member through a motor mounting seat. The driving sprocket is sleeved on the power output shaft of the power motor. A plurality of driven sprockets are arranged at equal intervals in sequence along the length extension direction of the fuselage member on one side of the driving sprocket. The chain is sleeved on the driving sprocket and the plurality of driven sprockets and is tensioned with the driving sprocket and the plurality of driven sprockets. The power motor serves as a power source to drive the driving sprocket to rotate, thereby driving the chain to rotate in a cycle. A connecting lug is fixedly connected to the outer wall of each link of the chain. One end of each climbing pawl body is fixed to a connecting lug through a bolt, and the extending directions of the plurality of climbing pawl bodies are all kept consistent.

[0011] Further, the leg-foot unit includes a leg component and a crawler foot. The leg component is a multi-joint structure. One end of the leg component is rotatably connected to the fuselage member where it is located through a fuselage joint. The crawler foot is installed at the other end of the leg component.

[0012] Further, the leg component includes a hip joint, a thigh link, a knee joint, a calf link and an ankle joint. One end of the thigh link is arranged on the fuselage joint and is rotatably connected to the fuselage joint through the hip joint. One end of the calf link is arranged at the other end of the thigh link and is rotatably connected to the thigh link through the knee joint. The crawler foot is arranged at the other end of the calf link and is rotatably connected to the calf link through the ankle joint.

[0013] Further, the crawler foot includes a crawler, a first support wheel, a second support wheel, a variable bracket and a reconstruction wheel. The variable bracket is arranged at the other end of the calf link and is rotatably connected to the calf link through the ankle joint. The first support wheel, the second support wheel and the reconstruction wheel are all installed on the variable bracket, and the first support wheel, the second support wheel and the reconstruction wheel are all rotatably connected to the variable bracket. The crawler is sleeved on the first support wheel, the second support wheel and the reconstruction wheel and is tensioned with the first support wheel (19), the second support wheel and the reconstruction wheel.

[0014] Further, the variable bracket includes a first connecting rod, a second connecting rod, and a bending rod. The first connecting rod is rotatably connected to the calf connecting rod through the ankle joint. The second connecting rod is disposed on one side of the first connecting rod, and one end of the second connecting rod is rotatably connected to the middle of the first connecting rod. One end of the bending rod is inserted into the other end of the second connecting rod. The other end of the bending rod bends toward the side where the first connecting rod is located and is coplanar with the first connecting rod. The second support wheel and the reconstruction wheel are respectively installed at both ends of the first connecting rod and rotatably connected to the first connecting rod. The first support wheel is installed at the other end of the bending rod and rotatably connected to the bending rod. The first support wheel, the second support wheel, and the reconstruction wheel are all located on the same working plane;

[0015] Beneficial effects of the present application compared with the prior art:

[0016] A multi-mode four-track leg climbing robot provided by the present application has a variety of operation modes through bionic spine design and four-track leg configuration design with deformable wheels: a conventional crawler moving mode on flat and semi-flat roads, a quadruped gait mode for crossing obstacles, a deformation passing mode in narrow spaces, a cross-floor extreme climbing mode based on stairs, and an inspection + operation ability after installing relevant sensors or robotic arms according to task requirements. Through the mutual cooperation of various motion modes, the motion ability of the robot can be significantly improved.

[0017] A multi-mode four-track leg climbing robot provided by the present application adopts a modular design, which is convenient for maintenance. When a fault occurs, only the corresponding hardware module needs to be replaced, and the maintenance time is greatly reduced. And through a highly integrated and highly reusable lightweight design, the overall weight of the machine is reduced compared with similar products with the same function, which is beneficial to improving the motion flexibility and motion efficiency of the product. At the same time, the modular structure also makes the robot structure intuitive and simple, facilitating users and maintenance personnel to quickly master the product functions. Its fuselage structure can be equipped with a controller and sensors to make the robot have multiple working modes such as autonomous tasks, personnel command operations, and remote operations, with good usability and reliability.

[0018] A multi-mode four-track leg climbing robot provided by the present application is provided with a pawl structure at the lower part of its body. The pawl structure can cooperate with the ladder structure for climbing during work, providing climbing power for the robot when climbing at a large angle, improving the stability and reliability of the robot when climbing, and the flexibility of the robot's movement. Description of the Drawings

[0019] Figure 1 is a schematic structural diagram (front view) of the multi-mode four-track leg climbing robot described in the present application;

[0020] Figure 2 is a schematic structural diagram (rear view) of the multi-mode four-track leg climbing robot described in the present application;

[0021] Figure 3 Structural schematic diagram (rear view) of the multi-mode four-track leg climbing robot described in this application;

[0022] Figure 4 Structural schematic diagram of the pawl assembly in the multi-mode four-track leg climbing robot described in this application;

[0023] Figure 5 Structural schematic diagram (front view) of the leg-foot unit in the multi-mode four-track leg climbing robot described in this application;

[0024] Figure 6 Structural schematic diagram (rear view) of the leg-foot unit in the multi-mode four-track leg climbing robot described in this application;

[0025] Figure 7 Structural schematic diagram of the track foot in the multi-mode four-track leg climbing robot described in this application;

[0026] Figure 8 Working schematic diagram of the multi-mode four-track leg climbing robot described in this application;

[0027] Figure 9 Working schematic diagram of the multi-mode four-track leg climbing robot described in this application;

[0028] In the figure: 1 leg-foot unit, 2 fuselage member, 3 bionic spine, 4 binocular camera, 5 side sensor, 6 laser head, 7 camera, 8 pawl assembly, 9 chain, 10 climbing claw body, 11 fuselage joint, 12 hip joint, 13 thigh link, 14 knee joint, 15 calf link, 16 ankle joint, 17 track foot, 18 track, 19 first support wheel, 20 second support wheel, 21 variable bracket, 22 reconstruction wheel, and 23 guide block. Detailed implementation manners

[0029] Detailed implementation manner one: Combining Figures 1 to 9 To illustrate this implementation manner, a multi-mode four-track leg climbing robot is provided in this implementation manner. The robot includes a fuselage unit and four leg-foot units 1. The fuselage unit includes two fuselage members 2 and a bionic spine 3. The bionic spine 3 is arranged between the two fuselage members 2, and the two fuselage members 2 are movably connected through the bionic spine 3. The four leg-foot units 1 are evenly divided into two groups. Each group of leg-foot units 1 is correspondingly arranged on the fuselage member 2. The two leg-foot units 1 in each group of leg-foot units 1 are relatively arranged on both sides of the fuselage member 2, and each leg-foot unit 1 is rotatably connected to the corresponding fuselage member 2 through a fuselage joint 11.

[0030] Detailed implementation manner two: Combining Figures 1 to 7 To illustrate this implementation manner, the difference between this implementation manner and the detailed implementation manner one is that the bionic spine 3 is a universal joint. Other compositions and connection methods are the same as those in the detailed implementation manner one.

[0031] As described in Embodiment 1 and Embodiment 2, the body member 2 is installed with relevant hardware devices such as a robot control system, a power supply system, and external sensors. The corresponding two leg-foot units 1 are controlled by the system modules integrated in the body member 2. The body joint 11 enables the leg-foot unit 1 to swing left and right relative to the body member 2 where it is located. Through the cooperation of the body joint, hip joint, and knee joint, three-dimensional position control of the foot end can be achieved, improving the degree of freedom of the leg-foot unit 1 during operation. At the same time, the working range of the rescue robot is also expanded, enabling it to move more flexibly in a narrow area. The main body of the body joint 11 is a dual-axis motor structure. A receiving groove is processed on the side of each body member 2, and the body joint 11 is embedded in the receiving groove. The two power output shafts of the body joint 11 extend into the body member 2 where it is located and are rotatably connected to the body member 2. The housing part of the body joint 11 serves as a connecting part for connecting with the corresponding leg-foot unit 1. The bionic spine 3 is designed with a universal joint structure, which can enable the body to change its own shape when encountering a complex environment to reduce the required space or adapt to the path characteristics, so as to pass through obstacles.

[0032] Embodiment 3: Combining Figures 1 to 7 To illustrate this embodiment, the difference between this embodiment and Embodiment 2 is that a binocular camera 4 is installed on the front end of the body member 2 located in the front of the body unit, and a camera 7 is installed on the rear end of the body member 2 located in the rear of the body unit. Other compositions and connection methods are the same as those in Embodiment 2.

[0033] Embodiment 4: Combining Figures 1 to 7 To illustrate this embodiment, the difference between this embodiment and Embodiment 3 is that a side sensor 5 is installed on each side of each body member 2, and a laser head 6 is provided above each side sensor 5. Each laser head 6 is correspondingly installed on the side wall of the body member 2 where it is located. Other compositions and connection methods are the same as those in Embodiment 3.

[0034] Embodiment 5: Combining Figures 1 to 7 To illustrate this embodiment, the difference between this embodiment and Embodiment 4 is that two pawl assemblies 8 are embedded at the bottom of each body member 2. The two pawl assemblies 8 are symmetrically arranged along the center line of the width direction of the body member 2 where they are located, and the driving end of each pawl assembly 8 is installed in the body member 2. The working end of each pawl assembly 8 extends out of the bottom of the body member 2 and is arranged outside the body member 2. Other compositions and connection methods are the same as those in Embodiment 4.

[0035] Embodiment 6: Combining Figures 1 to 7Regarding this embodiment, the difference between this embodiment and the fifth specific embodiment lies in that the pawl assembly 8 includes a power motor, a driving sprocket, a chain 9, a plurality of climbing pawl bodies 10, and a plurality of driven sprockets. The power motor is fixed in the fuselage member 2 through a motor mounting base. The driving sprocket is sleeved on the power output shaft of the power motor. A plurality of driven sprockets are arranged at equal intervals in sequence on one side of the driving sprocket along the length extension direction of the fuselage member 2. The chain 9 is sleeved on the driving sprocket and the plurality of driven sprockets and is tensioned with the driving sprocket and the plurality of driven sprockets. The power motor serves as a power source to drive the driving sprocket to rotate, thereby driving the chain 9 to rotate in a cycle. A connecting lug is fixedly connected to the outer wall of each link of the chain 9. One end of each climbing pawl body 10 is fixed to a connecting lug through a bolt, and the extending directions of the plurality of climbing pawl bodies 10 are all kept consistent. Other compositions and connection methods are the same as those in the fifth specific embodiment.

[0036] Combined with the third to the sixth specific embodiments, the binocular cameras 4 and the cameras 7 at both ends of the fuselage member 2 are used to collect images of the working environment of the robot, so as to provide an environmental reference for the subsequent actions of the robot or to collect information of the measured area during the detection work. The side sensors 5 and the laser heads 6 are used to detect the distance between the fuselage and the side obstacles, so that the robot can operate in a safe environment. The pawl assembly 8 is an important component in this application. As a power component when driving the robot to climb, it realizes the step-by-step climbing action through the cooperation between the climbing pawl bodies 10 and the ladder structure. At the same time, in order to ensure the stability and accuracy of the robot during climbing, a corresponding guide block 23 is also provided for the climbing pawl bodies 10 in this application. The guide block 23 is fixedly connected to the outer wall of the fuselage joint 11. Along with the operation of the pawl assembly 8, in order to avoid interference, the leg-foot unit 1 will be adjusted to the top of the fuselage member 2. At this time, the guide block 23 will be exposed on the side of the fuselage member 2 and cooperate with the chute on the ladder to provide guidance and trajectory constraint for the climbing action of the robot.

[0037] Specific embodiment seven: Combined with Figures 1 to 7 Regarding this embodiment, the difference between this embodiment and the sixth specific embodiment lies in that the leg-foot unit 1 includes a leg assembly and a crawler foot 17. The leg assembly is a multi-joint structure. One end of the leg assembly is rotatably connected to the corresponding fuselage member 2 through a fuselage joint 11. The crawler foot 17 is installed at the other end of the leg assembly. Other compositions and connection methods are the same as those in the sixth specific embodiment.

[0038] Specific embodiment eight: Combined with Figures 1 to 7Describing this embodiment, the difference between this embodiment and the seventh specific embodiment lies in that the leg assembly includes a hip joint 12, a thigh link 13, a knee joint 14, a calf link 15, and an ankle joint 16. One end of the thigh link 13 is disposed on the fuselage joint 11 and is rotatably connected to the fuselage joint 11 through the hip joint 12. One end of the calf link 15 is disposed on the other end of the thigh link 13 and is rotatably connected to the thigh link 13 through the knee joint 14. The crawler foot 17 is disposed on the other end of the calf link 15 and is rotatably connected to the calf link 15 through the ankle joint 16. Other components and connection manners are the same as those in the seventh specific embodiment.

[0039] Specific embodiment nine: Combining Figures 1 to 7 Describing this embodiment, the difference between this embodiment and the eighth specific embodiment lies in that the crawler foot 17 includes a crawler 18, a first support wheel 19, a second support wheel 20, a variable bracket 21, and a reconfigurable wheel 22. The variable bracket 21 is disposed on the other end of the calf link 15 and is rotatably connected to the calf link 15 through the ankle joint 16. The first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 are all mounted on the variable bracket 21, and the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 are all rotatably connected to the variable bracket 21. The crawler 18 is sleeved on the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 and is tensioned with the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22. Other components and connection manners are the same as those in the eighth specific embodiment.

[0040] Specific embodiment ten: Combining Figures 1 to 7 Describing this embodiment, the difference between this embodiment and the ninth specific embodiment lies in that the variable bracket 21 includes a first link, a second link, and a bent rod. The first link is rotatably connected to the calf link 15 through the ankle joint 16. The second link is disposed on one side of the first link, and one end of the second link is rotatably connected to the middle of the first link. One end of the bent rod is inserted into the other end of the second link, and the other end of the bent rod bends toward the side where the first link is located and is coplanar with the first link. The second support wheel 20 and the reconfigurable wheel 22 are respectively mounted on both ends of the first link and are rotatably connected to the first link. The first support wheel 19 is mounted on the other end of the bent rod and is rotatably connected to the bent rod. The first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 are all located in the same working plane. Other components and connection manners are the same as those in the ninth specific embodiment.

[0041] In combination with the description of the specific embodiments 7 to 10, the joint structures involved in the leg assembly are all played by the rotor motor, and each joint structure can increase the leg-foot unit 1 by one degree of freedom, cooperate with the fuselage joint 11 on the fuselage member 2, and combine the hip joint 12, knee joint 14 and ankle joint 16 in the leg assembly and the drive end of the reconstruction wheel 22, so that the leg-foot unit 1 can achieve a total of 5 degrees of freedom adjustment transformation, so as to improve the adaptability of the leg-foot unit 1 to different working environments. The design of the track foot 17 can effectively increase the contact area between the foot end and the running plane, and the track foot 17 in this application is a variable type. The track structure allows the robot to switch between foot-type motion and track-type motion. The specific change process is adjusted by the variable bracket 21. By changing the position of the No. 2 connecting rod and the No. 1 connecting rod in the variable bracket 21, the positional relationship among the No. 1 support wheel 19, the No. 2 support wheel 20 and the reconstruction wheel 22 can be adjusted, thereby changing the working form of the track 18. When the No. 1 support wheel 19, the No. 2 support wheel 20 and the reconstruction wheel 22 are on the same horizontal line, the track foot 17 is track-type motion. When the No. 1 support wheel 19, the No. 2 support wheel 20 and the reconstruction wheel 22 are not on the same horizontal line, the track foot 17 is foot-type motion.

[0042] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0043] How it works

[0044] When the present application is used, the various components are first assembled together according to the connection relationship described in Specific Embodiments 1 to 10 to form a multi-mode four-shoe climbing robot. The following describes the corresponding working modes of the robot according to several working conditions in actual applications:

[0045] First: When moving in a plane, the robot structure of this application can refer to Figure 1In the state described above, with the four crawler feet 17 as the support, the overall height of the robot is adjusted by adjusting the folding state of the leg components corresponding to each crawler foot 17 to achieve the purpose of effectively avoiding obstacles. The working mode of the crawler feet 17 is adjusted according to the terrain requirements. When crawler movement is required, the variable bracket 21 is adjusted to align the first support wheel 19, the second support wheel 20, and the reconstruction wheel 22 on the same horizontal line. At this time, the power end of the reconstruction wheel 22 starts to work, driving the reconstruction wheel 22 to rotate and then driving the crawler 18 to rotate in a cycle. When walking movement is required, the variable bracket 21 is adjusted to make the first support wheel 19, the second support wheel 20, and the reconstruction wheel 22 not on the same horizontal line. At this time, the power end of the reconstruction wheel 22 does not work, and the crawler foot 17 realizes a stepping action through the joints in the leg components;

[0046] Second: During the ladder climbing movement, the structure of the robot in this application can refer to Figures 8 to 9 the state described above. At this time, the leg-foot unit 1 does not work. Through the leg components, the crawler foot 17 is adjusted to the top of the fuselage member 2. The ratchet component 8 in the fuselage member 2 is used as the power source to cooperate with the ladder structure to achieve a stepping climbing action. During this process, the guide blocks 23 on both sides of the fuselage member 2 are in the working position driven by the fuselage joint 11. The guide blocks 23 are embedded in the guide grooves on both sides of the ladder to provide guidance and trajectory constraints for the climbing action of the robot, thus ensuring the accuracy of the climbing action and path of the robot.

Claims

1. A multi-mode four-legged climbing robot, the robot comprising a body unit and four leg and foot units (1), characterized in that: The fuselage unit comprises two fuselage components (2) and a bionic spine (3); the bionic spine (3) is arranged between the two fuselage components (2), and the two fuselage components (2) are movably connected via the bionic spine (3); four leg-foot units (1) are evenly divided into two groups; each group of leg-foot units (1) is correspondingly arranged on a fuselage component (2); two leg-foot units (1) in each group of leg-foot units (1) are relatively arranged on two sides of the fuselage component (2), and each leg-foot unit (1) is rotatably connected to the fuselage component (2) via a fuselage joint (11).

2. A multi-mode four-legged climbing robot according to claim 1, characterized in that: The bionic spine (3) is a universal joint.

3. A multi-mode four-legged climbing robot according to claim 1, characterized in that: A binocular camera (4) is installed on the front end of a fuselage component (2) located at the front of the fuselage unit, and a camera (7) is installed on the rear end of a fuselage component (2) located at the rear of the fuselage unit.

4. A multi-mode four-legged climbing robot according to claim 3, characterized in that: A side body sensor (5) is respectively installed on both sides of each fuselage component (2), a laser head (6) is provided above each side body sensor (5), and each laser head (6) is correspondingly installed on the side wall of the fuselage component (2) where it is located.

5. A multi-mode four-legged climbing robot according to claim 4, characterized in that: Two pawl assemblies (8) are embedded in the bottom of each fuselage component (2), and the two pawl assemblies (8) are symmetrically arranged along the center line of the width direction of the fuselage component (2), and the driving end of each pawl assembly (8) is installed in the fuselage component (2), and the working end of each pawl assembly (8) extends out of the bottom of the fuselage component (2) and is arranged outside the fuselage component (2).

6. A multi-mode four-legged climbing robot according to claim 5, characterized in that: The pawl assembly (8) comprises a power motor, a driving sprocket, a chain (9), a plurality of climbing pawl bodies (10) and a plurality of driven sprockets. The power motor is fixed in the body component (2) via a motor mounting seat. The driving sprocket is sleeved on the power output shaft of the power motor. The plurality of driven sprockets are arranged equidistantly on one side of the driving sprocket along the length extension direction of the body component (2). The chain (9) is sleeved on the driving sprocket and the plurality of driven sprockets and is tensioned with the driving sprocket and the plurality of driven sprockets. The power motor serves as a power source to drive the driving sprocket to rotate, thereby driving the chain (9) to rotate cyclically. A connecting protrusion is fixedly connected to the outer wall of each link in the chain (9). One end of each climbing pawl body (10) is fixed to a connecting protrusion via a bolt, and the extension directions of the plurality of climbing pawl bodies (10) are all consistent.

7. A multi-mode four-legged climbing robot according to claim 6, characterized in that: The leg-foot unit (1) comprises a leg assembly and a track foot (17); the leg assembly is a multi-joint structure; one end of the leg assembly is rotatably connected to a fuselage component (2) via a fuselage joint (11); and the track foot (17) is mounted on the other end of the leg assembly.

8. The multi-mode four-legged climbing robot according to claim 7, characterized in that: The leg assembly comprises a hip joint (12), a thigh connecting rod (13), a knee joint (14), a shank connecting rod (15) and an ankle joint (16); one end of the thigh connecting rod (13) is arranged on the body joint (11) and is rotatably connected to the body joint (11) through the hip joint (12); one end of the shank connecting rod (15) is arranged on the other end of the thigh connecting rod (13) and is rotatably connected to the thigh connecting rod (13) through the knee joint (14); and the track foot (17) is arranged on the other end of the shank connecting rod (15) and is rotatably connected to the shank connecting rod (15) through the ankle joint (16).

9. The multi-mode four-legged climbing robot according to claim 8, characterized in that: The track foot (17) comprises a track (18), a No. 1 support wheel (19), a No. 2 support wheel (20), a variable bracket (21) and a reconstruction wheel (22); the variable bracket (21) is arranged on the other end of the shank connecting rod (15) and is rotatably connected to the shank connecting rod (15) through an ankle joint (16); the No. 1 support wheel (19), the No. 2 support wheel (20) and the reconstruction wheel (22) are all mounted on the variable bracket (21); the No. 1 support wheel (19), the No. 2 support wheel (20) and the reconstruction wheel (22) are all rotatably connected to the variable bracket (21); the track (18) is sleeved on the No. 1 support wheel (19), the No. 2 support wheel (20) and the reconstruction wheel (22) and is tensioned with the No. 1 support wheel (19), the No. 2 support wheel (20) and the reconstruction wheel (22).

10. The multi-mode four-legged climbing robot according to claim 9, characterized in that: The variable bracket (21) includes a No. 1 connecting rod, a No. 2 connecting rod and a bending rod. The No. 1 connecting rod is rotatably connected to the calf connecting rod (15) through an ankle joint (16). The No. 2 connecting rod is arranged on one side of the No. 1 connecting rod, and one end of the No. 2 connecting rod is rotatably connected to the middle part of the No. 1 connecting rod. One end of the bending rod is inserted into the other end of the No. 2 connecting rod, and the other end of the bending rod is bent toward the side where the No. 1 connecting rod is located and arranged coplanar with the No. 1 connecting rod. The No. 2 supporting wheel (20) and the reconstruction wheel (22) are respectively installed at the two ends of the No. 1 connecting rod and are rotatably connected to the No. 1 connecting rod. The No. 1 supporting wheel (19) is installed on the other end of the bending rod and is rotatably connected to the bending rod. The No. 1 supporting wheel (19), the No. 2 supporting wheel (20) and the reconstruction wheel (22) are all located on the same working plane.

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