Cluster operation robot

Abstract

The utility model belongs to the technical field of robots, and relates to a cluster operation robot which comprises a parent operation robot and a plurality of child detection robots arranged on a body of the parent operation robot, the child detection robots are used for completing multi-modal transformation to achieve multi-habitat detection operation, and multifunctional mechanical arms are arranged on the child detection robots. The multifunctional mechanical arm is detachably mounted on the sub-body detection robot through the load switching module; the load tool switching subsystem is fixedly mounted on the parent operation robot and is used for replacing the multifunctional mechanical arm of the child detection robot as required; and the adsorption type energy supplement subsystem is used for charging the sub-body detection robot. The parent operation robot carries the multiple child detection robots, cluster collaborative operation of the multiple robots is achieved, the working efficiency of collaborative operation of the robots is improved, the robot is suitable for the waterway and air multi-habitat operation environment, and the global and long-time operation requirements are met.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a cluster operation robot. Background Art

[0002] In order to achieve underwater operations on bridge piers and the seabed, the robot must have a high adsorption force, strong omnidirectional movement and posture change capabilities, be stable and flexible, and be able to crawl on walls, turn, and spin. Unlike ground mobile robots, underwater operation robots are easily affected by adhesion, operating conditions, and their own inherent characteristics. When on non-structural roads such as bumps and gullies, the robot needs to pass smoothly and usually needs to have high-performance and reliable climbing and obstacle-crossing capabilities.

[0003] In actual application requirements, robots are also required to have the ability to work in multiple avionic conditions, such as "going up to the sky" and "going down to the sea". In a typical scenario, such as the field of military reconnaissance, after the robot is released from a drone or fighter, it needs to turn on the "air exploration mode"; after slowly descending to the ground, turn on the "high-speed flat ground propulsion" mode to quickly approach the reconnaissance on a flat road; after reaching a specific mudflat, turn on the "high obstacle travel" mode to climb over complex unstructured ground; after crossing the mudflat area, start entering the water or diving underwater to carry out operations.

[0004] Existing multi-habitat operation robots only perform a single operation as a single robot, have a low level of intelligence, and lack cluster coordination capabilities, resulting in low operating efficiency. Summary of the invention

[0005] The utility model aims to provide a cluster operation robot with high collaborative operation efficiency and the ability to operate on land, water and air.

[0006] The technical solution adopted by the utility model to solve the technical problem is: a cluster operation robot, comprising:

[0007] The mother operation robot is used to install and carry the daughter detection robot, the load tool switching subsystem and the adsorption type energy replenishment subsystem. Several posture adjustment systems for the vertical passage of fluid are symmetrically installed on the outer side wall of the mother operation robot.

[0008] A sub-body detection robot is arranged on the body of the parent operation robot. There are multiple sub-body detection robots. The sub-body detection robot is used to complete multi-modal transformation to realize multi-habitat detection operations. The sub-body detection robot is provided with a multi-functional mechanical arm. The multi-functional mechanical arm can be detachably installed on the sub-body detection robot through a load switching module;

[0009] The load tool switching subsystem is fixedly installed on the parent operation robot, and the load tool switching subsystem is used to replace the multifunctional mechanical arm of the child detection robot as needed;

[0010] The adsorption-type energy replenishment subsystem is installed on the parent operating robot and connected to the load tool switching subsystem. The adsorption-type energy replenishment subsystem is used to charge the daughter detection robot.

[0011] Furthermore, the sub-body detection robot includes a main frame, a multifunctional mechanical arm is detachably installed on the front of the main frame through a load switching module, wheel-claw-paddle multi-mode switching modules are symmetrically provided on both sides of the front and rear ends of the main frame, each group of wheel-claw-paddle multi-mode switching modules is installed on the main frame through a group of posture transformation modules, the posture transformation module drives the wheel-claw-paddle multi-mode switching module to rotate vertically and flip upward, horizontal propulsion modules are respectively installed on both sides of the main frame, a vertical propulsion module that runs through the main frame from top to bottom is provided in the middle of the main frame, a medium flow switching adjustment mechanism and a propulsion adsorption module are provided below the vertical propulsion module, and a perception module is installed at the front end of the main frame, and the perception module is used for the sub-body detection robot to sense and identify the surrounding environment.

[0012] Furthermore, a float for providing buoyancy for the sub-body detection robot is also installed on the top of the main frame, and the middle part of the float is hollowed out to provide a fluid channel for the vertical propulsion module.

[0013] Furthermore, the load switching module includes an adsorption base fixedly mounted on the main frame, a permanent magnet is fixedly mounted on the top of the adsorption base, a magnetic conductor is provided on the upper surface of the permanent magnet, and the magnetic conductor is fixedly mounted on the bottom of the multifunctional robotic arm.

[0014] Furthermore, the load tool switching subsystem includes a fixed base installed on the parent working robot, the top of the fixed base is hingedly connected to the bottom of the lifting arm, a push rod is connected between the middle part of the lifting arm and the fixed base, the push rod drives the lifting of the lifting arm, a posture adjustment device is installed on the top of the lifting arm, and a load switching module is connected below the posture adjustment device. A robot berth is provided below the load switching module, and the robot berth is fixedly installed on the parent working robot. The robot berth is used to park the child detection robot, and the load switching module disassembles and replaces the multi-functional robot arm of the child detection robot parked on the robot berth.

[0015] Furthermore, the load switching module includes a fixed frame, the top of the fixed frame is connected to the posture adjustment device, the upper end of the fixed frame is provided with a vertical lifting mechanism, the lower part of the fixed frame is provided with a horizontal rotation mechanism, and a load switching turntable module is provided below the fixed frame. The horizontal rotation structure is fixedly connected to the load switching turntable module, and the horizontal rotation structure drives the load switching turntable module to rotate horizontally. The vertical lifting mechanism is fixedly connected to the horizontal rotation mechanism, and the vertical lifting mechanism drives the horizontal rotation structure and the load switching turntable module to vertically lift and lower. A plurality of groups of electromagnetic claws are evenly distributed on the bottom surface of the load switching turntable module, and a spare tool robot arm is adsorbed and connected to the electromagnetic claws.

[0016] Furthermore, a magnetic conductor is fixedly mounted on the bottom of the tool robot arm for use in conjunction with a permanent magnet on the sub-body detection robot.

[0017] Furthermore, the adsorption-type energy replenishment subsystem includes a charging fixed base, an adsorption component and a charging component. The charging fixed base is fixedly installed on the parent operating robot, the adsorption component is fixedly installed on the charging fixed base, and the adsorption component is located at the center of the robot berth. The adsorption component is used to adsorb and fix the child detection robot parked on the robot berth. The charging component is arranged on the periphery of the robot berth, and the charging component is used to charge the child detection robot parked on the robot berth.

[0018] Furthermore, the mother working robot includes a main body, suspension systems are symmetrically installed on both sides of the main body, the outer side of the suspension system is covered with tracks, a working platform is installed on the main body, posture adjustment systems are respectively installed at the front and rear ends and left and right sides of the working platform, the load tool switching subsystem is fixedly installed at the rear of the working platform, and multiple sub-body detection robots are placed on both sides of the rear of the working platform.

[0019] Furthermore, a working robot arm is fixedly installed on the front of the mother working robot to complete the routine work of the mother working robot; a storage bin is also provided on the working platform, and the storage bin is used to store items collected by the working robot arm.

[0020] The utility model has the following beneficial effects: the sub-body detection robot of the utility model realizes multi-modal operations such as movement and adsorption in the ground, water surface and underwater environment through wheel mode and claw mode, and the sub-body detection robot can replace the multi-functional mechanical arm at any time as needed during the wireless charging process, which improves the operation flexibility and adaptability of the sub-body detection robot. The mother operation robot carries multiple sub-body detection robots to realize cluster collaborative operation of multiple robots, improve the efficiency of robot collaborative operation, adapt to the multi-habitat operation environment of water, land and air, and meet the needs of full-domain and long-term operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the overall structure of the cluster operation robot of the present utility model.

[0022] Figure 2 It is a front view of the utility model cluster operation robot.

[0023] Figure 3 It is a top view of the cluster operation robot of the present utility model.

[0024] Figure 4 It is a stereoscopic diagram of the overall structure of the wheel mode of the sub-body detection robot of the utility model.

[0025] Figure 5 It is a top view of the wheel mode of the sub-body detection robot of the present invention.

[0026] Figure 6 yes Figure 5 AA section view.

[0027] Figure 7 yes Figure 6 Enlarged view of the local structure at point B in the middle.

[0028] Figure 8 It is a left view of the wheel mode of the sub-body detection robot of the present invention.

[0029] Fig. 9 It is a stereoscopic diagram of the overall structure of the sub-body detection robot of the utility model in the hovering and propulsion modes of the wheel-paddle mode.

[0030] Fig.10 It is a stereoscopic diagram of the overall structure of the sub-body detection robot of the utility model with the wheel mode at 45 degrees.

[0031] Fig.11 It is a schematic diagram of the wheel mode wall climbing modal structure of the sub-body detection robot of the present invention.

[0032] Fig.12 It is a stereoscopic diagram of the overall structure of the load tool switching subsystem of the utility model.

[0033] Fig.13 It is a stereoscopic diagram of the overall structure of the load switching module of the utility model.

[0034] Fig.14 It is the front view of the load switching module of the utility model.

[0035] In the figure, 1. Mother operating robot, 2. Daughter detection robot, 3. Operating robot arm, 4. Load tool switching subsystem, 5. Adsorption energy replenishment subsystem,

[0036] 1-1, main body, 1-2, suspension system, 1-3, crawler tracks, 1-4, posture adjustment system, 1-5, working platform, 1-6, storage compartment;

[0037] 2-1, main frame, 2-2, floating body, 2-3, multifunctional mechanical arm, 2-4, wheel-claw-propeller multi-mode switching module, 2-5, attitude change module, 2-6, horizontal propulsion module, 2-7, vertical propulsion module, 2-8, medium flow switching adjustment mechanism, 2-9, perception module, 2-10, load switching module, 2-11, propulsion adsorption module;

[0038] 2-10-1, adsorption base, 2-10-2, permanent magnet, 2-10-3, magnetic conductor;

[0039] 4-1, attitude adjustment device, 4-2, crane arm, 4-3, load switching module, 4-4, tappet, 4-5, robot berth, 4-6, fixed base;

[0040] 4-3-1, fixed frame, 4-3-2, vertical lifting mechanism, 4-3-3, horizontal rotation mechanism, 4-3-4, tool manipulator, 4-3-5, electromagnetic clamp, 4-3-6, load switching turntable module;

[0041] 5-1. Charging fixed base, 5-2. Adsorption component, 5-3. Charging component. DETAILED DESCRIPTION

[0042] The utility model will now be further described in detail with reference to the accompanying drawings.

[0043] like Figure 1 As shown, a cluster operation robot comprises:

[0044] The parent operation robot 1 is used to install and carry the child detection robot 2, the load tool switching subsystem 4 and the adsorption type energy replenishment subsystem 5. A plurality of posture adjustment systems 1-4 for vertical fluid passage are symmetrically installed on the outer side wall of the parent operation robot 1;

[0045] A sub-body detection robot 2 is arranged on the parent operation robot 1. There are multiple sub-body detection robots 2. The sub-body detection robot 2 is used to complete multi-modal transformation to realize multi-habitat detection operations. The sub-body detection robot 2 is provided with a multi-functional mechanical arm 2-3. The multi-functional mechanical arm 2-3 is detachably mounted on the sub-body detection robot 2 through a load switching module 2-10;

[0046] The working robot arm 3 is fixedly mounted on the front of the parent working robot 1 to complete the routine work of the parent working robot 1;

[0047] The load tool switching subsystem 4 is fixedly installed on the parent operation robot 1, and the load tool switching subsystem 4 is used to replace the multifunctional mechanical arm 2-3 of the child detection robot 2 as needed;

[0048] The adsorption-type energy replenishment subsystem 5 is installed on the parent working robot 1 and connected to the load tool switching subsystem 4 . The adsorption-type energy replenishment subsystem 5 is used to charge the child detection robot 2 .

[0049] like Figure 2 , 3 As shown, the parent operation robot 1 includes a body 1-1, and the two sides of the body 1-1 are symmetrically installed with a suspension system 1-2, and the outer side of the suspension system 1-2 is covered with a crawler 1-3, and the outer periphery of the crawler 1-3 is evenly distributed with a plurality of scrapers. The suspension system 1-2 drives the crawler 1-3 to rotate, and the scraper rotates with the crawler 1-3 and then paddles water underwater, driving the parent operation robot 1 to move forward or backward underwater. A working platform 1-5 is installed on the body 1-1, and a posture adjustment system 1-4 is installed at the front and rear ends and the left and right sides of the working platform 1-5, respectively. The posture adjustment system 1-4 can be a propeller structure, which can drive the parent operation robot 1 to rise and fall in the water. A storage bin 1-6 is also provided on the working platform 1-5, and the storage bin is used to store items collected by the operation mechanical arm 3. The operation mechanical arm 3 is fixedly installed at the front of the working platform 1-5, and the load tool switching subsystem 4 is fixedly installed at the rear of the working platform 1-5. A plurality of sub-body detection robots 2 are placed on both sides of the rear of the working platform 1-5.

[0050] The mother operation robot 1 is released from the mother ship and goes underwater. The posture adjustment system 1-4 drives the mother operation robot 1 to descend steadily in the water. The suspension system 1-2 drives the crawler 1-3 to paddle forward or backward until the mother operation robot 1 reaches the seabed area to be worked. The daughter detection robot 2 is released to collect, drill, detect, and clean the surrounding sea area. The operation mechanical arm 3 works, and the collected items are stored in the storage bin 1-6. The crawler 1-3 can drive the mother operation robot 1 to move forward on a relatively flat seabed. In case of rugged gullies and cliff-like seabed conditions, the posture adjustment system 1-4 drives the mother operation robot 1 to rise steadily in the water, so that the mother operation robot 1 is suspended in the seawater, and the crawler 1-3 paddles water to drive the mother operation robot 1 forward.

[0051] like Figure 4-8As shown, the sub-body detection robot 2 includes a main frame 2-1, and the front part of the main frame 2-1 is detachably mounted with a multifunctional mechanical arm 2-3 through a load switching module 2-10, and wheel-claw-paddle multi-mode switching modules 2-4 are symmetrically arranged on both sides of the front and rear ends of the main frame 2-1, and each group of wheel-claw-paddle multi-mode switching modules 2-4 is mounted on the main frame 2-1 through a group of posture transformation modules 2-5, and the posture transformation modules 2-5 drive the wheel-claw-paddle multi-mode switching modules 2-4 to rotate vertically and flip upward, and horizontal propulsion modules 2-6 are respectively installed on both sides of the main frame 2-1, and the horizontal propulsion module 2-6 can drive the sub-body detection robot 2 to move forward or backward, and a vertical propulsion module 2-7 that runs through the upper and lower parts is arranged in the middle part of the main frame 2-1, and a medium flow switching adjustment mechanism 2-8 and a propulsion adsorption module 2-11 are arranged below the vertical propulsion module 2-7, and a sensing module 2-9 is installed at the front end of the main frame 2-1, and the sensing module 2-9 is used for the sub-body detection robot 2 to sense and identify the surrounding environment.

[0052] The wheel-claw-paddle multi-mode switching module 2-4 can be transformed into a wheel mode or a claw mode. In the present application, the wheel-claw-paddle multi-mode switching module 2-4 can specifically adopt the structure of the deformable wheel and the wheel-claw mode deformation principle in the invention patent of a multi-modal working robot with application publication number CN117681590A, which will not be repeated here.

[0053] like Fig.11 As shown, the posture transformation module 2-5 drives the wheel-claw-paddle multi-mode switching module 2-4 to rotate vertically, so as to adjust the distance between the wheel-claw-paddle multi-mode switching module 2-4 and the wall, so as to adjust the obstacle crossing height and the wall crawling adsorption capacity of the sub-body detection robot 2. The two groups of posture transformation modules 2-5 at the rear of the sub-body detection robot 2 respectively drive the wheel-claw-paddle multi-mode switching module 2-4 to flip upward, so that the wheel-claw-paddle multi-mode switching module 2-4 is horizontal and changes to the paddle mode, as shown in FIG. Fig. 9 As shown, two sets of wheel-claw-paddle multi-mode switching modules 2-4 in paddle mode cooperate with the vertical propulsion module 2-7, which can not only realize the lifting and lowering of the sub-body detection robot 2, but also ensure the stability of the sub-body detection robot 2 during the lifting process.

[0054] In addition, the posture transformation module 2-5 drives the wheel-claw-paddle multi-mode switching module 2-4 to flip to different angles, such as Fig.10 The case shown is flipped 45° to accommodate rough V-shaped or inverted V-shaped seabed surfaces.

[0055] A float 2-2 is also installed on the top of the main frame 2-1 to provide buoyancy for the sub-body detection robot 2. The middle of the float 2-2 is hollowed out to provide a fluid channel for the vertical propulsion module 2-7. The medium flow switching adjustment mechanism 2-8 and the propulsion adsorption module 2-11 can assist in adjusting the flow of the fluid passing through, thereby adjusting the negative pressure adsorption capacity.

[0056] like Figure 7 As shown, the load switching module 2-10 includes two groups of adsorption bases 2-10-1 fixedly mounted on the main frame 2-1, and a group of permanent magnets 2-10-2 are fixedly mounted on the top of each group of adsorption bases 2-10-1. The upper surface of the permanent magnets 2-10-2 is provided with a magnetizer 2-10-3, and the magnetizer 2-10-3 is fixedly mounted on the bottom of the multifunctional mechanical arm 2-3. The two ends of the magnetizer 2-10-3 are respectively opposite to the magnetic poles of the corresponding group of permanent magnets 2-10-2 and adsorbed and fixed. When the multifunctional mechanical arm 2-3 needs to be replaced, the magnetizer 2-10-3 is energized, the magnetic poles are reversed, and the magnetizer 2-10-3 has the same magnetic poles as the permanent magnet 2-10-2, generating a repulsive force, thereby facilitating the removal of the multifunctional mechanical arm 2-3. In addition, the load switching module 2-10 can also be an electromagnet adsorption structure.

[0057] like Fig.12 As shown, the load tool switching subsystem 4 includes a fixed base 4-6 installed on the parent working robot 1, the top of the fixed base 4-6 is hingedly connected to the bottom of the crane arm 4-2, a push rod 4-4 is connected between the middle of the crane arm 4-2 and the fixed base 4-6, the push rod 4-4 drives the crane arm 4-2 to rise and fall, a posture adjustment device 4-1 is installed on the top of the crane arm 4-2, a load switching module 4-3 is connected below the posture adjustment device 4-1, a robot berth 4-5 is provided below the load switching module 4-3, the robot berth 4-5 is fixedly installed on the parent working robot 1, the robot berth 4-5 is used to park the sub-body detection robot 2, and the load switching module 4-3 disassembles and replaces the multifunctional robot arm 2-3 of the sub-body detection robot 2 parked on the robot berth 4-5.

[0058] like Fig.13 , 14As shown, the load switching module 4-3 includes a fixed frame 4-3-1, the top of the fixed frame 4-3-1 is connected to the attitude adjustment device 4-1, the upper end of the fixed frame 4-3-1 is provided with a vertical lifting mechanism 4-3-2, the lower part of the fixed frame 4-3-1 is provided with a horizontal rotation mechanism 4-3-3, and the lower part of the fixed frame 4-3-1 is provided with a load switching turntable module 4-3-6, the horizontal rotation structure 4-3-3 is fixedly connected to the load switching turntable module 4-3-6, and the horizontal rotation structure 4- 3-3 drives the load switching turntable module 4-3-6 to rotate horizontally, the vertical lifting mechanism 4-3-2 is fixedly connected to the horizontal rotating mechanism 4-3-3, and the vertical lifting mechanism 4-3-2 drives the horizontal rotating structure 4-3-3 and the load switching turntable module 4-3-6 to move vertically. Several groups of electromagnetic claws 4-3-5 are evenly distributed on the bottom surface of the load switching turntable module 4-3-6, and spare tool mechanical arms 4-3-4 are adsorbed and connected to the electromagnetic claws 4-3-5. The tool mechanical arm 4-3-4 can be a collection mechanical arm, a drilling mechanical arm, a cleaning mechanical arm, etc. according to needs.

[0059] A magnetizer 2-10-3 for use with the permanent magnet 2-10-2 on the sub-body detection robot 2 is fixedly installed at the bottom of the tool mechanical arm 4-3-4, and the electromagnetic clamping claw 4-3-5 is electromagnetically adsorbed and connected to the magnetizer 2-10-3 of the tool mechanical arm 4-3-4.

[0060] When it is necessary to replace the multifunctional mechanical arm 2-3 on the sub-body detection robot 2 parked on the robot berth 4-5, the push rod 4-4 drives the lifting arm 4-2 to rise and fall to a suitable position, the vertical lifting mechanism 4-3-2 drives the horizontal rotating structure 4-3-3 and the load switching turntable module 4-3-6 to descend, and the horizontal rotating structure 4-3-3 drives the load switching turntable module 4-3-6 to rotate until the idle electromagnetic clamping claw 4-3-5 connected under the load switching turntable module 4-3-6 corresponds to the position of the magnet 2-10-3 connected to the multifunctional mechanical arm 2-3 on the sub-body detection robot 2, the vertical lifting mechanism 4-3-2 further drives the idle electromagnetic clamping claw 4-3-5 to fall into contact with the magnet 2-10-3, the magnet 2-10-3 is energized, the adsorption force between the magnet 2-10-3 and the permanent magnet 2-10-2 disappears, and the electromagnetic clamping claw 4-3-5 is connected to the multifunctional mechanical arm 2-3 The magnet 2-10-3 is adsorbed and captured to complete the disassembly of the multifunctional robotic arm 2-3, the vertical lifting mechanism 4-3-2 drives the load switching turntable module 4-3-6 to rise, and the horizontal rotating structure 4-3-3 drives the load switching turntable module 4-3-6 to rotate again, so that the multifunctional robotic arm 2-3 is turned away, and the tool robotic arm 4-3-4 to be replaced rotates to above the permanent magnet 2-10-2 of the sub-body detection robot 2, and the vertical lifting mechanism 4-3-2 drives the load switching turntable module 4-3-6 to descend, so that the magnet 2-10-3 of the tool robotic arm 4-3-4 to be replaced is in contact with the permanent magnet 2-10-2, and the electromagnetic claw 4-3-5 is energized, and the adsorption force between the electromagnetic claw 4-3-5 and the magnet 2-10-3 of the tool robotic arm 4-3-4 disappears, and the tool robotic arm 4-3-4 is adsorbed and connected with the permanent magnet 2-10-2, completing the replacement of the multifunctional robotic arm 2-3 on the sub-body detection robot 2.

[0061] like Fig.12 As shown, the adsorption energy replenishment subsystem 5 includes a charging fixed base 5-1, an adsorption component 5-2 and a charging component 5-3. The charging fixed base 5-1 is fixedly mounted on the parent operation robot 1, and the adsorption component 5-2 is fixedly mounted on the charging fixed base 5-1. The adsorption component 5-2 is located at the center of the robot berth 4-5. The adsorption component can be a propeller structure. The adsorption component 5-2 is used to negatively adsorb and fix the sub-body detection robot 2 parked on the robot berth 4-5. The charging component 5-3 is set at the periphery of the robot berth 4-5. The charging component 5-3 is used to wirelessly charge the sub-body detection robot 2 parked on the robot berth 4-5. During the wireless charging process of the sub-body detection robot 2, the multifunctional mechanical arm 2-3 can be replaced.

[0062] The negative pressure adsorption structure and principle in the present application can specifically adopt the structure of the adsorption component and the negative pressure adsorption principle in the invention patent of an automatic variable gap wall-climbing adsorption operation robot and working method with application publication number CN116279885A, which will not be repeated here.

[0063] The above-described embodiments are merely descriptions of preferred implementations of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by ordinary persons in the art to the technical solution of the present invention shall fall within the scope of protection of the present invention.

[0064] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

Claims

1. A cluster operation robot, characterized in that: include: The mother operation robot is used to install and carry the daughter detection robot, the load tool switching subsystem and the adsorption type energy replenishment subsystem. Several posture adjustment systems for the vertical passage of fluid are symmetrically installed on the outer side wall of the mother operation robot. A sub-body detection robot is arranged at the rear of the parent operation robot. There are multiple sub-body detection robots. The sub-body detection robot is used to complete multi-modal transformation to realize multi-habitat detection operations. The sub-body detection robot is provided with a multi-functional mechanical arm. The multi-functional mechanical arm can be detachably installed on the sub-body detection robot through a load switching module. The load tool switching subsystem is fixedly installed on the parent operation robot, and the load tool switching subsystem is used to replace the multifunctional mechanical arm of the child detection robot as needed; The adsorption-type energy replenishment subsystem is installed on the parent operating robot and connected to the load tool switching subsystem. The adsorption-type energy replenishment subsystem is used to charge the daughter detection robot.

2. The cluster operation robot according to claim 1, characterized in that: The sub-body detection robot includes a main frame, and a multifunctional mechanical arm is detachably installed on the front of the main frame through a load switching module, and wheel-claw-paddle multi-mode switching modules are symmetrically provided on both sides of the front and rear ends of the main frame. Each group of wheel-claw-paddle multi-mode switching modules is installed on the main frame through a group of posture transformation modules. The posture transformation module drives the wheel-claw-paddle multi-mode switching module to rotate vertically and flip upward. Horizontal propulsion modules are respectively installed on both sides of the main frame, and a vertical propulsion module that runs through the upper and lower parts is provided in the middle of the main frame. A medium flow switching adjustment mechanism and a propulsion adsorption module are provided below the vertical propulsion module, and a perception module is installed at the front end of the main frame.

3. The cluster operation robot according to claim 2, characterized in that: A float for providing buoyancy for the sub-body detection robot is also installed on the top of the main frame, and the middle part of the float is hollowed out to provide a fluid channel for the vertical propulsion module.

4. The cluster operation robot according to claim 1, characterized in that: The load switching module includes an adsorption base fixedly mounted on the main frame, a permanent magnet is fixedly mounted on the top of the adsorption base, a magnetic conductor is provided on the upper surface of the permanent magnet, and the magnetic conductor is fixedly mounted on the bottom of the multifunctional mechanical arm.

5. The cluster operation robot according to any one of claims 1 to 4, characterized in that: The load tool switching subsystem includes a fixed base installed on the parent working robot, the top of the fixed base is hingedly connected to the bottom of the lifting arm, a push rod is connected between the middle part of the lifting arm and the fixed base, the push rod drives the lifting of the lifting arm, a posture adjustment device is installed on the top of the lifting arm, a load switching module is connected below the posture adjustment device, a robot berth is provided below the load switching module, the robot berth is fixedly installed on the parent working robot, the robot berth is used to park the child detection robot, and the load switching module disassembles and replaces the multi-functional mechanical arm of the child detection robot parked on the robot berth.

6. The cluster operation robot according to claim 5, characterized in that: The load switching module includes a fixed frame, the top of the fixed frame is connected to the posture adjustment device, the upper end of the fixed frame is provided with a vertical lifting mechanism, the lower part of the fixed frame is provided with a horizontal rotation mechanism, and a load switching turntable module is provided below the fixed frame. The horizontal rotation structure is fixedly connected to the load switching turntable module, and the horizontal rotation structure drives the load switching turntable module to rotate horizontally. The vertical lifting mechanism is fixedly connected to the horizontal rotation mechanism, and the vertical lifting mechanism drives the horizontal rotation structure and the load switching turntable module to vertically lift and lower. A plurality of groups of electromagnetic claws are evenly distributed on the bottom surface of the load switching turntable module, and a spare tool mechanical arm is adsorbed and connected to the electromagnetic claws.

7. The cluster operation robot according to claim 6, characterized in that: A magnetic conductor used in conjunction with a permanent magnet on the sub-body detection robot is fixedly installed at the bottom of the tool mechanical arm.

8. The cluster operation robot according to claim 5, characterized in that: The adsorption-type energy replenishment subsystem includes a charging fixed base, an adsorption component and a charging component. The charging fixed base is fixedly installed on the parent operating robot, the adsorption component is fixedly installed on the charging fixed base, and the adsorption component is located at the center of the robot berth. The adsorption component is used to adsorb and fix the child detection robot parked on the robot berth. The charging component is arranged on the periphery of the robot berth, and the charging component is used to charge the child detection robot parked on the robot berth.

9. The cluster operation robot according to claim 1, characterized in that: The mother working robot includes a main body, with suspension systems symmetrically installed on both sides of the main body, the outer side of the suspension system is covered with tracks, a working platform is installed on the main body, and posture adjustment systems are respectively installed at the front and rear ends and left and right sides of the working platform. The load tool switching subsystem is fixedly installed at the rear of the working platform, and multiple sub-body detection robots are placed on both sides of the rear of the working platform.

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