Integrated moving operation closed chain multi-legged robot

Abstract

The invention discloses an integrated moving operation closed chain multi-legged robot. The robot comprises an electric control module (A), a leg-foot module (B), a pitching module (C), a rack module (D) and a loading module (E). And the electric control module (A) synchronously controls the leg and foot module (B), the pitching module (C) and the loading module (E). When the leg and foot module (B) is driven by the pitching module (E) to pitch by a certain angle, the leg and foot module (B) can complete tasks such as clamping, forcible entry and obstacle clearance. The pitching module (C) is fixedly connected with the leg and foot module (B) and the rack module (D) and used for connecting the leg and foot module (B) and the rack module (D), the pitching module (C) can make the leg and foot module (B) pitch by a certain angle, and the obstacle crossing ability and the terrain adaptability are improved. The loading module (E) is arranged over the rack module (D) and used for improving the functionality of the integrated moving operation closed chain multi-legged robot.

Description

Technical Field

[0001] The present application belongs to the field of robotics, and specifically relates to an integrated mobile operation closed-chain multi-legged robot. Background Art

[0002] Multi-legged robots have shown important application value in complex environment exploration, disaster relief, military reconnaissance and other fields due to their superior terrain adaptability and motion stability. Traditional multi-legged robots mostly use open-chain leg structures, which are characterized by independent control of joint degrees of freedom and strong motion flexibility, but have problems such as limited load capacity and insufficient structural rigidity. In recent years, closed-chain multi-legged robots have gradually become a research hotspot. Their leg mechanisms form a closed-loop structure through connecting rods, parallel mechanisms or linkage devices, which can optimize energy transfer efficiency while improving overall rigidity and load capacity.

[0003] Chinese patent CN115195904A discloses a single-power high-smooth closed-chain leg mechanism robot, which includes: a single-power high-smooth closed-chain leg mechanism robot composed of a reconstructed closed-chain leg mechanism, a completely identical first, second, and third group of closed-chain leg mechanisms, a frame, and a power unit. Each group of leg mechanisms adopts a curved contour foot end, so that the robot can walk smoothly. The reconstructed closed-chain leg mechanism can increase the leg lifting height and increase the obstacle crossing performance. The first and second non-circular gear transmission groups cooperate to adjust the foot end speed to achieve high-speed and uniform motion of the robot. Power coupling is achieved through an incomplete gear transmission group. The robot walks and the reconstructed closed-chain leg mechanism reconstructs the motion by a single motor. The single-power high-smooth closed-chain leg mechanism robot can be used in surveying, transportation, reconnaissance and other fields. Summary of the invention

[0004] The present invention aims to improve the obstacle-crossing ability, terrain adaptability and functionality of a closed-chain multi-legged robot, and proposes an integrated mobile operation closed-chain multi-legged robot. The robot uses a pitch module to pull the leg module to pitch a certain angle, thereby improving the obstacle-crossing ability and terrain adaptability, so that the closed-chain multi-legged robot has the ability to move efficiently on unstructured roads. The functionality of the robot is improved by using a leg-foot module with deformable legs and an upper body module with a mechanical arm.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is: an integrated mobile operation closed-chain multi-legged robot, which is composed of an electric control module, a leg and foot module, a pitch module, a frame module and an upper module;

[0006] The electric control module includes an electric control box and a power supply, the power supply is built into the electric control box, the power supply is fixedly connected to the electric control box by bolts and connected to the leg and foot modules, the pitch module and the upper module through lines; the electric control box is fixedly connected to the rack module, and the electric control module synchronously controls the leg and foot modules, the pitch module and the upper module;

[0007] The leg-foot module includes a first leg mechanism, a second leg mechanism, a third leg mechanism, and a fourth leg mechanism; the first leg mechanism, the second leg mechanism, the third leg mechanism, and the fourth leg mechanism are sequentially arranged on the frame module in the order of the front left, front right, rear left, and rear right; the leg-foot module is connected to the frame module by relying on the pitching module.

[0008] Each of the first to fourth leg mechanisms included in the leg-foot module includes a deformable leg assembly and a deformation drive assembly. When the leg-foot module pitches at a certain angle driven by the pitching module, the deformable leg assembly can rotate a certain angle under the drive of the deformation drive assembly to achieve the purposes of clamping, breaking, and obstacle clearing.

[0009] The pitching module includes a first pitching mechanism and a second pitching mechanism. The pitching module is fixedly connected to the leg-foot module and the frame module and is used to connect the leg-foot module and the frame module; the first pitching mechanism and the second pitching mechanism are sequentially arranged at the center of the front of the frame module and the center of the rear of the frame module, respectively.

[0010] The frame module is used to carry the electric control module, fixedly connect the leg-foot module and the pitching module, and support the upper mounting module.

[0011] The upper mounting module is arranged directly above the frame module; the upper mounting module includes an upper mounting platform and a multi-functional robotic arm, which are used to enhance the functionality of the integrated mobile operation closed-chain multi-legged robot.

[0012] The leg-foot module includes a first leg mechanism, a second leg mechanism, a third leg mechanism, and a fourth leg mechanism;

[0013] The first leg mechanism includes a leg-foot mounting plate assembly, a leg-foot assembly, a crankshaft, a drive assembly, a crank, a deformable leg assembly, and a deformation drive assembly;

[0014] The leg-foot assembly is arranged below the leg-foot mounting plate assembly and is symmetrically arranged with respect to the axis of the reduction gear; the leg-foot assembly includes a first leg rod, a second leg rod, a third leg rod, a fourth leg rod, and a foot end; the foot end is a plug-in foot end, which can be inserted into the interface of the fourth leg rod and is fixedly connected by means of screw connection, facilitating regular replacement.

[0015] The first leg mechanism and the fourth leg mechanism have exactly the same structure. The first leg mechanism is located in the front left, and the fourth leg mechanism is located in the rear right. The first leg mechanism and the fourth leg mechanism are respectively connected to the frame module through the pitching module. The components included in the second leg mechanism and the third leg mechanism are the same as those of the first leg mechanism, but the deformable leg components and the deformation drive components are arranged oppositely with the center line of the drive component as the center line. The second leg mechanism is located in the front right, and the third leg mechanism is located in the rear left. The second leg mechanism and the third leg mechanism are respectively connected to the frame module through the pitching module. The first leg mechanism and the second leg mechanism are symmetrically arranged with the center line of the drive component as the center line, and the third leg mechanism and the fourth leg mechanism are symmetrically arranged with the center line of the drive component as the center line.

[0016] The drive component is arranged directly below the leg foot mounting plate assembly and is fixedly connected to the leg foot mounting plate assembly by bolts. The drive component includes a leg foot drive motor, a reducer, and a motor fixed connection assembly. The motor fixed connection assembly fixes the leg foot drive motor and the reducer together and connects the drive component to the leg foot mounting plate assembly. The leg foot drive motor provides power for the leg foot module by driving the reducer to rotate.

[0017] The drive component transmits power to the leg foot component through a crank and a crankshaft, driving the leg foot component to move, and realizing the walking of the integrated mobile operation closed-chain multi-legged robot.

[0018] The deformable leg component includes a deformable leg foot mounting plate, a deformable leg foot drive motor, a motor mounting assembly, a crank, and a leg foot component. The motor mounting assembly fixes the deformable leg foot drive motor below the deformable leg foot mounting plate. The deformable leg foot drive motor drives the leg foot component to move through a crank. When the leg foot module does not pitch, the leg foot component in the deformable leg component participates in the walking action of the leg foot module. When the leg foot module pitches driven by the pitching module, the deformable leg component can rotate a certain angle driven by the deformation drive component, and the deformable leg foot drive motor drives the leg foot component to move to complete tasks such as clamping, demolition, and obstacle clearing.

[0019] The deformation drive component includes a deformation drive push rod, a push rod low bracket, a push rod high bracket, a rotating left bracket, and a rotating right bracket. The push rod low bracket and the rotating left bracket are arranged above the deformable leg foot mounting plate. The push rod high bracket and the rotating right bracket are arranged above the leg foot mounting plate assembly. The rotating left bracket and the rotating right bracket are coupled to form a rotating pair. Both ends of the deformation drive push rod are respectively connected to the push rod low bracket and the push rod high bracket, and the movement of the deformation drive push rod can drive the deformable leg component to rotate around the rotating pair formed by the coupling of the rotating left bracket and the rotating right bracket.

[0020] The pitching module includes a first pitching mechanism and a second pitching mechanism. The first pitching mechanism includes a pitching push rod, a pitching fixed block, a pitching support, a pitching shaft fixing bracket, and a pitching shaft. The parts and components included in the first pitching mechanism and the second pitching mechanism are the same. The end of the pitching push rod is connected to the frame module to form a rotating pair, and the head end is connected to the pitching fixed block to form a rotating pair. The pitching fixed block is fixedly connected to the leg-foot module through a square tube in the frame module. The pitching support is arranged at the side rear of each leg mechanism and is fixedly connected to the leg-foot mounting plate assembly. The pitching shaft fixing bracket is fixedly connected to the frame module and is symmetrically arranged with respect to the center line of the frame module. The pitching shaft fixing bracket supports the pitching shaft, and the two outer shafts of the pitching shaft form rotating pairs with the pitching support. The pitching push rod drives the leg-foot module to rotate around the pitching shaft by pulling the pitching fixed block, and the pitching movement of the leg-foot module can increase the obstacle-crossing ability and terrain adaptability of the integrated mobile operation closed-chain multi-legged robot.

[0021] The frame module includes a carbon fiber square tube assembly, an L-shaped angle joint, a shock absorber bracket, a shock absorber, a tee angle joint, a push rod mounting block, and a straight angle joint. The carbon fiber square tube assembly includes carbon fiber square tubes of different lengths, and all the carbon fiber square tubes are fixedly connected by means of L-shaped angle joints, shock absorber brackets, tee angle joints, push rod mounting blocks, and straight angle joints. The shock absorber brackets are arranged on the upper layer of the frame module, one at each of the front left, rear left, front right, and rear right, and play a role in supporting the shock absorber while fixedly connecting the carbon fiber square tubes. The push rod mounting blocks are arranged on the lower layer of the frame module, one at the front and one at the rear, and are used to fixedly connect the pitching push rods. The shock absorbers are arranged directly above the shock absorber brackets and play a role in shock absorption, maintaining the balance and stability of the upper-mounted module.

[0022] The upper-mounted module is located at the top of the integrated mobile operation closed-chain multi-legged robot and is fixedly connected to the shock absorber in the frame module. It includes an upper-mounted platform and a multi-functional manipulator. The multi-functional manipulator is fixedly connected directly above the upper-mounted platform, but the number and installation position of the multi-functional manipulator are not fixed. The upper-mounted module is the execution module of the integrated mobile operation closed-chain multi-legged robot and can realize functions such as grasping, placing, transporting, and visual recognition.

[0023] The advantages of the present invention compared with the prior art are as follows: The present invention adopts a leg-foot module with deformable legs. When the leg-foot module pitches, the deformable legs can become chelicerae to perform tasks such as obstacle clearing, demolition, and clamping, improving the functionality of the legs. During walking, the leg-foot module can improve its obstacle-crossing ability and terrain adaptability through pitching movements. The manipulator in the upper-mounted module can realize functions such as grasping, placing, transporting, and visual recognition, improving the functionality of the closed-chain multi-legged robot. Description of the Drawings

[0024] Figure 1Structural schematic diagram of an implementation scheme of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0025] Figure 2 Structural schematic diagram of the electronic control module of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0026] Figure 3 Structural schematic diagram of the leg and foot module of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0027] Figure 4 Structural schematic diagram of the first to fourth leg mechanisms of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0028] Figure 5 Structural schematic diagram of the drive assembly of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0029] Figure 6 Structural schematic diagram of the deformable leg assembly of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0030] Figure 7 Structural schematic diagram of the deformation drive assembly of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0031] Figure 8 Structural schematic diagram of the pitching module of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0032] Figure 9 Structural schematic diagram of the frame module of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0033] Figure 10 Structural schematic diagram of the upper mounting module of an integrated mobile operation closed-chain multi-legged robot provided by the present invention

[0034] Wherein: the electric control module is A; the leg and foot module is B; the pitching module is C; the frame module is D; the upper mounting module is E; the electric control box is A-1; the power supply is A-2; the leg and foot mounting plate assembly is B-1-1; the leg and foot assembly is B-1-2; the crankshaft is B-1-3; the drive assembly is B-1-4; the crank is B-1-5; the deformable leg assembly is B-1-6; the deformation drive assembly is B-1-7; the leg and foot drive motor is B-1-4-1; the speed reducer is B-1-4-2; the motor fixed connection assembly is B-1-4-3; the first leg rod is B-1-2-1; the second leg rod is B-1-2-2; the third leg rod is B-1-2-3; the fourth leg rod is B-1-2-4; the foot end is B-1-2-5; the deformable leg and foot mounting plate is B-1-6-1; the deformable leg and foot drive motor is B-1-6-2; the motor mounting assembly is B-1-6-3; the deformation drive push rod is B-1-7-1; the push rod short bracket is B-1-7-2; the push rod high bracket is B-1-7-3; the rotating left bracket is B-1-7-4; the rotating right bracket is B-1-7-5; the pitching push rod is C-1-1; the pitching fixed block is C-1-2; the pitching support is C-1-3; the pitching shaft fixing frame is C-1-4; the pitching shaft is C-1-5; the carbon fiber square tube assembly is D-1; the L-shaped angle joint is D-2; the shock absorber bracket is D-3; the shock absorber is D-4; the three-way angle joint is D-5; the push rod mounting block is D-6; the straight-shaped angle joint is D-7; the upper mounting platform is E-1; the multi-functional robotic arm is E-2. Detailed implementation manners

[0035] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0036] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms first, second, etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with first, second, etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0037] In the description of the present invention, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0038] As Figure 1 shown, an integrated mobile operation closed-chain multi-legged robot is composed of an electric control module (A), a leg and foot module (B), a pitching module (C), a frame module (D) and an upper mounting module (E);

[0039] As Figure 2 shown, the electric control module (A) includes an electric control box (A-1) and a power supply (A-2). The power supply (A-2) is built into the electric control box (A-1), and the power supply (A-2) is fixedly connected to the electric control box (A-1) by bolts and is connected to the leg and foot module (B), the pitching module (C) and the upper mounting module (E) through wires; the electric control box (A-1) is fixedly connected to the frame module (D), and the electric control module (A) synchronously controls the leg and foot module (B), the pitching module (C) and the upper mounting module (E);

[0040] As Figure 3 shown, the first leg mechanism (B-1) includes a leg and foot mounting plate assembly (B-1-1), a leg and foot assembly (B-1-2), a crankshaft (B-1-3), a drive assembly (B-1-4), a crank (B-1-5), a deformable leg assembly (B-1-6), and a deformation drive assembly (B-1-7);

[0041] As Figure 4 shown, the leg and foot assembly (B-1-2) is arranged below the leg and foot mounting plate assembly (B-1-1) and is symmetrically arranged with the axis of the speed reducer (B-1-4-2) as the axis; the leg and foot assembly (B-1-2) includes a first leg rod (B-1-2-1), a second leg rod (B-1-2-2), a third leg rod (B-1-2-3), a fourth leg rod (B-1-2-4) and a foot end (B-1-2-5); the foot end (B-1-2-5) is a plug-in foot end, which can be inserted into the interface of the fourth leg rod (B-1-2-4) and is fixed by screw connection, which is convenient for regular replacement;

[0042] As Figure 5The described drive assembly (B-1-4) is arranged directly below the leg-foot mounting plate assembly (B-1-1), and includes a leg-foot drive motor (B-1-4-1), a speed reducer (B-1-4-2), and a motor connection assembly (B-1-4-3); the motor connection assembly (B-1-4-3) connects the leg-foot drive motor (B-1-4-1) and the speed reducer (B-1-4-2) together, and connects the drive assembly (B-1-4) to the leg-foot mounting plate assembly (B-1-1); the leg-foot drive motor (B-1-4-1) provides power for the leg-foot module (B) by driving the speed reducer (B-1-4-2) to rotate.

[0043] As Figure 6 As shown, the deformable leg assembly (B-1-6) includes a deformable leg-foot mounting plate (B-1-6-1), a deformable leg-foot drive motor (B-1-6-2), a motor mounting assembly (B-1-6-3), a crank (B-1-5), and a leg-foot assembly (B-1-2). The motor mounting assembly (B-1-6-3) connects the deformable leg-foot drive motor (B-1-6-2) below the deformable leg-foot mounting plate (B-1-6-1), and the deformable leg-foot drive motor (B-1-6-2) drives the leg-foot assembly (B-1-2) to move through the crank (B-1-5); when the leg-foot module (B) does not pitch, the leg-foot assembly (B-1-2) in the deformable leg assembly (B-1-6) participates in the walking action of the leg-foot module (B), and when the leg-foot module (B) pitches driven by the pitching module (C), the deformable leg assembly (B-1-6) can rotate a certain angle driven by the deformation drive assembly (B-1-7), and the deformable leg-foot drive motor (B-1-6-2) drives the leg-foot assembly (B-1-2) to move to complete tasks such as clamping, breaking, and obstacle clearing.

[0044] As Figure 7The shown deformation drive assembly (B-1-7) includes a deformation drive push rod (B-1-7-1), a push rod short bracket (B-1-7-2), a push rod tall bracket (B-1-7-3), a rotating left bracket (B-1-7-4) and a rotating right bracket (B-1-7-5); the push rod short bracket (B-1-7-2) and the rotating left bracket (B-1-7-4) are arranged above the deformable leg mounting plate (B-1-6-1); the push rod tall bracket (B-1-7-3) and the rotating right bracket (B-1-7-5) are arranged above the leg mounting plate assembly (B-1-1); the rotating left bracket (B-1-7-4) and the rotating right bracket (B-1-7-5) are coupled to form a rotating pair; both ends of the deformation drive push rod (B-1-7-1) are respectively connected to the push rod short bracket (B-1-7-2) and the push rod tall bracket (B-1-7-3), and the movement of the deformation drive push rod (B-1-7-1) can drive the deformable leg assembly (B-1-6) to rotate around the rotating pair formed by the coupling of the rotating left bracket (B-1-7-4) and the rotating right bracket (B-1-7-5).

[0045] As Figure 8 The shown pitch module (C) includes a first pitch mechanism (C-1) and a second pitch mechanism (C-2). The first pitch mechanism (C-1) includes a pitch push rod (C-1-1), a pitch fixing block (C-1-2), a pitch support (C-1-3), a pitch shaft fixing bracket (C-1-4) and a pitch shaft (C-1-5); the parts and components included in the first pitch mechanism (C-1) and the second pitch mechanism (C-2) are the same; the end of the pitch push rod (C-1-1) is connected to the frame module (D) to form a rotating pair, and the head end is connected to the pitch fixing block (C-1-2) to form a rotating pair; the pitch fixing block (C-1-2) is fixedly connected to the leg module (B) through a square tube in the frame module (D); the pitch support (C-1-3) is arranged at the side rear of each leg mechanism (B-1, B-2, B-3, B-4) and is fixedly connected to the leg mounting plate assembly (B-1-1); the pitch shaft fixing bracket (C-1-4) is fixedly connected to the frame module (D) and is symmetrically arranged with respect to the center line of the frame module (D); the pitch shaft fixing bracket (C-1-4) supports the pitch shaft (C-1-5), and both sides of the pitch shaft (C-1-5) extend out of the shaft to form a rotating pair with the pitch support (C-1-3); the pitch push rod (C-1-1) drives the leg module (B) to rotate around the pitch shaft (C-1-5) by pulling the pitch fixing block (C-1-2), and the pitching action of the leg module (B) can increase the obstacle-crossing ability and terrain adaptability of the integrated mobile operation closed-chain multi-legged robot.

[0046] As Figure 9The shown frame module (D) includes a carbon fiber square tube assembly (D-1), an L-shaped angle joint (D-2), a shock absorber bracket (D-3), a shock absorber (D-4), a tee angle joint (D-5), a push rod mounting block (D-6), and a straight angle joint (D-7); the carbon fiber square tube assembly (D-1) contains carbon fiber square tubes of different lengths, and all the carbon fiber square tubes are fixedly connected by the L-shaped angle joint (D-2), the shock absorber bracket (D-3), the tee angle joint (D-5), the push rod mounting block (D-6), and the straight angle joint (D-7); the shock absorber bracket (D-3) is arranged on the upper layer of the frame module (D), one at each of the front left, rear left, front right, and rear right, and plays a role in supporting the shock absorber (D-4) while fixedly connecting the carbon fiber square tubes; the push rod mounting block (D-6) is arranged on the lower layer of the frame module (D), one at the front and one at the rear, and is used to fixedly connect the pitch push rod (C-1-1); the shock absorber (D-4) is arranged directly above the shock absorber bracket (D-3) and plays a role in shock absorption, keeping the upper mounting module (E) balanced and stable, etc.

[0047] As Figure 10 The shown upper mounting module (E) is located at the top of the integrated mobile operation closed-chain multi-legged robot, and is fixedly connected to the shock absorber (D-4) in the frame module (D); it includes an upper mounting platform (E-1) and a multi-functional robotic arm (E-2), and the multi-functional robotic arm (E-2) is fixedly connected directly above the upper mounting platform (E-1), but the number and installation position of the multi-functional robotic arm (E-2) are not fixed; the upper mounting module (E) is the execution module of the integrated mobile operation closed-chain multi-legged robot and can realize functions such as grasping, placing, transporting, and visual recognition.

[0048] The embodiments of the present invention have been described in detail above with reference to the drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. An integrated mobile operation closed-chain multi-legged robot, characterized in that: An integrated mobile operation closed-chain multi-legged robot is composed of an electric control module (A), a leg and foot module (B), a pitch module (C), a frame module (D) and a top module (E); The electric control module (A) comprises an electric control box (A-1) and a power supply (A-2), wherein the power supply (A-2) is built in the electric control box (A-1), the power supply (A-2) is fixedly connected to the electric control box (A-1) by bolts and connected to the leg and foot module (B), the pitch module (C) and the upper module (E) by lines; the electric control box (A-1) is fixedly connected to the rack module (D), and the electric control module (A) synchronously controls the leg and foot module (B), the pitch module (C) and the upper module (E); The leg-foot module (B) comprises a first leg mechanism (B-1), a second leg mechanism (B-2), a third leg mechanism (B-3) and a fourth leg mechanism (B-4); the first leg mechanism (B-1), the second leg mechanism (B-2), the third leg mechanism (B-3) and the fourth leg mechanism (B-4) are arranged on the rack module (D) in the order of left front, right front, left rear and right rear respectively; the leg-foot module (B) is connected to the rack module (D) by means of a pitch module (C); The first to fourth leg mechanisms (B-1, B-2, B-3, B-4) included in the leg-foot module (B) all include a deformable leg assembly (B-1-6) and a deformable drive assembly (B-1-7). When the leg-foot module (B) is driven by the pitch module (E) to pitch at a certain angle, the deformable leg assembly (B-1-6) can be driven by the deformable drive assembly (B-1-7) to rotate at a certain angle, thereby achieving the purpose of clamping, demolition and obstacle removal. The pitch module (C) comprises a first pitch mechanism (C-1) and a second pitch mechanism (C-2); the pitch module (C) is fixedly connected to the leg-foot module (B) and the rack module (D) and is used to connect the leg-foot module (B) and the rack module (D); the first pitch mechanism (C-1) and the second pitch mechanism (C-2) are respectively arranged in sequence at the center of the front and rear of the rack module (D); The rack module (D) is used to accommodate the electric control module (A), to fix the leg and foot module (B) and the pitch module (C), and to support the upper assembly module (E); The upper loading module (E) is arranged directly above the frame module (D); the upper loading module (E) includes an upper loading platform (E-1) and a multifunctional mechanical arm (E-2), which are used to enhance the functionality of the integrated mobile operation closed-chain multi-legged robot.

2. The integrated mobile operation closed-chain multi-legged robot according to claim 1, characterized in that: The leg-foot module (B) comprises a first leg mechanism (B-1), a second leg mechanism (B-2), a third leg mechanism (B-3) and a fourth leg mechanism (B-4); The first leg mechanism (B-1) includes a leg-foot mounting plate assembly (B-1-1), a leg-foot assembly (B-1-2), a crank shaft (B-1-3), a drive assembly (B-1-4), a crank (B-1-5), a deformable leg assembly (B-1-6), and a deformable drive assembly (B-1-7); The leg-foot assembly (B-1-2) is arranged below the leg-foot mounting plate assembly (B-1-1), and is symmetrically arranged with the axis of the reducer (B-1-4-2) as the symmetry axis; the leg-foot assembly (B-1-2) includes leg rod one (B-1-2-1), leg rod two (B-1-2-2), leg rod three (B-1-2-3), leg rod four (B-1-2-4) and foot end (B-1-2-5); the foot end (B-1-2-5) is a plug-in foot end, which can be inserted into the interface of leg rod four (B-1-2-4) and fixedly connected by screw connection, which is convenient for regular replacement; The first leg mechanism (B-1) and the fourth leg mechanism (B-4) are completely identical in structure. The first leg mechanism (B-1) is located at the left front, and the fourth leg mechanism (B-4) is located at the right rear. The first leg mechanism (B-1) and the fourth leg mechanism (B-4) are respectively connected to the rack module (D) via the pitch module (C). The components included in the second leg mechanism (B-2) and the third leg mechanism (B-3) are the same as those of the first leg mechanism (B-1), but the deformable leg component (B-1-6) and the deformable drive component (B-1-7) are replaced by the drive component (B- The first leg mechanism (B-1) and the second leg mechanism (B-2) are arranged opposite to each other with the center line of the driving assembly (B-1-4) as the center line; the second leg mechanism (B-2) is in the right front, and the third leg mechanism (B-3) is in the left rear, and the second leg mechanism (B-2) and the third leg mechanism (B-3) are respectively connected to the rack module (D) through the pitch module (C); the first leg mechanism (B-1) and the second leg mechanism (B-2) are arranged symmetrically with the center line of the driving assembly (B-1-4) as the center line, and the third leg mechanism (B-3) and the fourth leg mechanism (B-4) are arranged symmetrically with the center line of the driving assembly (B-1-4) as the center line; The drive assembly (B-1-4) is arranged directly below the leg and foot mounting plate assembly (B-1-1), and is fixedly connected to the leg and foot mounting plate assembly (B-1-1) by bolts; the drive assembly (B-1-4) comprises a leg and foot drive motor (B-1-4-1), a reducer (B-1-4-2) and a motor fixing assembly (B-1-4-3); the motor fixing assembly (B-1-4-3) fixes the leg and foot drive motor (B-1-4-1) and the reducer (B-1-4-2) together, and connects the drive assembly (B-1-4) to the leg and foot mounting plate assembly (B-1-1); the leg and foot drive motor (B-1-4-1) provides power for the leg and foot module (B) by driving the reducer (B-1-4-2) to rotate; The driving assembly (B-1-4) transmits power to the leg-foot assembly (B-1-2) through the crank (B-1-5) and the crank shaft (B-1-3), driving the leg-foot assembly (B-1-2) to move, thereby realizing the walking of the integrated mobile operation closed-chain multi-legged robot.

3. The integrated mobile operation closed-chain multi-legged robot according to claim 2, characterized in that: The deformable leg assembly (B-1-6) includes a deformable leg foot mounting plate (B-1-6-1), a deformable leg foot driving motor (B-1-6-2), a motor mounting assembly (B-1-6-3), a crank (B-1-5) and a leg foot assembly (B-1-2). The motor mounting assembly (B-1-6-3) fixes the deformable leg-foot drive motor (B-1-6-2) below the deformable leg-foot mounting plate (B-1-6-1), and the deformable leg-foot drive motor (B-1-6-2) drives the leg-foot assembly (B-1-2) to move through the crank (B-1-5); when the leg-foot module (B) does not pitch, the leg-foot assembly (B-1-2) in the deformable leg assembly (B-1-6) participates in the walking action of the leg-foot module (B), and when the leg-foot module (B) pitches under the drive of the pitch module (C), the deformable leg assembly (B-1-6) can rotate a certain angle under the drive of the deformation drive assembly (B-1-7), and the deformable leg-foot drive motor (B-1-6-2) drives the leg-foot assembly (B-1-2) to move, thereby completing tasks such as clamping, demolition, and obstacle removal; The deformation driving assembly (B-1-7) includes a deformation driving push rod (B-1-7-1), a push rod short bracket (B-1-7-2), a push rod high bracket (B-1-7-3), a rotating left bracket (B-1-7-4) and a rotating right bracket (B-1-7-5); the push rod short bracket (B-1-7-2) and the rotating left bracket (B-1-7-4) are arranged above the deformable leg foot mounting plate (B-1-6-1); the push rod high bracket (B-1-7-3) and the rotating right bracket (B-1-7-5) are arranged on the leg foot mounting plate Above the plate assembly (B-1-1); the rotating left bracket (B-1-7-4) and the rotating right bracket (B-1-7-5) are coupled to form a rotating pair; the two ends of the deformation driving push rod (B-1-7-1) are respectively connected to the push rod short bracket (B-1-7-2) and the push rod high bracket (B-1-7-3), and the movement of the deformation driving push rod (B-1-7-1) can drive the deformable leg assembly (B-1-6) to rotate around the rotating pair formed by the coupling of the rotating left bracket (B-1-7-4) and the rotating right bracket (B-1-7-5).

4. The integrated mobile operation closed-chain multi-legged robot according to claim 1, characterized in that: The pitch module (C) includes a first pitch mechanism (C-1) and a second pitch mechanism (C-2), the first pitch mechanism (C-1) includes a pitch push rod (C-1-1), a pitch fixed block (C-1-2), a pitch support (C-1-3), a pitch axis fixed frame (C-1-4) and a pitch axis (C-1-5); the first pitch mechanism (C-1) and the second pitch mechanism (C-2) include the same parts and components; the end of the pitch push rod (C-1-1) is connected to the rack module (D) to form a revolute pair, and the head end is connected to the pitch fixed block (C-1-2) to form a revolute pair; the pitch fixed block (C-1-2) is fixedly connected to the leg module (B) through a square tube in the rack module (D); the pitch support (C- 1-3) is arranged on the side and rear of each leg mechanism (B-1, B-2, B-3, B-4), and is fixedly connected to the leg-foot mounting plate assembly (B-1-1); the pitch axis fixing frame (C-1-4) is fixedly connected to the frame module (D), and is symmetrically arranged with the center line of the frame module (D); the pitch axis fixing frame (C-1-4) supports the pitch axis (C-1-5), and the shafts on both sides of the pitch axis (C-1-5) form a rotating pair with the pitch support (C-1-3); the pitch push rod (C-1-1) drives the leg-foot module (B) to rotate around the pitch axis (C-1-5) by pulling the pitch fixing block (C-1-2), and the pitch action of the leg-foot module (B) can increase the obstacle surmounting ability and terrain adaptability of the integrated mobile operation closed-chain multi-legged robot.

5. The integrated mobile operation closed-chain multi-legged robot according to claim 1, characterized in that: The rack module (D) includes a carbon fiber square tube assembly (D-1), an L-shaped corner joint (D-2), a shock absorber bracket (D-3), a shock absorber (D-4), a three-way corner joint (D-5), a push rod mounting block (D-6), and a straight corner joint (D-7); the carbon fiber square tube assembly (D-1) includes carbon fiber square tubes of different lengths, all of which are connected by L-shaped corner joints (D-2), shock absorber brackets (D-3), three-way corner joints (D-5), push rod mounting blocks (D-6), straight corner joints (D-7). 7) are fixedly connected; the shock absorber bracket (D-3) is arranged on the upper layer of the rack module (D), one each at the left front, left rear, right front and right rear, and plays a role of supporting the shock absorber (D-4) while being fixedly connected to the carbon fiber square tube; the push rod mounting block (D-6) is arranged on the lower layer of the rack module (D), one each at the front and rear, and is used to fix the pitch push rod (C-1-1); the shock absorber (D-4) is arranged directly above the shock absorber bracket (D-3), and plays a role of shock absorption, maintaining the balance and stability of the upper module (E), etc.

6. The integrated mobile operation closed-chain multi-legged robot according to claim 1, characterized in that: The upper loading module (E) is located at the top of the integrated mobile operation closed-chain multi-legged robot and is fixedly connected to the shock absorber (D-4) in the frame module (D); it includes an upper loading platform (E-1) and a multi-functional robotic arm (E-2), the multi-functional robotic arm (E-2) is fixedly connected directly above the upper loading platform (E-1), but the number and installation position of the multi-functional robotic arm (E-2) are not fixed; the upper loading module (E) is the execution module of the integrated mobile operation closed-chain multi-legged robot, and can realize functions such as grasping, placing, transporting, and visual recognition.

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