Wheel-leg combined type movable underground rescue operation robot based on metamorphic structure

Abstract

The invention belongs to the technical field of operation robots, and particularly relates to a wheel-leg combined type movable underground rescue operation robot based on a metamorphic structure. Wherein the wheel-leg type supporting legs and the single-leg type supporting legs are arranged on the two sides of the frame connection conversion structure, and the upper machine body structure is arranged above the frame connection conversion structure; leg and hip connecting steering engines are connected to a main waist plate of the machine body, thigh driving conversion steering engines are connected to the outer sides of leg and hip connecting joints, shank driving conversion steering engines are connected to thigh supporting plates, and foot ends are connected to the bottoms of the shank driving conversion steering engines; wheels of the wheel-leg type supporting legs are connected to wheel direct-current driving motors; a front mechanical arm base, a hydraulic straight cylinder mechanical arm, a carbon dioxide anti-reflection blasting hammer, a medical rescue box and a six-axis joint mechanical arm are arranged on the vehicle head connecting main plate. The whole fuselage frame and the wheel legs are designed based on a metamorphic structure, self-adaptive adjustment is carried out according to the environment, in the moving mode, the wheel type needs to face the flat ground, the leg type needs to face the rugged ground, and the flexible moving capacity is achieved in the underground complex environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of operation robots, and particularly relates to a wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure. Background Art

[0002] In the field of underground rescue operations, due to the complex and changeable underground environment, there are various adverse factors such as collapses, water accumulation, narrow passages, and obstacles, which pose extremely high requirements for the performance of rescue operation robots. Currently, in underground rescue operations, the more common robots mainly include tracked robots, wheeled robots, and wheel-leg combined robots. Moreover, the existing underground rescue operation robots on the market have problems such as inflexible movement, single function, and inability to achieve fully autonomous rescue, and cannot well meet the actual needs of underground rescue operations.

[0003] Taking the patent "A Mine Rescue Detection Robot" with the patent number CN202010089214.5 as an example, this robot adopts a tracked walking structure, has a certain obstacle-crossing ability, and can move on relatively rough underground ground. It is equipped with a variety of sensors that can monitor parameters such as gas composition, temperature, and humidity in the underground environment, providing key environmental data for rescue operations. However, the tracked structure of this robot is not very flexible when facing narrow roadways or when climbing complex obstacles. Moreover, it only moves according to a preset program and lacks the ability to dynamically adjust its own working state according to the real-time environment in the underground with changing environments.

[0004] The patent "A Coal Mine Underground Rescue Robot" with the patent number CN201920844578.6. The robot designed in this patent has a robotic arm that can be used for operations such as clearing obstacles and carrying small items. At the same time, it has a video acquisition function and can transmit the underground images to the on-surface control center. However, the overall structure of its robotic arm and the vehicle body is relatively fixed and cannot change the structural form according to different rescue tasks and underground environments. When encountering a very narrow area, the extension and operation of the robotic arm will be greatly restricted and it is difficult to play a role.

[0005] Related patents with the patent number CN202110387773.3. Such robots have made attempts in the switching between wheeled and legged modes, and to a certain extent, improved the movement performance. However, in actual applications, its switching mechanism is relatively complex, the reliability is not high, and it is prone to failure in the harsh underground environment. Moreover, the cooperative control algorithm between the fuselage frame and the wheel legs is not perfect enough, resulting in the inability to quickly and smoothly transition when switching working states, affecting the operation efficiency of the robot. Summary of the Invention

[0006] To overcome the above problems, the present invention provides a wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure, which is an underground rescue operation robot with a fuselage frame and wheel-legs that can switch working states according to the environment based on the metamorphic structure. The overall fuselage frame and wheel-legs are designed based on the metamorphic structure, and are adaptively adjusted according to the environment to comprehensively ensure static and dynamic stability and meet the margin standards. In terms of the moving mode, the wheeled mode is suitable for flat ground, and the legged mode is suitable for rough ground, enabling flexible movement in the complex underground environment.

[0007] A wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure, comprising wheel-leg type legs 1, single-leg type legs 2, a frame connection conversion structure 3 and an upper fuselage structure; wherein the wheel-leg type legs 1 and the single-leg type legs 2 are symmetrically arranged on both sides of the frame connection conversion structure 3, and the upper fuselage structure is provided above.

[0008] The frame connection conversion structure 3 includes a frame, a head shoulder joint drive conversion servo 19, a waist plate first drive servo 26, a waist plate second drive servo 27, and a tail drive servo 28. The frame is formed by sequentially connecting a left side structure, a head connection main board 21, a right side structure, and a tail connection main board 23; the left side structure and the right side structure are the same, and both include a fuselage main waist plate 20, a fuselage first side waist plate 22, and a fuselage second side waist plate 29. One end of the fuselage first side waist plate 22 is connected to the end of the head connection main board 21 through the head shoulder joint drive conversion servo 19, and the other end is connected to one end of the fuselage main waist plate 20 through the waist plate first drive servo 26. The other end of the fuselage main waist plate 20 is connected to one end of the fuselage second side waist plate 29 through the waist plate second drive servo 27, and the other end of the fuselage second side waist plate 29 is connected to the end of the tail connection main board 23 through the tail drive servo 28.

[0009] The single-leg type leg 2 includes a leg hip connection servo 6, a leg hip connection joint 7, a thigh support plate 8, a thigh drive conversion servo 9, a calf drive conversion servo 10, a multi-sensor box 11, a foot end 12, a calf support foot plate 13, and a thigh internal servo 16; wherein the leg hip connection servo 6 is connected to the fuselage main waist plate 20 through the leg hip connection joint 7. The thigh drive conversion servo 9 is connected to the outside of the leg hip connection joint 7 through its own rotating shaft. The thigh internal conversion servo 16 is fixed to the bottom of the thigh drive conversion servo 9, and the thigh internal servo 16 is connected to the upper inside of the thigh support plate 8 through its own rotating shaft. The calf drive conversion servo 10 is connected to the lower inside of the thigh support plate 8 through its own rotating shaft, and the multi-sensor box 11 is connected to the bottom of the calf drive conversion servo 10. The multi-sensor box 11 is connected to the calf support foot plate 13 below, and the cylindrical foot end 12 is connected to the bottom of the calf support foot plate 13.

[0010] The wheel-leg type outrigger 1 includes a leg-hip connecting servo 6, a leg-hip connecting joint 7, a thigh support plate 8, a thigh drive conversion servo 9, a calf drive conversion servo 10, a multi-sensor box 11, a foot end 12, a calf support foot plate 13, a wheel 14, a wheel DC drive motor 15, and a thigh internal servo 16; among them, the leg-hip connecting servo 6 is connected to the first side waist plate 22 or the second side waist plate 29 of the fuselage through the leg-hip connecting joint 7, the thigh drive conversion servo 9 is connected to the outside of the leg-hip connecting joint 7 through its own rotating shaft, the thigh internal conversion servo 16 is fixed to the bottom of the thigh drive conversion servo 9, and the thigh internal servo 16 is connected to the inside above the thigh support plate 8 through its own rotating shaft, the calf drive conversion servo 10 is connected to the inside below the thigh support plate 8 through its own rotating shaft, and a multi-sensor box 11 is connected to the bottom of the calf drive conversion servo 10, the multi-sensor box 11 is connected to a calf support foot plate 13 below, and the cylindrical foot end 12 is connected to the bottom of the calf support foot plate 13; the wheel DC drive motor 15 is fixed to the bottom of the thigh support plate 8 through a wheel DC drive motor support 17, and a wheel 14 is connected to its transmission shaft;

[0011] The upper fuselage structure includes a realsense camera 30, a binocular high-definition infrared camera 31, a front robotic arm base 32, a medical rescue box 34, a six-axis articulated robotic arm 35 of HSR-JR620, a rear robotic arm base 37, a hydraulic robotic arm 38, a carbon dioxide permeability-increasing blasting hammer 39, a hydraulic motor 43, and a gas monitoring sensor 45; among them, a front robotic arm base 32 and a hydraulic direct cylinder robotic arm 38 are respectively arranged on both sides of the front-end connection main board 21, a realsense camera 30 is arranged at the bottom, a binocular high-definition infrared camera 31 and a gas detection sensor 45 are arranged on the front robotic arm base 32, and a carbon dioxide permeability-increasing blasting hammer 39 is arranged at the end of the hydraulic robotic arm 38;

[0012] The rear robotic arm base 37 is fixed to the rear-end connection main board 23 at the rear, and a medical rescue box 34 and a six-axis articulated robotic arm 35 of HSR-JR620 are arranged on it.

[0013] The leg-hip connecting joint 7 of the single-leg type outrigger 2 is an integral part, including a vertical U-shaped frame on the inner side and a horizontal U-shaped frame on the outer side. The vertical U-shaped frame and the main waist plate 20 of the fuselage are connected together through the rotating shaft of the leg-hip connecting servo 6, and the thigh drive conversion servo 9 is connected to the inside of the horizontal U-shaped frame through its own rotating shaft.

[0014] The leg-hip connecting joint 7 of the wheel-leg type outrigger 1 is an integral part, including a vertical U-shaped frame on the inner side and a horizontal U-shaped frame on the outer side. The vertical U-shaped frame and the first side waist plate 22 or the second side waist plate 29 of the fuselage are connected together through the rotating shaft of the leg-hip connecting servo 6, and the thigh drive conversion servo 9 is connected to the inside of the horizontal U-shaped frame through its own rotating shaft.

[0015] The multi-sensor box 11 is equipped with an angle sensor and a distance sensor, and the foot end 12 is embedded with a gravity sensor.

[0016] The hydraulic manipulator arm 38 includes an upper hydraulic motor 43, a vertical execution joint 46 at the end of the hydraulic manipulator arm, a vertical steering gear 47 at the end of the manipulator arm, a lateral rotation joint 48 for executing the manipulator arm, a lateral steering gear at the end of the manipulator arm, a hydraulic manipulator arm base 49, a manipulator arm lower arm 52, a fixed plate 53 at the upper end of the rotation joint, a manipulator arm upper arm 54, and a terminal hydraulic motor 56; wherein the hydraulic manipulator arm base 49 is fixedly connected to the vehicle head connection main board 21, one end of the manipulator arm lower arm 52 is sleeved in the hydraulic manipulator arm base 49, the terminal hydraulic motor 56 is located in the manipulator arm lower arm 52, and the hydraulic manipulator arm base 49 and the manipulator arm lower arm 52 are connected by the rotating shaft of the terminal hydraulic motor 56 together; one end of the upper arm 54 of the robotic arm is located in the other end of the lower arm 52 of the robotic arm, the upper end hydraulic motor 43 is located in the upper arm 54 of the robotic arm, and the lower arm 52 of the robotic arm and the upper arm 54 of the robotic arm are connected together through the rotating shaft of the upper end hydraulic motor 43; the end servo 47 of the robotic arm is fixed to the other end of the upper arm 54 of the robotic arm, and it is connected to the hydraulic end lateral execution joint 46 of the robotic arm through its own rotating shaft, the end lateral servo of the robotic arm is fixed to the other end of the hydraulic end lateral execution joint 46 of the robotic arm, and it is connected to the robotic arm actuator rotation joint 48 through its own rotating shaft, and the carbon dioxide permeability blasting hammer 39 is fixed to the other end of the robotic arm actuator rotation joint 48.

[0017] The hydraulic robotic arm 38 also includes a lower end fixed plate 50 of the rotary joint and an upper end fixed plate 53 of the rotary joint, wherein the lower end fixed plate 50 of the rotary joint is located on the outer side wall of the hydraulic robotic arm base 49, and the lower end fixed plate 50 of the rotary joint, the side wall of the hydraulic robotic arm base 49 and the robotic arm lower arm 52 are connected together through the rotating shaft of the end hydraulic motor 56; the upper end fixed plate 53 of the rotary joint is located on the outer wall of the end of the robotic arm lower arm 52, and the robotic arm upper arm 54, the robotic arm lower arm 52 and the upper end fixed plate 53 of the rotary joint are connected through the rotating shaft of the upper end hydraulic motor 43.

[0018] The outer side of the fuselage No. 1 side waist panel 22 is provided with a fuselage No. 1 side waist panel auxiliary connecting plate 18 for being hinged to the leg hip connecting joint 7 of the wheel-leg type support leg 1, the outer side of the middle part of the fuselage main waist panel 20 is provided with a fuselage main waist panel auxiliary connecting plate 24 for being hinged to the leg hip connecting joint 7 of the single-leg type support leg 2, and the outer side of the fuselage No. 2 side waist panel 29 is provided with a fuselage No. 2 side waist panel auxiliary connecting plate 25 for being hinged to the leg hip connecting joint 7 of the wheel-leg type support leg 1.

[0019] The exercise process is as follows:

[0020] The robot performs wheeled locomotion:

[0021] 1. When the rescue operation robot is on a flat road surface, turn on the wheeled movement mode, and control the rotating shafts of the front head shoulder joint drive conversion servo 19, the first lumbar plate drive servo 26, the second lumbar plate drive servo 27, and the rear vehicle drive servo 28 to rotate inward, so that the left-side structure, the front head connection main board 21, the right-side structure, and the rear vehicle connection main board 23 are sequentially connected together to form a rectangle. At this time, it is set that the front left wheel-leg type leg 57, the middle left main force single-leg type leg 59, and the rear left wheel-leg type leg 61 are arranged from front to back on the left side of the frame connection conversion structure 3, and the front right wheel-leg type leg 58, the middle right main force single-leg type leg 60, and the rear right wheel-leg type leg 62 are arranged from front to back on the right side of the frame connection conversion structure 3. Among them, the front left wheel-leg type leg 57, the front right wheel-leg type leg 58, the rear left wheel-leg type leg 61, and the rear right wheel-leg type leg 62 are all wheel-leg type legs 1, and the middle left main force single-leg type leg 59 and the middle right main force single-leg type leg 60 are both single-leg type legs 2;

[0022] 2. Start the calf drive conversion servo 10 of the four legs of the front left wheel-leg type leg 57, the front right wheel-leg type leg 58, the rear left wheel-leg type leg 61, and the rear right wheel-leg type leg 62, so that the calf drive conversion servo 10 drives the multi-sensor box 11, the calf support foot board 13, and the foot end 12 to rotate inward and retract until the wheels 14 on the four legs contact the ground;

[0023] 3. Start the wheel DC drive motors 15 on the four legs, and then drive the wheels 14 to rotate to drive the robot to travel;

[0024] 4. During the driving process, control the rotation speed of the wheel DC drive motors 15 of the front left wheel-leg type leg 57 and the rear left wheel-leg type leg 61 to be slower than the rotation speed of the wheel DC drive motors 15 of the front right wheel-leg type leg 58 and the rear right wheel-leg type leg 62 to achieve a left turn; control the rotation speed of the wheel DC drive motors 15 of the front left wheel-leg type leg 57 and the rear left wheel-leg type leg 61 to be faster than the rotation speed of the wheel DC drive motors 15 of the front right wheel-leg type leg 58 and the rear right wheel-leg type leg 62 to achieve a right turn;

[0025] The robot performs leg movement:

[0026] 1. When the robot faces complex terrain, turn on the leg movement mode; control the rotating shafts of the front head shoulder joint drive conversion servo 19, the first lumbar plate drive servo 26, the second lumbar plate drive servo 27, and the rear vehicle drive servo 28 to rotate outward, so that the first side lumbar plate 22 of the fuselage, the main lumbar plate 20 of the fuselage, the second side lumbar plate 29 of the fuselage, the rear vehicle connection main board 23, the second side lumbar plate 29 of the fuselage, the main lumbar plate 20 of the fuselage, the first side lumbar plate 22 of the fuselage, and the front head connection main board 21 are sequentially connected together to form an octagon;

[0027] Second, control the hip joint servo 6 on the front left wheel-leg type outrigger 57, rear left wheel-leg type outrigger 61, front right wheel-leg type outrigger 58 and rear right wheel-leg type outrigger 62 to drive the hip joint 7 to rotate, correct the position changes generated by the four outriggers when the frame connection conversion structure 3 forms an octagon, and return each outrigger to the required position;

[0028] Third, take the front right wheel-leg type outrigger 58, middle left main force single-leg type outrigger 59 and rear right wheel-leg type outrigger 62 as a group of outriggers, and the other three outriggers as another group of outriggers; the two groups of outriggers alternately move in the following manner to achieve forward or backward movements similar to animal walking:

[0029] Among them, according to the preset movement path, the thigh internal servo 16 works to drive the thigh support plate 8 to rotate, adjust the posture of the thigh, drive the entire outrigger to extend outward to the required position, and at the same time start the calf drive conversion servo 10 to drive the calf support foot plate 13 to adjust the posture and extend in the required direction, move the foot end 12 to the predetermined position, and then start the thigh drive conversion servo 9 to drive the entire outrigger, so that the foot end 12 lands smoothly;

[0030] The two groups of outriggers alternately move in the following manner to achieve lateral movement:

[0031] The calf drive conversion servo 10 operates to drive the foot end 12 to retract inward, control the hip joint servo 6 to drive the hip joint 7 to rotate laterally, so that the entire outrigger is adjusted to the required lateral direction, and then start the calf drive conversion servo 10 to drive the foot end 12 to land, so that the entire outrigger moves laterally;

[0032] When the robot travels to the required position, use the six-axis articulated robot arm 35 of HSR-JR620 to perform the required operations, or perform blasting operations. The process of performing blasting operations is as follows:

[0033] The end hydraulic motor 56 rotates to drive the lower arm 52 of the robot arm to rise and further push it to extend. The upper hydraulic motor 43 drives the upper arm 54 of the robot arm to rotate until the carbon dioxide permeability increasing blasting hammer 39 is aligned with the general direction of blasting; then start the end servo 47 of the robot arm, drive the carbon dioxide permeability increasing blasting hammer 39 to adjust up and down through the hydraulic end horizontal execution joint 46 of the robot arm, and then start the end horizontal servo of the robot arm, drive the carbon dioxide permeability increasing blasting hammer 39 to adjust left and right through the actuator rotation joint 48 of the robot arm, realize the fine adjustment of the alignment direction of the carbon dioxide permeability increasing blasting hammer 39, ensure that the carbon dioxide permeability increasing blasting hammer 39 is aligned with the blasting target, and achieve precise blasting.

[0034] During the leg movement process, continuously adjust the rotation of each servo according to the information collected by the realsense camera 30 and the binocular high-definition infrared camera 31 in real time and the preset motion plan, so that the robot walks along the required path.

[0035] During legged movement, when the robot detects an obstacle in front that is not higher than the bottom of the wheel 14 through the binocular high-definition infrared camera 31 and the realsense camera 30, the DC drive motor 15 continues to drive the wheel 14 to rotate to maintain the robot's forward momentum; at the same time, according to the height of the obstacle, the thigh drive conversion servo 9, the thigh internal servo 16 and the calf drive conversion servo 10 are controlled to move the foot end 12 to a predetermined position so that it can avoid the obstacle, and the wheel 14 crushes the obstacle to pass. After the wheel 14 passes the obstacle, the thigh drive conversion servo 9, the thigh internal servo 16 and the calf drive conversion servo 10 are controlled to restore the foot end 12 to the wheeled movement posture, and the robot continues to move forward in wheeled mode.

[0036] When the robot detects through the binocular high-definition infrared camera 31 and the realsense camera 30 that the robot needs to transition from a flat road to a complex terrain, the robot first moves from the flat road to the complex terrain area in wheeled motion, and when the terrain changes, it begins to enter legged motion.

[0037] During leg-type movement, if the difference in the mean pressure values detected by the built-in gravity sensors at the foot ends 12 of the two groups of legs exceeds a threshold value, it indicates that the two groups of legs are subjected to uneven force. The thigh drive conversion servo 9, the thigh internal servo 16, and the calf drive conversion servo 10 of the group of legs with the smaller mean pressure lead the corresponding leg to adduct until the difference in the mean pressure values of the two groups of legs does not exceed the threshold value. If the pressure value detected by the built-in gravity sensor at the foot end 12 of any leg is 0, it indicates that the leg is in the air at this time. The leg-hip connection servo 6 of the leg is controlled to drive the entire leg to move laterally, and the coordinated operation of the thigh drive conversion servo 9, the thigh internal servo 16, and the calf drive conversion servo 10 drives the foot end 12 to move, so that the foot end 12 steps over the airborne part. Then the leg-hip connection servo 6 is controlled to operate in the reverse direction, and the coordinated operation of the thigh drive conversion servo 9, the thigh internal servo 16, and the calf drive conversion servo 10 drives the foot end 12 back to the ground.

[0038] Beneficial effects of the present invention:

[0039] The entire robotic system intelligently adjusts its control strategy based on real-time environmental data, ensuring comprehensive static and dynamic stability, as well as compliance with margin requirements. Using high-precision sensors, realsense cameras, and binocular high-definition infrared cameras, it creates a three-dimensional image of the underground terrain, monitors vital signs of trapped personnel, and facilitates rescue. It also monitors operating status in real time, analyzes and adjusts control parameters, and ensures stable and efficient operation in diverse environments.

[0040] In wheeled mode, the equipment demonstrates excellent mobility and high payload capacity on flat ground, enabling it to quickly reach the designated work location. The legged mode endows the equipment with strong adaptability on rough terrain. Through a multi-joint design, it can flexibly handle complex terrains, maintain balance and stability, and overall comprehensive speed is improved. Facing the complex underground environment, the equipment combines the advantages of wheeled and legged modes. Based on the metamorphic structure, it is equipped with a multi-mode switching system and intelligent sensing technology, enabling it to flexibly shuttle through narrow passages, climb steep slopes, cross obstacles, etc. At the same time, the fuselage frame is also based on the metamorphic structure. The rectangular frame is suitable for rapid movement and large-angle control turning on flat ground, and the octagonal frame can maintain stable progress on complex terrains.

[0041] The fuselage is equipped with dual robotic arms (a hydraulic robotic arm and an RB-10-001 6-axis robotic arm. The front end of the hydraulic robotic arm is equipped with a liquid carbon dioxide permeability-increasing blasting hammer), combining blasting and rescue functions. At the same time, it has functions such as waterproof, dustproof, and explosion-proof, ensuring stable operation under extreme conditions and providing strong support for underground rescue, exploration, and other tasks. Brief Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings to be used in the description of the embodiments of the present invention. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the content of the embodiments of the present invention and these drawings.

[0043] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0044] Figure 2 It is a schematic diagram of the lower body structure of the present invention.

[0045] Figure 3 It is a schematic diagram of the frame connection and conversion structure of the present invention.

[0046] Figure 4 It is a schematic diagram of the upper body structure of the present invention.

[0047] Figure 5 It is a top view of a partial structure of the present invention.

[0048] Figure 6 It is a schematic diagram of the single-legged support structure of the present invention.

[0049] Figure 7 It is a schematic diagram of the wheel-legged support structure of the present invention.

[0050] Figure 8 It is a schematic diagram of the hydraulic robotic arm structure of the present invention.

[0051] Figure 9Schematic diagram of the upper body part structure of the present invention.

[0052] Figure 10 Top view schematic diagram of the overall structure of the present invention.

[0053] Wherein: 1. Wheel-leg type outrigger, 2. Single-leg type outrigger, 3. Frame connection conversion structure, 4. Power system, 5. Sensor system, 6. Leg-hip connection servo, 7. Leg-hip connection joint, 8. Thigh support plate, 9. Thigh drive conversion servo, 10. Calf drive conversion motor, 11. Multi-sensor box, 12. Foot end, 13. Calf support foot plate, 14. Wheel, 15. Wheel DC drive motor, 16. Thigh internal servo, 17. Wheel DC drive motor support, 18. Body No. 1 side waist plate secondary connection plate, 19. Head shoulder joint drive conversion servo, 20. Body main waist plate, 21. Head connection main board, 22. Body No. 1 side waist plate, 23. Tail connection main board, 24. Body main waist plate secondary connection plate, 25. Body No. 2 side waist plate secondary connection plate, 26. Waist plate No. 1 drive motor, 27. Waist plate No. 2 drive motor, 28. Tail drive motor, 29. Body No. 2 side waist plate, 30. Realsense camera, 31. Binocular high-definition infrared camera, 32. Front manipulator base, 33. Camera pan-tilt control box, 34. Medical rescue box, 35. Six-axis joint manipulator of HSR-JR620 35, 36. Lidar, 37. Rear manipulator base, 38. Hydraulic manipulator, 39. Carbon dioxide enhanced penetration blasting hammer, 40. Radar power supply box, 41. Signal controller, 42. Radar antenna, 43. Upper hydraulic motor, 44. Hydraulic pump, 45. Gas monitoring sensor, 46. Hydraulic manipulator end effector, 47. Manipulator end servo, 48 Manipulator actuator rotating joint, 49 Hydraulic manipulator base, 50 Rotating joint lower fixed disk, 51 Lower hydraulic pump, 52 Manipulator lower arm, 53 Rotating joint upper fixed disk, 54 Manipulator upper arm, 55 Front workbench plate, 56 End hydraulic motor, 57 Front left wheel-leg type outrigger, 58 Front right wheel-leg type outrigger, 59 Middle left main supporting single-leg type outrigger, 60 Middle right main supporting single-leg type outrigger, 61 Rear left wheel-leg type outrigger, 62 Rear right wheel-leg type outrigger. Detailed implementation manners

[0054] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0055] Embodiment 1

[0056] A wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure, asFigures 1-10 As shown in the figure, it includes wheel-leg type outriggers 1, single-leg type outriggers 2, a frame connection conversion structure 3, and an upper fuselage structure. The wheel-leg type outriggers 1 and the single-leg type outriggers 2 are symmetrically arranged on both sides of the frame connection conversion structure 3, and the upper fuselage structure is provided above.

[0057] The frame connection conversion structure 3 includes a frame, a head shoulder joint drive conversion servo 19, a waist plate first drive servo 26, a waist plate second drive servo 27, and a tail drive servo 28. The frame is formed by sequentially connecting a left side structure, a head connection main board 21, a right side structure, and a tail connection main board 23. The whole is axially symmetric about the head connection main board 21 and the tail connection main board 23. The left side structure and the right side structure are the same, and both include a fuselage main waist plate 20, a fuselage first side waist plate 22, and a fuselage second side waist plate 29. One end of the fuselage first side waist plate 22 is connected to the end of the head connection main board 21 through the rotating shaft of the head shoulder joint drive conversion servo 19, and the other end is connected to one end of the fuselage main waist plate 20 through the rotating shaft of the waist plate first drive servo 26. The other end of the fuselage main waist plate 20 is connected to one end of the fuselage second side waist plate 29 through the rotating shaft of the waist plate second drive servo 27. The other end of the fuselage second side waist plate 29 is connected to the end of the tail connection main board 23 through the rotating shaft of the tail drive servo 28.

[0058] The fuselage main waist plate 20, the fuselage first side waist plate 22, the fuselage second side waist plate 29, the head connection main board 21, and the tail connection main board 23 are all composed of two layers of single plates. Above the rotating shaft of the head shoulder joint drive conversion servo 19, it sequentially passes through the top single plate of the head connection main board 21 and the top single plate of the fuselage first side waist plate 22, and below the rotating shaft, it sequentially passes through the bottom single plate of the head connection main board 21 and the bottom single plate of the fuselage first side waist plate 22 to realize the connection between the head connection main board 21 and the fuselage first side waist plate 22. Above the rotating shaft of the waist plate first drive servo 26, it sequentially passes through the top single plate of the fuselage main waist plate 20 and the top single plate of the fuselage first side waist plate 22, and below its rotating shaft, it sequentially passes through the bottom single plate of the fuselage main waist plate 20 and the bottom single plate of the fuselage first side waist plate 22 to realize the connection between the fuselage main waist plate 20 and the fuselage first side waist plate 22. Above the rotating shaft of the waist plate second drive servo 27, it sequentially passes through the top single plate of the fuselage main waist plate 20 and the top single plate of the fuselage second side waist plate 29, and below its rotating shaft, it sequentially passes through the bottom single plate of the fuselage main waist plate 20 and the bottom single plate of the fuselage second side waist plate 29 to realize the connection between the fuselage main waist plate 20 and the fuselage second side waist plate 29. Above the rotating shaft of the tail drive servo 28, it sequentially passes through the top single plate of the tail connection main board 23 and the top single plate of the fuselage second side waist plate 29, and below its rotating shaft, it sequentially passes through the bottom single plate of the tail connection main board 23 and the bottom single plate of the fuselage second side waist plate 29 to realize the connection between the tail connection main board 23 and the fuselage second side waist plate 29.

[0059] The single-leg support leg 2 includes a hip-leg connecting servo 6, a hip-leg connecting joint 7, a thigh support plate 8, a thigh drive conversion servo 9, a calf drive conversion servo 10, a multi-sensor box 11, a foot end 12, a calf support foot plate 13, and a thigh internal servo 16. Among them, the hip-leg connecting servo 6 is connected to the secondary connecting plate 24 of the main body waist plate 20 of the fuselage through the hip-leg connecting joint 7. At this time, the hip-leg connecting servo 6 does not operate, so that the vertical U-shaped frame top plate of the hip-leg connecting joint 7 is perpendicular to the main body waist plate 20 of the fuselage. The thigh drive conversion servo 9 is in a vertical state and is connected to the outside of the hip-leg connecting joint 7 through its own rotating shaft. The thigh internal conversion servo 16 is fixed to the bottom of the thigh drive conversion servo 9 by welding, and the thigh internal servo 16 is connected to the inside above the thigh support plate 8 through its own rotating shaft. The calf drive conversion servo 10 is connected to the inside below the thigh support plate 8 through its own rotating shaft, and the bottom of the calf drive conversion servo 10 is connected to the multi-sensor box 11 by welding. The multi-sensor box 11 is connected to the calf support foot plate 13 by bolts below, and the cylindrical foot end 12 is connected to the bottom of the calf support foot plate 13 by welding.

[0060] The wheel-leg support leg 1 includes a hip-leg connecting servo 6, a hip-leg connecting joint 7, a thigh support plate 8, a thigh drive conversion servo 9, a calf drive conversion servo 10, a multi-sensor box 11, a foot end 12, a calf support foot plate 13, a wheel 14, a wheel DC drive motor 15, and a thigh internal servo 16. Among them, the hip-leg connecting servo 6 is connected to the secondary connecting plate 18 of the first side waist plate 22 of the fuselage or the secondary connecting plate 25 of the second side waist plate 29 of the fuselage through the hip-leg connecting joint 7. At this time, the hip-leg connecting servo 6 does not operate, so that the vertical U-shaped frame top plate of the hip-leg connecting joint 7 is perpendicular to the first side waist plate 22 or the second side waist plate 29 of the fuselage. The thigh drive conversion servo 9 is connected to the outside of the hip-leg connecting joint 7 through its own rotating shaft. The thigh internal conversion servo 16 is fixed to the bottom of the thigh drive conversion servo 9 by welding, and the thigh internal servo 16 is connected to the inside above the thigh support plate 8 through its own rotating shaft. The calf drive conversion servo 10 is connected to the inside below the thigh support plate 8 through its own rotating shaft, and the bottom of the calf drive conversion servo 10 is connected to the multi-sensor box 11 by welding. The multi-sensor box 11 is connected to the calf support foot plate 13 by bolts below, and the cylindrical foot end 12 is connected to the bottom of the calf support foot plate 13 by welding. The wheel DC drive motor 15 is fixed below the thigh support plate 8 through the wheel DC drive motor support 17 (the wheel DC drive motor support 17 is welded to the outside below the thigh support plate 8, and the wheel DC drive motor 15 is fixed in the secondary plate groove of the wheel DC drive motor 17 by rivets), and its transmission shaft is connected to the wheel 14.

[0061] The upper fuselage structure includes a Realsense camera 30, a binocular high-definition infrared camera 31, a front robotic arm base 32, a camera pan-tilt controller 33, a medical rescue box 34, a six-axis articulated robotic arm 35 of HSR-JR620, a lidar 36, a rear robotic arm base 37, a hydraulic robotic arm 38, a carbon dioxide enhanced penetration blasting hammer 39, a lidar power box 40, a signal controller 41, a lidar antenna 42, a hydraulic motor 43, a hydraulic pump 44, and a gas monitoring sensor 45. On both sides of the front-end connection main board 21, there are respectively a front robotic arm base 32 and a hydraulic direct cylinder robotic arm 38. At the bottom of the front-end connection main board 21, there is a Realsense camera 30. On the front robotic arm base 32, there are a binocular high-definition infrared camera 31, a camera pan-tilt controller 33, and a gas detection sensor 45. At the end of the hydraulic robotic arm 38, there is a carbon dioxide enhanced penetration blasting hammer 39.

[0062] The rear end of the rear robotic arm base 37 is fixedly connected to the rear-end connection main board 23 by welding, and on it, there are a medical rescue box 34, a six-axis articulated robotic arm 35 of HSR-JR620, and a lidar 36. Among them, the medical rescue box 34 and the six-axis articulated robotic arm 35 of HSR-JR620 are fixedly welded above the left side of the rear robotic arm base 37. The lidar 36, the lidar power box 40, the signal controller 41, and the lidar antenna 42 are respectively connected above the right side of the rear robotic arm base 37 from front to back in sequence.

[0063] The hip joint 7 of the single-leg support 2 is an integral part, including a vertical U-shaped frame on the inner side and a horizontal U-shaped frame on the outer side. The vertical U-shaped frame and the secondary connecting plate 24 of the main body waist plate of the fuselage main waist plate 20 are connected together through the rotating shaft of the hip joint servo 6. The thigh drive conversion servo 9 is connected inside the horizontal U-shaped frame through its own rotating shaft. Among them, the hip joint servo 6 is located between the secondary connecting plate 24 of the main body waist plate on the top single board of the fuselage main waist plate 20 and the secondary connecting plate 24 of the main body waist plate on the bottom single board. Its rotating shaft passes through the secondary connecting plate 24 of the top main body waist plate and is connected and matched inside the top of the vertical U-shaped frame, and the rotating shaft passes through the secondary connecting plate 24 of the bottom main body waist plate and is connected and matched inside the bottom of the vertical U-shaped frame. The two ends of the rotating shaft of the thigh drive conversion servo 9 are respectively connected inside the two sides of the horizontal U-shaped frame.

[0064] The leg-hip connecting joint 7 of the wheel-leg type outrigger 1 is an integral part, including a vertical U-shaped frame on the inner side and a horizontal U-shaped frame on the outer side. The vertical U-shaped frame and the secondary connecting plate 18 of the first side waist plate of the fuselage 22 or the secondary connecting plate 25 of the second side waist plate of the fuselage 29 are connected together through the rotating shaft of the leg-hip connecting servo 6. The thigh drive conversion servo 9 is connected within the horizontal U-shaped frame through its own rotating shaft. Among them, the leg-hip connecting servo 6 is located between the secondary connecting plate 18 of the first side waist plate of the fuselage on the top single plate of the first side waist plate of the fuselage 22 and the secondary connecting plate 18 of the first side waist plate of the fuselage on the bottom single plate, and its rotating shaft passes through the secondary connecting plate 18 of the first side waist plate of the fuselage on the top layer and is fitted and connected within the top of the vertical U-shaped frame, and the rotating shaft passes through the secondary connecting plate 18 of the first side waist plate of the fuselage on the bottom layer and is fitted and connected within the bottom of the vertical U-shaped frame; or the leg-hip connecting servo 6 is located between the secondary connecting plate 25 of the second side waist plate of the fuselage on the top single plate of the second side waist plate of the fuselage 29 and the secondary connecting plate 25 of the second side waist plate of the fuselage on the bottom single plate, and its rotating shaft passes through the secondary connecting plate 25 of the second side waist plate of the fuselage on the top layer and is fitted and connected within the top of the vertical U-shaped frame, and the rotating shaft passes through the secondary connecting plate 25 of the second side waist plate of the fuselage on the bottom layer and is fitted and connected within the bottom of the vertical U-shaped frame.

[0065] The structure of the power system 4 includes a thigh drive conversion servo 9, a calf drive conversion servo 10, and a wheel DC drive motor 15.

[0066] The sensor system 5 includes a multi-sensor box 11 and a foot end 12. The multi-sensor box 11 is equipped with an angle sensor and a ranging sensor, and the foot end 12 is embedded with a gravity sensor.

[0067] The hydraulic mechanical arm 38 includes an upper hydraulic motor 43, an upper hydraulic pump 44, a vertical execution joint 46 at the end of the hydraulic mechanical arm, a vertical steering gear 47 at the end of the mechanical arm, a lateral rotation joint 48 for executing the mechanical arm, a lateral steering gear at the end of the mechanical arm, a hydraulic mechanical arm base 49, a lower hydraulic pump 51, a lower arm 52 of the mechanical arm, a fixed plate 53 at the upper end of the rotation joint, an upper arm 54 of the mechanical arm, a front working table 55, and an end hydraulic motor 56; wherein the hydraulic mechanical arm base 49 is fixedly connected to the front connection main board 21 through the front working table 55, one end of the lower arm 52 of the mechanical arm is sleeved in the hydraulic mechanical arm base 49, the end hydraulic motor 56 is located in the lower arm 52 of the mechanical arm, the hydraulic mechanical arm base 49 and the lower arm 52 of the mechanical arm are connected together through the rotating shaft of the end hydraulic motor 56, the lower hydraulic pump 51 is located in the lower arm 52 of the mechanical arm, and is connected to the end hydraulic motor 56 , providing power liquid for the end hydraulic motor 56; one end of the manipulator upper arm 54 is located in the other end of the manipulator lower arm 52, the upper hydraulic motor 43 is located in the manipulator upper arm 54, and the manipulator lower arm 52 and the manipulator upper arm 54 are connected together through the rotating shaft of the upper hydraulic motor 43, the upper hydraulic pump 44 is located in the mechanic arm upper arm 54, and is connected to the upper hydraulic motor 43, providing power liquid for the upper hydraulic motor 43; the manipulator end servo 47 is fixed to the other end of the manipulator upper arm 54 by bolts, and is connected to the hydraulic manipulator end lateral execution joint 46 through its own rotating shaft, the manipulator end lateral servo is fixed to the other end of the hydraulic manipulator end lateral execution joint 46, and is connected to the manipulator arm actuator rotation joint 48 through its own rotating shaft, and the carbon dioxide permeability blasting hammer 39 is fixed to the other end of the manipulator arm actuator rotation joint 48.

[0068] The hydraulic robotic arm 38 also includes a lower end fixed plate 50 of the rotary joint and an upper end fixed plate 53 of the rotary joint, wherein the lower end fixed plate 50 of the rotary joint is located on the outer side wall of the hydraulic robotic arm base 49, and the lower end fixed plate 50 of the rotary joint, the side wall of the hydraulic robotic arm base 49 and the robotic arm lower arm 52 are connected together through the rotating shaft of the end hydraulic motor 56; the upper end fixed plate 53 of the rotary joint is located on the outer wall of the end of the robotic arm lower arm 52, and the robotic arm upper arm 54, the robotic arm lower arm 52 and the upper end fixed plate 53 of the rotary joint are connected through the rotating shaft of the upper end hydraulic motor 43.

[0069] The outer side of the fuselage No. 1 side waist panel 22 away from the fuselage main waist panel 20 is provided with a fuselage No. 1 side waist panel auxiliary connecting plate 18 for being hinged to the leg hip connecting joint 7 of the wheel-leg type support leg 1, the outer side of the middle part of the fuselage main waist panel 20 is provided with a fuselage main waist panel auxiliary connecting plate 24 for being hinged to the leg hip connecting joint 7 of the single-leg type support leg 2, and the outer side of the fuselage No. 2 side waist panel 29 away from the fuselage main waist panel 20 is provided with a fuselage No. 2 side waist panel auxiliary connecting plate 25 for being hinged to the leg hip connecting joint 7 of the wheel-leg type support leg 1.

[0070] Wheeled movement:

[0071] 1. When the rescue operation robot is on a flat road surface, turn on the wheeled movement mode, and control the rotating shafts of the front head shoulder joint drive conversion servo 19, the first lumbar plate drive servo 26, the second lumbar plate drive servo 27, and the rear tail drive servo 28 to rotate inwards, so that the left side structure, the front head connection main board 21, the right side structure, and the rear tail connection main board 23 are connected together in sequence to form a rectangle. At this time, it is set that the left side from front to back of the frame connection conversion structure 3 is the front left wheel-leg type leg 57, the middle left main force single-leg type leg 59, and the rear left wheel-leg type leg 61, and the right side from front to back of the frame connection conversion structure 3 is the front right wheel-leg type leg 58, the middle right main force single-leg type leg 60, and the rear right wheel-leg type leg 62. Among them, the front left wheel-leg type leg 57, the front right wheel-leg type leg 58, the rear left wheel-leg type leg 61, and the rear right wheel-leg type leg 62 are all wheel-leg type legs 1, and the middle left main force single-leg type leg 59 and the middle right main force single-leg type leg 60 are both single-leg type legs 2;

[0072] 2. Start the calf drive conversion servo 10 of the four legs of the front left wheel-leg type leg 57, the front right wheel-leg type leg 58, the rear left wheel-leg type leg 61, and the rear right wheel-leg type leg 62, so that the calf drive conversion servo 10 drives the multi-sensor box 11, the calf support foot board 13, and the foot end 12 to rotate inwards and retract until the wheels 14 on the four legs contact the ground;

[0073] 3. Start the wheel DC drive motors 15 on the four legs, and then drive the wheels 14 to rotate to drive the robot to travel;

[0074] 4. During driving, control the rotation speed of the wheel DC drive motors 15 of the front left wheel-leg type leg 57 and the rear left wheel-leg type leg 61 to be slower than the rotation speed of the wheel DC drive motors 15 of the front right wheel-leg type leg 58 and the rear right wheel-leg type leg 62 to achieve a left turn; control the rotation speed of the wheel DC drive motors 15 of the front left wheel-leg type leg 57 and the rear left wheel-leg type leg 61 to be faster than the rotation speed of the wheel DC drive motors 15 of the front right wheel-leg type leg 58 and the rear right wheel-leg type leg 62 to achieve a right turn;

[0075] Legged movement:

[0076] 2. When the robot faces complex terrains, turn on the legged movement mode; control the rotating shafts of the front head shoulder joint drive conversion servo 19, the first lumbar plate drive servo 26, the second lumbar plate drive servo 27, and the rear tail drive servo 28 to rotate outwards, so that the first side lumbar plate 22 of the fuselage, the main lumbar plate 20 of the fuselage, the second side lumbar plate 29 of the fuselage, the rear tail connection main board 23, the second side lumbar plate 29 of the fuselage, the main lumbar plate 20 of the fuselage, the first side lumbar plate 22 of the fuselage, and the front head connection main board 21 are connected together in sequence to form an octagon;

[0077] Second, control the leg-hip connection servo 6 on the front left wheel-leg leg 57, the rear left wheel-leg leg 61, the front right wheel-leg leg 58, and the rear right wheel-leg leg 62 to drive the leg-hip connection joint 7 to rotate, correcting the position changes of the four legs when the frame connection conversion structure 3 forms an octagon, so that each leg returns to the desired position;

[0078] Third, the front right wheel leg type support leg 58, the middle left main support single leg type support leg 59 and the rear right wheel leg type support leg 62 are used as one group of support legs, and the other three support legs are used as another group of support legs; the two groups of support legs move alternately in the following manner to achieve forward or backward movement similar to animal walking:

[0079] According to the preset motion path, the thigh internal servo 16 works to drive the thigh support plate 8 to rotate, adjust the thigh posture, and drive the entire leg to extend outward to the desired position. At the same time, the calf drive conversion servo 10 is activated to drive the calf support foot plate 13 to adjust the posture and extend in the desired direction, moving the foot end 12 to the predetermined position. Then the thigh drive conversion servo 9 is activated to drive the entire leg so that the foot end 12 lands smoothly.

[0080] The two sets of legs move alternately in the following manner to achieve lateral movement:

[0081] The calf drive conversion servo 10 operates, driving the foot end 12 to retract inward, controlling the leg-hip connection servo 6 to drive the leg-hip connection joint 7 to rotate laterally, so that the entire leg is adjusted to the required lateral direction, and then the calf drive conversion servo 10 is started again, driving the foot end 12 to the ground, so that the entire leg moves laterally;

[0082] When the robot reaches the desired location, the six-axis joint robot arm 35 of the HSR-JR620 is used to perform the desired operation or blasting operation. The blasting operation process is as follows:

[0083] The end hydraulic motor 56 rotates, driving the lower arm 52 of the manipulator to rise, further pushing it forward. During this process, the upper arm 54 of the manipulator cooperates with the lower arm 52 of the manipulator through the upper fixed plate 53 of the rotating joint to ensure movement coordination and stability; the upper hydraulic motor 43 drives the upper arm 54 of the manipulator to rotate until the carbon dioxide anti-permeability blasting hammer 39 is aligned with the general direction of blasting; then the end servo 47 of the manipulator is started, and the carbon dioxide anti-permeability blasting hammer 39 is driven up and down through the hydraulic manipulator end transverse execution joint 46, and then the end transverse servo of the manipulator is started, and the carbon dioxide anti-permeability blasting hammer 39 is driven left and right through the manipulator actuator rotation joint 48, so as to achieve fine adjustment of the alignment direction of the carbon dioxide anti-permeability blasting hammer 39, and ensure that the carbon dioxide anti-permeability blasting hammer 39 can accurately aim at the blasting target to achieve precise blasting.

[0084] During the legged movement, the rotation of each servo is continuously adjusted based on the real-time information collected by the realsense camera 30, the binocular high-definition infrared camera 31 and the laser radar 36 and the preset motion plan, so that the robot walks along the desired path.

[0085] During legged movement, when the robot detects an obstacle in front that is not higher than the bottom of the wheel 14 through the binocular high-definition infrared camera 31 and the realsense camera 30, the DC drive motor 15 continues to drive the wheel 14 to rotate to maintain the robot's forward momentum; at the same time, according to the height of the obstacle, the thigh drive conversion servo 9, the thigh internal servo 16 and the calf drive conversion servo 10 are controlled to move the foot end 12 to a predetermined position so that it can avoid the obstacle, and the wheel 14 crushes the obstacle to pass. After the wheel 14 passes the obstacle, the thigh drive conversion servo 9, the thigh internal servo 16 and the calf drive conversion servo 10 are controlled to restore the foot end 12 to the wheeled movement posture, and the robot continues to move forward in wheeled mode.

[0086] When the robot detects through the binocular high-definition infrared camera 31 and the realsense camera 30 that the robot needs to transition from a flat road to a complex terrain, the robot first moves from the flat road to the complex terrain area using wheeled motion. When the terrain changes, it begins to enter the motion mode conversion and switches to leg motion.

[0087] During leg-type movement, if the difference in the mean pressure values detected by the built-in gravity sensors at the foot ends 12 of the two groups of legs exceeds a threshold value, it indicates that the two groups of legs are subjected to uneven force. The thigh drive conversion servo 9, the thigh internal servo 16, and the calf drive conversion servo 10 of the group of legs with the smaller mean pressure lead the corresponding leg to adduct until the difference in the mean pressure values of the two groups of legs does not exceed the threshold value. If the pressure value detected by the built-in gravity sensor at the foot end 12 of any leg is 0, it indicates that the leg is in the air at this time. The leg-hip connection servo 6 of the leg is controlled to drive the entire leg to move laterally, and the coordinated operation of the thigh drive conversion servo 9, the thigh internal servo 16, and the calf drive conversion servo 10 drives the foot end 12 to move, so that the foot end 12 steps over the airborne part. Then the leg-hip connection servo 6 is controlled to operate in the reverse direction, and the coordinated operation of the thigh drive conversion servo 9, the thigh internal servo 16, and the calf drive conversion servo 10 drives the foot end 12 back to the ground.

[0088] Example 2

[0089] 1. Campaign Implementation

[0090] (1) Implementation of wheeled exercise

[0091] When the emergency rescue operation robot is on a flat road surface, when entering or exiting the ground of a factory workshop, or in a relatively flat ground scene under a mine tunnel, the wheeled movement mode is activated; at this time, the calf drive conversion servo 10 is started, so that the calf drive conversion servo 10 drives the foot end 12 to lift upward until the wheels 14 on the four legs, namely the front left wheel-leg type leg 57, the front right wheel-leg type leg 58, the rear left wheel-leg type leg 61, and the rear right wheel-leg type leg 62, are in direct contact with the ground; the calf drive conversion servo 10 drives the multi-sensor box 11, the calf support foot plate 13, and the foot end 12 to retract as a whole;

[0092] The internal structure of the wheel DC drive motor 15 includes two main parts: a stator and a rotor. The stator is laminated by silicon steel sheets and has windings embedded inside. When direct current is passed through the windings, according to the right-hand screw rule, a magnetic field with a fixed direction is generated inside the motor. The rotor is also laminated by silicon steel sheets, and its windings are connected to the external circuit through a commutator. When current passes through the rotor windings, according to the left-hand rule, the rotor windings are subjected to the Ampere force in the stator magnetic field, thereby generating a rotational torque. The rotor starts to rotate and is rigidly connected to the wheel 14 through the output shaft, driving the wheel 14 to rotate synchronously. The wheel 14 is a Mecanum wheel.

[0093] During the forward or backward movement, the control system sends a co-rotating command to all the wheel DC drive motors 15 participating in the wheeled movement. Taking forward movement as an example, the main control chip sends a PWM (pulse width modulation) signal with a specific duty cycle to the wheel DC drive motor 15 through the drive circuit, and this signal controls the armature voltage of the motor. According to the DC motor speed formula \(n=\frac{U - I_{a}R_{a}}{K_{e}\varPhi}\) (where \(n\) is the speed, \(U\) is the armature voltage, \(I_{a}\) is the armature current, \(R_{a}\) is the armature resistance, \(K_{e}\) is the electromotive force constant, and \(\varPhi\) is the magnetic flux per pole), as the armature voltage \(U\) increases, with other parameters relatively stable, the motor speed \(n\) increases, the rotational speed of the wheel increases, and the robot moves forward at a faster speed; conversely, reducing the armature voltage causes the robot to decelerate or move backward. At the same time, the current sensor inside the motor real-time monitors the armature current \(I_{a}\), and when the current is too large, the system automatically adjusts the duty cycle of the PWM signal to protect the motor from being burned out.

[0094] During the steering operation, the control system adopts the differential steering principle. When the robot needs to turn left, the main control chip sends a PWM signal with a lower duty cycle to the DC drive motor 15 of the left wheel, reducing its armature voltage and thus the motor speed. At the same time, it sends a PWM signal with a higher duty cycle to the DC drive motor 15 of the right wheel, increasing its armature voltage and raising the motor speed. In this way, the right wheel travels a longer distance in the same time, while the left wheel travels a shorter distance, enabling the robot to turn left. During the turning process, the encoders installed on the wheel axles continuously feedback the rotational speed and angular position information of the wheels. Based on this feedback data, the control system adjusts the speeds of the two motors through the PID (Proportional-Integral-Derivative) control algorithm to ensure the accuracy and stability of the turning angle. For example, in a factory workshop, the robot can flexibly bypass stacked goods and travel along a predefined path.

[0095] (2) Implementation of Legged Movement

[0096] When the robot encounters complex terrains such as rough ground, potholes, and mine floors, it switches to the legged movement mode. Taking the movement process of a single wheeled-leg support leg 59 as an example, it includes leg-lifting, stepping, and landing support actions. The specific details are as follows:

[0097] Leg-lifting action: First, the control system sends a start command to the leg hip connecting servo 6. The leg hip connecting servo 6 integrates a micro motor, a reduction gear set, a position sensor, and a control circuit board. After receiving the command, the control circuit board calculates the angle and speed that the motor needs to rotate based on the preset leg-lifting angle and sends a drive signal to the micro motor. The micro motor starts to rotate, and its high-speed rotating output shaft reduces the speed and increases the torque through a first-stage reduction gear set (such as spur cylindrical gears), and then transmits it to a second-stage worm and worm gear reduction mechanism. The worm and worm gear mechanism further reduces the speed and increases the torque to ensure that the output shaft can provide sufficient torque to lift the leg. At the same time, a high-precision angle sensor installed on the output shaft continuously monitors the angle of the leg hip connecting joint 7 and feeds the data back to the control circuit board. When the preset leg-lifting angle is reached, the control circuit board immediately stops the motor rotation, completing the leg-lifting action.

[0098] During the leg-lifting process, the thigh drive conversion servo 9 and the calf drive conversion servo 10 work together. Among them, the thigh drive conversion servo 9 adopts a lead screw-nut transmission mechanism. When the servo motor rotates, the lead screw rotates accordingly, and the nut moves along the axial direction of the lead screw. The nut is connected to the thigh support plate 8 through a connecting rod, pushing or pulling the thigh support plate 8 to rotate around the joint axis to adjust the posture of the thigh. The calf drive conversion servo 10 uses a combined structure of gear transmission and lead screw transmission. The output shaft of the motor drives the small gear to rotate. The small gear meshes with the large gear, and the large gear drives the lead screw to rotate. The nut on the lead screw moves axially under the constraint of the guide rail, and drives the calf support foot plate 13 to adjust the posture through a connecting piece, ensuring that the entire leg remains stable during the lifting process and the foot end 12 avoids obstacles.

[0099] Striding action: After the leg is lifted, the control system sends a striding command to the thigh drive conversion servo 9 and the calf drive conversion servo 10 according to the preset movement path. Among them, the thigh drive conversion servo 9 rotates again. Through the lead screw-nut transmission mechanism, the thigh support plate 8 rotates forward around the joint axis by a certain angle, driving the entire leg to extend forward to the required position. During this process, the angle sensor installed at the thigh joint monitors the rotation angle of the thigh in real time and feeds it back to the control system to ensure that the thigh extends to the predetermined position.

[0100] Subsequently, the calf drive conversion servo 10 is activated. The motor drives the lead screw to rotate through a coupling. The slider on the lead screw moves axially under the constraint of the guide rail. The slider drives the calf support foot plate 13 to extend forward through a connecting piece, moving the foot end 12 to the predetermined position. During the striding process, the control system continuously adjusts the extension angles and speeds of the thigh and calf according to the terrain information collected in real time by the realsense camera 30, the binocular high-definition infrared camera 31, and the lidar 36 and the preset motion plan. For example, when crossing a gully, the system will increase the extension amplitude of the thigh and calf to ensure that the foot end can safely reach the other side of the gully.

[0101] Landing and supporting action: When the foot end 12 reaches the predetermined position, the calf support foot plate 13 lands smoothly. The pressure sensor installed inside the foot end 12 and the angle sensor installed at the leg joint immediately start to work. The pressure sensor adopts a piezoresistive principle. When subjected to ground pressure, the resistance value of the piezoresistive element inside it changes. The resistance change is converted into a voltage signal through a Wheatstone bridge, and then through signal amplification, filtering, and analog-to-digital conversion, the pressure data is transmitted to the control system. The angle sensor is based on the photoelectric coding principle. By detecting the change of the light-transmitting and light-blocking areas on the coding disk, a pulse signal is generated, and the joint angle information is obtained through counting and conversion.

[0102] The control system compares the data fed back by the pressure and angle sensors with the preset stable support model. If it is found that the force on the legs is uneven or the joint angles are inappropriate, the system will send adjustment instructions to each driving component of the legs. At the same time, by adjusting the postures of other legs, the overall force distribution is optimized to ensure the stable support of the robot. During the entire landing support process, the control system continuously collects and processes sensor data at a high frequency (such as 100 times per second) to achieve real-time and precise control of the leg postures and forces, preparing for the next action.

[0103] The robot realizes forward, backward, lateral movement, etc. similar to animal walking through the alternating leg-lifting, stepping, and landing support actions of multiple legs. During walking, a three-legged support gait is adopted (for example, the leg mechanisms of No. 58, 59, and 62 are in one group, and the leg mechanisms of No. 57, 60, and 61 are in another group for alternating support) to ensure good stability and mobility on complex terrains.

[0104] (III) Implementation of wheel-leg combined movement

[0105] In practical applications, the robot often needs to flexibly switch the movement mode under different terrain conditions and adopt the wheel-leg combined movement mode;

[0106] Crossing small obstacles: When the robot detects a small obstacle in front (such as a step, a stone with a height lower than the wheel radius, etc.), the sensor system 5 responds quickly. The lidar 36 emits laser beams at a frequency of thousands of times per second. By measuring the round-trip time of the laser, the distance, height, and width information of the obstacle are accurately calculated; the binocular high-definition infrared camera 31 and the realsense camera 30 synchronously collect image data, and use computer vision algorithms (such as stereo matching algorithm, depth estimation algorithm) to process the images to further obtain the shape and texture information of the obstacle;

[0107] The control system performs fusion analysis on this data to judge whether it is suitable to cross by the wheel-leg combination method. If the judgment is feasible, the wheel 14 of the wheel-leg support leg 1 continues to rotate to maintain the forward power of the robot; at the same time, some driving components of the legs are activated. The thigh drive conversion servo 9 accurately controls the leg-lifting angle according to the obstacle height. For example, when the detected obstacle height is 10 cm, the system controls the thigh drive conversion servo 9 to lift the leg 12 cm to ensure that the wheel 14 can smoothly cross the top of the obstacle; during the leg-lifting process, the calf drive conversion servo 10 synchronously adjusts the thigh posture, and through the screw-nut transmission mechanism, makes the thigh and calf form a suitable angle to ensure that the movement trajectory of the wheel can cross the obstacle;

[0108] After the wheel 14 crosses the obstacle, the leg drive component acts in the reverse direction to restore the leg to the wheeled motion posture, and the robot continues to move forward in the wheeled mode; during the entire crossing process, the control system monitors the motion states of the wheels and legs in real time, and through a closed-loop control strategy, ensures the smoothness and safety of the crossing action. For example, when the wheel is impacted during the crossing process, the acceleration sensor installed on the wheel shaft immediately feeds back the signal to the control system, and the system quickly adjusts the output of the leg drive component to reduce the impact on the robot.

[0109] Complex terrain transition: When transitioning from a flat road surface to complex terrain (such as entering the ground of a mine tunnel from a factory workshop, etc.), the robot first moves quickly in the wheeled mode to approach the complex terrain area. When the sensor detects a terrain change, the control system starts to execute the motion mode conversion;

[0110] First, the DC drive motor 15 of the wheel gradually reduces the speed, and the rotation speed of the wheel 14 slows down; at the same time, the control system sequentially sends start commands to each drive component of the leg according to a predetermined order. The leg hip connection servo 6 starts first, and its internal motor slowly adjusts the angle of the leg hip connection joint 7 through a multi-stage reduction gear set and a worm and worm gear mechanism, so that it can reach the octagonal stable form as soon as possible; during the leg lifting process, the angle sensor installed at the leg hip connection joint 7 real-time feeds back the angle information to ensure the accuracy of the leg rotation angle;

[0111] Next, the thigh drive conversion servo 9 and the calf drive conversion servo 10 act in sequence; the thigh drive conversion servo 9 adjusts the position and angle of the thigh support plate 8 through a screw-nut transmission mechanism; the calf drive conversion servo 10 adjusts the posture of the calf support foot plate 13 by using gear transmission and screw transmission, so that the leg gradually adapts to the walking requirements of the complex terrain; during the conversion process, the control system uses the inertial measurement unit (IMU, including an accelerometer and a gyroscope) installed on the fuselage to monitor the posture change of the robot in real time, and through an adaptive control algorithm, automatically adjusts the motion parameters of the leg drive component according to the terrain conditions to ensure that the robot smoothly transitions to the legged motion state. For example, when the robot encounters a slight slope when entering a pothole, the system will automatically adjust the leg joint angle to keep the fuselage level and avoid tipping over.

[0112] II. Conversion structure

[0113] (I) Legged and wheeled motion conversion structure

[0114] The wheel-leg type leg 1, as the core structure for realizing the conversion between legged and wheeled motions, has a precise mechanical transmission and control mechanism designed inside.

[0115] In the wheeled motion state, the leg structure is in a contracted or relatively fixed state, and the wheel 14 undertakes the main motion function. At this time, the leg-hip connecting servo 6 locks the leg-hip connecting joint 7 at a specific angle, making the leg close to the fuselage to reduce the motion resistance; the thigh drive conversion servo 9 and the calf drive conversion servo 10 also remain stationary to ensure that the leg does not affect the rotation of the wheel.

[0116] When switching to the legged motion, the control system first sends an unlocking and leg-lifting instruction to the leg-hip connecting servo 6. The micro motor inside the leg-hip connecting servo 6 starts to rotate. Through a first-stage reduction gear set (such as spur cylindrical gears) and a second-stage worm and worm gear reduction mechanism, the high-speed and low-torque output of the motor is converted into a low-speed and high-torque output, driving the output shaft to rotate, thereby adjusting the angle of the leg-hip connecting joint 7 to unlock the fixed angle of the leg. During this process, the absolute encoder installed on the output shaft real-time feedbacks the joint angle information to ensure the accuracy of the leg-lifting angle.

[0117] Subsequently, the thigh internal servo 16 drives the thigh support plate 8 to rotate around the joint axis, changing the posture of the thigh to form an angle relationship suitable for stepping with the calf support foot plate 13. At the same time, the calf drive conversion servo 10 also starts to work. The motor drives the calf support foot plate 13 to adjust the position and angle through gear transmission and screw drive, so that the foot end 12 can adapt to complex terrains. During the leg posture adjustment process, the control system continuously optimizes the motion parameters of each drive component through an adaptive control algorithm according to the data feedback from sensors (such as joint angles, motor currents, etc.) to ensure that the leg quickly and accurately switches to the legged motion posture.

[0118] When converting from the legged motion to the wheeled motion, each drive component acts in reverse. The calf drive conversion servo 10 first retracts the calf support foot plate 13. The motor rotates in reverse, the screw rotates in the reverse direction, and the nut drives the calf support foot plate to retract; the thigh drive conversion servo 9 restores the thigh support plate 8 to the initial position of the wheeled motion through a gear and link mechanism; finally, the leg-hip connecting servo 6 retracts and locks the leg in a posture suitable for the wheeled motion, enabling the wheel 14 to smoothly contact the ground and drive the robot to move. During the reverse conversion process, to prevent mechanical component collisions and wear, the system controls each drive component to operate at a lower speed and acceleration, and limit switches are set at key positions. When the leg moves to the limit position, the limit switch is triggered, immediately stopping the motion of the corresponding drive component to ensure the safety of the conversion process.

[0119] (2) Fuselage attitude adjustment and conversion structure

[0120] The frame connection conversion structure 3 and related drive motors (such as the front shoulder drive conversion servo 19, the waist plate No. 1 drive servo 26, the waist plate No. 2 drive servo 27, the rear drive servo 28, etc.) together constitute the fuselage posture adjustment conversion structure to ensure that the robot maintains a stable posture in different motion states and operating scenarios.

[0121] 1. Adjustment and conversion between octagonal and rectangular fuselage postures

[0122] When encountering uneven ground and needing to switch to leg-style forward movement, the fuselage frame is promptly adjusted to an octagonal frame to provide greater stability. At this time, the waist plate No. 1 driving servo 26, the waist plate No. 2 driving servo 27 and the two symmetrical opposite servos are adjusted simultaneously, so that the four side waist plates of the fuselage form a 120° angle with the front connection main board 21 and the parking space connection main board 23, respectively, to ensure its stability;

[0123] When the vehicle needs to be transported on wheels when entering a flat surface from an uneven surface, the fuselage frame is adjusted from an octagon to a rectangular frame to reduce resistance. At this time, the waist plate No. 1 driving servo 26, the waist plate No. 2 driving servo 27 and the two symmetrical opposite servos are adjusted at the same time, so that the four side waist plates of the fuselage are respectively at a 90° angle with the front connection main board 21 and the parking space connection main board 23 to ensure that they can reduce resistance.

[0124] (1) Rear robotic arm operation

[0125] (2) Front robotic arm operation

[0126] 1. Raising and extending movements

[0127] Power coordination: The end hydraulic motor 56 and the upper hydraulic motor 43 operate in tandem, with the hydraulic pump 44 providing the hydraulic power source and generating high-pressure hydraulic oil. Upon command from the control system, the high-pressure oil is delivered to the end hydraulic motor 56 and the hydraulic actuator associated with the lower arm 52.

[0128] Mechanical transmission: The hydraulic motor 56 at the end rotates, and its power is transmitted through the shaft on the hydraulic motor of the transmission component, driving the lower arm 52 of the robot arm to rise, further pushing it forward. During this process, the upper arm 54 of the robot arm cooperates with the lower arm 52 of the robot arm through the fixed plate 53 at the upper end of the rotating joint to ensure movement coordination and stability;

[0129] 2. Angle adjustment action

[0130] General Angle Adjustment: During blasting operations, the upper hydraulic motor 43 is responsible for adjusting the general angle of the hydraulic manipulator arm 38. The upper hydraulic motor 43 drives the hydraulic cylinder shaft to rotate according to the control system instructions, causing the manipulator upper arm 54 to rotate around the fixed axis to determine the general direction of the blasting.

[0131] Fine angle fine-tuning: The servo 47 at the end of the robotic arm and the rotary joint 48 of the robotic arm actuator cooperate to perform fine angle adjustment; the servo 47 at the end of the robotic arm receives the precise electrical signal from the control system and makes a small angle adjustment through the internal servo transmission mechanism. The rotary joint 48 of the robotic arm actuator further provides a flexible rotary fine-tuning function, and the two cooperate to ensure that the carbon dioxide permeability-increasing blasting hammer 39 can be accurately aligned with the blasting target to achieve precise blasting.

[0132] The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the protection scope of the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, any person skilled in the art within the technical scope disclosed by the present invention can make equivalent substitutions or changes according to the technical solution and inventive concept of the present invention, and these simple variations all belong to the protection scope of the present invention.

Claims

1. A wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure, characterized in that It includes wheel-leg type outriggers (1), single-leg type outriggers (2), a frame connection conversion structure (3) and an upper fuselage structure; wherein the wheel-leg type outriggers (1) and the single-leg type outriggers (2) are symmetrically arranged on both sides of the frame connection conversion structure (3), and the upper fuselage structure is provided above; The frame connection conversion structure (3) includes a frame, a headstock shoulder joint drive conversion servo (19), a waist plate first drive servo (26), a waist plate second drive servo (27), a tailstock drive servo (28), wherein the frame is formed by sequentially connecting a left-side structure, a headstock connection main board (21), a right-side structure and a tailstock connection main board (23); the left-side structure and the right-side structure are the same, and both include a fuselage main waist plate (20), a fuselage first side waist plate (22) and a fuselage second side waist plate (29), wherein one end of the fuselage first side waist plate (22) is connected to the end of the headstock connection main board (21) through the headstock shoulder joint drive conversion servo (19), the other end is connected to one end of the fuselage main waist plate (20) through the waist plate first drive servo (26), the other end of the fuselage main waist plate (20) is connected to one end of the fuselage second side waist plate (29) through the waist plate second drive servo (27), and the other end of the fuselage second side waist plate (29) is connected to the end of the tailstock connection main board (23) through the tailstock drive servo (28); The single-leg type outrigger (2) includes a leg hip connection servo (6), a leg hip connection joint (7), a thigh support plate (8), a thigh drive conversion servo (9), a calf drive conversion servo (10), a multi-sensor box (11), a foot end (12), a calf support foot plate (13), a thigh internal servo (16); wherein the leg hip connection servo (6) is connected to the fuselage main waist plate (20) through the leg hip connection joint (7), the thigh drive conversion servo (9) is connected to the outside of the leg hip connection joint (7) through its own rotating shaft, the thigh internal conversion servo (16) is fixed to the bottom of the thigh drive conversion servo (9), and the thigh internal servo (16) is connected to the inside above the thigh support plate (8) through its own rotating shaft, the calf drive conversion servo (10) is connected to the inside below the thigh support plate (8) through its own rotating shaft, and a multi-sensor box (11) is connected to the bottom of the calf drive conversion servo (10), the multi-sensor box (11) is connected to the calf support foot plate (13) below, and the cylindrical foot end (12) is connected to the bottom of the calf support foot plate (13); The wheel-leg type outrigger (1) includes a leg-hip connecting servo (6), a leg-hip connecting joint (7), a thigh support plate (8), a thigh drive conversion servo (9), a calf drive conversion servo (10), a multi-sensor box (11), a foot end (12), a calf support foot plate (13), a wheel (14), a wheel DC drive motor (15), and a thigh internal servo (16); among them, the leg-hip connecting servo (6) is connected to the first side waist plate (22) or the second side waist plate (29) of the fuselage through the leg-hip connecting joint (7), the thigh drive conversion servo (9) is connected to the outside of the leg-hip connecting joint (7) through its own rotating shaft, the thigh internal conversion servo (16) is fixed to the bottom of the thigh drive conversion servo (9), and the thigh internal servo (16) is connected to the inside above the thigh support plate (8) through its own rotating shaft, the calf drive conversion servo (10) is connected to the inside below the thigh support plate (8) through its own rotating shaft, and a multi-sensor box (11) is connected to the bottom of the calf drive conversion servo (10), the multi-sensor box (11) is connected to the calf support foot plate (13) below, and the cylindrical foot end (12) is connected to the bottom of the calf support foot plate (13); the wheel DC drive motor (15) is fixed below the thigh support plate (8) through the wheel DC drive motor support (17), and a wheel (14) is connected to its transmission shaft; The upper fuselage structure includes a realsense camera (30), a binocular high-definition infrared camera (31), a front robotic arm base (32), a medical rescue box (34), a six-axis articulated robotic arm (35) of HSR-JR620, a rear robotic arm base (37), a hydraulic robotic arm (38), a carbon dioxide enhanced penetration blasting hammer (39), a hydraulic motor (43), and a gas monitoring sensor (45); among them, a front robotic arm base (32) and a hydraulic cylinder robotic arm (38) are respectively provided on both sides of the front-end connection main board (21), a realsense camera (30) is provided at the bottom, a binocular high-definition infrared camera (31) and a gas detection sensor (45) are provided on the front robotic arm base (32), and a carbon dioxide enhanced penetration blasting hammer (39) is provided at the end of the hydraulic robotic arm (38); The rear robotic arm base (37) is fixed to the rear-end connection main board (23) at the rear, and a medical rescue box (34) and a six-axis articulated robotic arm (35) of HSR-JR620 are provided thereon.

2. The wheel-leg combined mobile underground rescue operation robot based on the metamorphic structure according to claim 1, characterized in that, [[ID=z]]The leg-hip connecting joint (7) of the single-leg type outrigger (2) is an integral part, including a vertical U-shaped frame on the inner side and a horizontal U-shaped frame on the outer side, and the vertical U-shaped frame and the main waist plate (20) of the fuselage are connected together through the rotating shaft of the leg-hip connecting servo (6), and the thigh drive conversion servo (9) is connected to the inside of the horizontal U-shaped frame through its own rotating shaft.

3. A wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure according to claim 1, characterized in that The hip joint (7) of the wheel-leg type outrigger (1) is an integral part, including a vertical U-shaped frame on the inner side and a horizontal U-shaped frame on the outer side. The vertical U-shaped frame and the first side waist plate (22) or the second side waist plate (29) of the fuselage are connected together through the rotating shaft of the hip joint servo (6). The thigh drive conversion servo (9) is connected within the horizontal U-shaped frame through its own rotating shaft.

4. A wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure according to claim 1, characterized in that The multi-sensor box (11) is equipped with an angle sensor and a distance sensor, and a gravity sensor is embedded in the foot end (12).

5. A wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure according to claim 1, characterized in that, The hydraulic manipulator (38) includes an upper hydraulic motor (43), a vertical end actuator joint (46) of the hydraulic manipulator, a vertical servo (47) at the end of the manipulator, a transverse rotating joint (48) for the manipulator to execute, a transverse servo at the end of the manipulator, a hydraulic manipulator base (49), a lower arm (52) of the manipulator, a fixed disk (53) at the upper end of the rotating joint, an upper arm (54) of the manipulator, and an end hydraulic motor (56). Among them, the hydraulic manipulator base (49) is fixedly connected to the head connection main board (21). One end of the lower arm (52) of the manipulator is sleeved within the hydraulic manipulator base (49), and the end hydraulic motor (56) is located within the lower arm (52) of the manipulator. The hydraulic manipulator base (49) and the lower arm (52) of the manipulator are connected together through the rotating shaft of the end hydraulic motor (56). One end of the upper arm (54) of the manipulator is located within the other end of the lower arm (52) of the manipulator, and the upper hydraulic motor (43) is located within the upper arm (54) of the manipulator. The lower arm (52) and the upper arm (54) of the manipulator are connected together through the rotating shaft of the upper hydraulic motor (43). The vertical servo (47) at the end of the manipulator is fixed to the other end of the upper arm (54) of the manipulator and is connected within the vertical end actuator joint (46) of the hydraulic manipulator through its own rotating shaft. The transverse servo at the end of the manipulator is fixed to the other end of the vertical end actuator joint (46) of the hydraulic manipulator and is connected within the transverse rotating joint (48) for the manipulator to execute through its own rotating shaft. The carbon dioxide permeability enhancement blasting hammer (39) is fixed to the other end of the transverse rotating joint (48) for the manipulator to execute.

6. The wheel-leg combined mobile underground rescue operation robot based on the metamorphic structure according to claim 5, characterized in that, The hydraulic manipulator (38) further includes a fixed disk (50) at the lower end of the rotating joint and a fixed disk (53) at the upper end of the rotating joint. Among them, the fixed disk (50) at the lower end of the rotating joint is located on the outer wall of the hydraulic manipulator base (49). The fixed disk (50) at the lower end of the rotating joint, the side wall of the hydraulic manipulator base (49), and the lower arm (52) of the manipulator are connected together through the rotating shaft of the end hydraulic motor (56). The fixed disk (53) at the upper end of the rotating joint is located on the outer wall of the end of the lower arm (52) of the manipulator. The upper arm (54) of the manipulator, the lower arm (52) of the manipulator, and the fixed disk (53) at the upper end of the rotating joint are connected through the rotating shaft of the upper hydraulic motor (43).

7. A wheel-leg combined mobile underground rescue operation robot based on a metamorphic structure according to claim 1, characterized in that, On the outer side of the first side waist plate (22) of the fuselage, there is a secondary connecting plate (18) of the first side waist plate of the fuselage for hinging with the hip joint (7) of the wheel-leg type leg (1). On the outer side of the middle part of the main waist plate (20) of the fuselage, there is a secondary connecting plate (24) of the main waist plate of the fuselage for hinging with the hip joint (7) of the single-leg type leg (2). On the outer side of the second side waist plate (29) of the fuselage, there is a secondary connecting plate (25) of the second side waist plate of the fuselage for hinging with the hip joint (7) of the wheel-leg type leg (1).

8. The wheel-leg combined mobile underground rescue operation robot based on metamorphic structure according to any one of claims 1-7, characterized in that, The movement process is as follows: The robot performs wheeled movement:

1. When the rescue operation robot is on a flat road surface, turn on the wheeled movement mode, and control the rotation shafts of the head shoulder joint drive conversion servo (19), the first waist plate drive servo (26), the second waist plate drive servo (27), and the tail drive servo (28) to rotate inward, so that the left side structure, the head connection main board (21), the right side structure, and the tail connection main board (23) are connected in sequence to form a rectangle. At this time, it is set that from front to back on the left side of the frame connection conversion structure (3) are the front left wheel-leg type leg (57), the middle left main force single-leg type leg (59), and the rear left wheel-leg type leg (61), and from front to back on the right side of the frame connection conversion structure (3) are the front right wheel-leg type leg (58), the middle right main force single-leg type leg (60), and the rear right wheel-leg type leg (62). Among them, the front left wheel-leg type leg (57), the front right wheel-leg type leg (58), the rear left wheel-leg type leg (61), and the rear right wheel-leg type leg (62) are all wheel-leg type legs (1), and the middle left main force single-leg type leg (59) and the middle right main force single-leg type leg (60) are all single-leg type legs (2); 2. Start the calf drive conversion servo (10) of the four legs of the front left wheel-leg type leg (57), the front right wheel-leg type leg (58), the rear left wheel-leg type leg (61), and the rear right wheel-leg type leg (62), so that the calf drive conversion servo (10) drives the multi-sensor box (11), the calf support foot board (13), and the foot end (12) to rotate inward and retract until the wheels (14) on the four legs contact the ground; 3. Start the wheel DC drive motors (15) on the four legs, and then drive the wheels (14) to rotate to drive the robot to travel; 4. During the driving process, control the rotational speed of the wheel DC drive motors (15) of the front left wheel-leg type leg (57) and the rear left wheel-leg type leg (61) to be slower than the rotational speed of the wheel DC drive motors (15) of the front right wheel-leg type leg (58) and the rear right wheel-leg type leg (62) to achieve a left turn; control the rotational speed of the wheel DC drive motors (15) of the front left wheel-leg type leg (57) and the rear left wheel-leg type leg (61) to be faster than the rotational speed of the wheel DC drive motors (15) of the front right wheel-leg type leg (58) and the rear right wheel-leg type leg (62) to achieve a right turn; The robot performs legged movement:

1. When the robot faces complex terrains, activate the legged motion mode; control the rotation of the axles of the front head shoulder joint drive conversion servo (19), the lumbar plate No. 1 drive servo (26), the lumbar plate No. 2 drive servo (27), and the rear tail drive servo (28) outward, so that the body No. 1 side lumbar plate (22), the body main lumbar plate (20), the body No. 2 side lumbar plate (29), the rear tail connection main board (23), the body No. 2 side lumbar plate (29), the body main lumbar plate (20), the body No. 1 side lumbar plate (22), and the front head connection main board (21) are connected in sequence to form an octagon; 2. Control the rotation of the leg hip connection joint (7) by the leg hip connection servo (6) on the front left wheel legged leg (57), the rear left wheel legged leg (61), the front right wheel legged leg (58), and the rear right wheel legged leg (62) to correct the position changes generated by the four legs when the frame connection conversion structure (3) forms an octagon, so that each leg returns to the required position; 3. Take the front right wheel legged leg (58), the middle left main force single legged leg (59), and the rear right wheel legged leg (62) as a group of legs, and the other three legs as another group of legs; the two groups of legs alternately move in the following manner to achieve forward or backward movements similar to animal walking: Among them, according to the preset motion path, the thigh inner servo (16) works to drive the thigh support plate (8) to rotate, adjust the posture of the thigh, drive the entire leg to extend outward to the required position, and at the same time start the calf drive conversion servo (10) to drive the calf support foot plate (13) to adjust and extend in the required direction, move the foot end (12) to the predetermined position, and then start the thigh drive conversion servo (9) to drive the entire leg so that the foot end (12) lands smoothly; The two groups of legs alternately move in the following manner to achieve lateral movement: The calf drive conversion servo (10) operates to drive the foot end (12) to retract inward, control the leg hip connection servo (6) to drive the leg hip connection joint (7) to rotate horizontally, so that the entire leg is adjusted to the required lateral direction, and then start the calf drive conversion servo (10) to drive the foot end (12) to land, so that the entire leg moves laterally; When the robot travels to the required position, use the six-axis articulated robot arm (35) of the HSR-JR620 to perform the required operations, or perform blasting operations. The process of performing blasting operations is as follows: The end hydraulic motor (56) rotates to drive the lower arm of the robot arm (52) to rise and further push it to extend. The upper hydraulic motor (43) drives the upper arm of the robot arm (54) to rotate until the carbon dioxide permeability enhancement blasting hammer (39) is aligned with the general direction of blasting; then start the robot arm end servo (47), drive the carbon dioxide permeability enhancement blasting hammer (39) to adjust up and down through the hydraulic robot arm end horizontal execution joint (46), and then start the robot arm end horizontal servo, drive the carbon dioxide permeability enhancement blasting hammer (39) to adjust left and right through the robot arm actuator rotation joint (48) to achieve fine adjustment of the alignment direction of the carbon dioxide permeability enhancement blasting hammer (39), ensure that the carbon dioxide permeability enhancement blasting hammer (39) is aligned with the blasting target, and achieve precise blasting.

9. The movement process of the wheel-leg combined mobile underground rescue operation robot based on metamorphic structure according to claim 8, characterized in that, During the legged movement, the rotation of each servo is continuously adjusted according to the information collected in real time by the Realsense camera (30) and the binocular high-definition infrared camera (31) and the preset motion plan, so that the robot walks along the required path. During the legged movement, when the robot detects an obstacle not higher than the bottom of the wheel (14) in front through the binocular high-definition infrared camera (and the Realsense camera (30), the DC drive motor (15) continues to drive the wheel (14) to rotate to maintain the forward power of the robot. At the same time, according to the height of the obstacle, the thigh drive conversion servo (9), the thigh internal servo (16), and the calf drive conversion servo (10) are controlled to move the foot end (12) to a predetermined position so that it can avoid the obstacle, and the wheel (14) rolls over the obstacle. After the wheel (14) crosses the obstacle, the thigh drive conversion servo (9), the thigh internal servo (16), and the calf drive conversion servo (10) are controlled to restore the foot end (12) to the wheeled motion posture, and the robot continues to move forward in the wheeled mode.

10. The movement process of the wheel-leg combined mobile underground rescue operation robot based on the metamorphic structure according to claim 8, characterized in that, During the legged movement, if the difference between the average pressures detected by the built-in gravity sensors at the foot ends (12) of the two sets of legs exceeds the threshold, it means that the forces on the two sets of legs are uneven. The thigh drive conversion servo (9), the thigh internal servo (16), and the calf drive conversion servo (10) of the leg with the smaller average pressure are used to retract the corresponding leg until the difference between the average pressures of the two sets of legs does not exceed the threshold. If the pressure value detected by the built-in gravity sensor at the foot end (12) of any one leg is 0, it means that the leg is in the air at this time. The leg hip connection servo (6) of this leg is controlled to drive the entire leg to move laterally, and the foot end (12) is driven to move through the coordinated operation of the thigh drive conversion servo (9), the thigh internal servo (16), and the calf drive conversion servo (10), so that the foot end (12) steps over the airborne part, and then the leg hip connection servo (6) is controlled to rotate in the reverse direction, and the foot end (12) is driven to fall back to the ground through the coordinated operation of the thigh drive conversion servo (9), the thigh internal servo (16), and the calf drive conversion servo (10).

Images