A six-drive reconfigurable robot

Abstract

The present invention discloses a six-wheel drive reconfigurable robot, comprising: a body, expandable reconfigurable wheels, and a transmission system; three expandable reconfigurable wheels are provided on each side of the body, six transmission systems are provided inside the body, the transmission systems are connected to the expandable reconfigurable wheel axles, and the transmission systems can control the rotation and deformation of the expandable reconfigurable wheels; the six-wheel drive reconfigurable robot designed by the present invention has a small size, is highly adaptable to terrain, and has two motion modes, wheeled and three-arc leg. In structured terrain, the robot can switch to the wheeled motion mode for rapid movement; in unstructured terrain, the robot can switch to the three-arc leg motion mode to pass through complex terrain. By switching between the wheel-three-arc leg motion mode, the robot can quickly and maneuverably reach the target point to perform operations.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a six-drive reconfigurable robot. Background Art

[0002] Natural disasters such as earthquakes and tsunamis occur frequently, and emergencies such as hazardous drug leaks, fires, and terrorist attacks are also frequently reported. The unpredictability of secondary disasters, the complexity of the search and rescue environment, and the limitations of human resources often hinder the rapid implementation of search and rescue operations, and even pose serious threats to the personal safety of rescue personnel. Relying solely on human resources to search for the injured is no longer sufficient to meet the needs of rescue missions. Consequently, numerous researchers at home and abroad have conducted extensive theoretical and practical research on the issue of rapid search in disasters and emergencies, with the development of search and rescue robots being a current research hotspot.

[0003] Search and rescue robots have developed rapidly in recent years and have been widely used in disaster relief and other areas. When conducting casualty search missions, the terrain in the working area is often complex, changeable, and unstructured. Therefore, the choice of search and rescue robot's motion mechanism has a significant impact on its overall performance indicators. Tracked, wheeled, and arc-legged structures are the more commonly used types, each with its own advantages and disadvantages: the wheeled structure has low energy loss, high maneuverability, and smooth movement, but its obstacle crossing performance is poor; the arc-legged structure allows the search and rescue robot to better adapt to unstructured environments but reduces its motion stability. The advantage of the tracked structure is that the contact area with the ground is large, which enhances the search and rescue robot's carrying capacity, but the disadvantage is that its motion performance is poor.

[0004] Therefore, there is an urgent need for a highly maneuverable robotic platform that can adapt to a variety of unstructured terrains and replace manpower to enter dangerous environments to complete search and rescue missions. Summary of the Invention

[0005] The present invention proposes a six-wheel drive reconfigurable robot, which comprises: a body, expandable and reconfigurable wheels, and a transmission system;

[0006] Three expandable and reconfigurable wheels are provided on each side of the fuselage. Six transmission systems are provided inside the fuselage. The transmission systems are connected to the axles of the expandable and reconfigurable wheels and can control the rotation and deformation of the expandable and reconfigurable wheels.

[0007] The expandable and reconfigurable wheel includes a transmission shaft and an axle sleeve. The axle sleeve is sleeved on the second end of the transmission shaft and is rotatable around the transmission shaft. The rotation and deformation of the expandable and reconfigurable wheel can be controlled by relative movement or synchronous movement of the transmission shaft and the axle sleeve.

[0008] The transmission system includes an intermediate support frame, a first shaft sleeve, a bevel gear set, a motor reduction head, a motor, front and rear support frames, a reducer housing, an electromagnetic clutch, a rotating body, a bidirectional moving block, a first friction plate, an electromagnetic brake and a second shaft sleeve;

[0009] The front and rear support frames and the middle support frame are fixedly installed in the fuselage, and the front and rear support frames and the middle support frame are used to support the transmission system;

[0010] The reducer housing is installed in the fuselage through the front and rear support frames and the middle support frame, the motor is fixedly connected to the reducer housing, the motor reduction head is connected to the motor output end shaft, and the motor output end can drive the motor reduction head to rotate;

[0011] The bevel gear set and the first shaft sleeve are arranged in the reducer housing; the motor reduction head is key-connected with the small gear in the bevel gear set, the large gear in the bevel gear set is key-connected with the transmission shaft, the first shaft sleeve is sleeved on the first end of the transmission shaft, and both ends of the large gear in the bevel gear set are fixed to the first shaft sleeve through shaft shoulders;

[0012] The electromagnetic clutch is fixedly mounted on the reducer housing on a side close to the expandable and reconfigurable wheel, and the electromagnetic clutch is sleeved on the transmission shaft;

[0013] The electromagnetic clutch is provided with a rotating body at one end close to the expandable and reconfigurable wheel, the rotating body is sleeved on the transmission shaft, and the rotating body is key-connected to the transmission shaft;

[0014] A fourth friction plate is installed on one end of the rotating body close to the expandable and reconfigurable wheel;

[0015] The electromagnetic brake is fixedly mounted on the inner side of the vehicle body side panel, the electromagnetic brake is sleeved on the transmission shaft, and the first friction plate is mounted on the end of the electromagnetic brake away from the expandable and reconfigurable wheel;

[0016] A bidirectional movable block is sleeved on the transmission shaft, and is disposed between the first friction plate and the rotating body. The bidirectional movable block can move along the direction of the transmission shaft. A second friction plate and a third friction plate are respectively mounted on both ends of the bidirectional movable block. The first friction plate is relatively matched with the second friction plate, and the third friction plate is relatively matched with the fourth friction plate.

[0017] The bidirectional moving block is key-connected with the shaft sleeve.

[0018] Furthermore, when the electromagnetic brake is powered on and the electromagnetic clutch is powered off, the bidirectional movable block moves toward the electromagnetic brake, the first friction plate abuts against the second friction plate, and the transmission shaft and the shaft sleeve move relative to each other;

[0019] When the electromagnetic brake is powered off and the electromagnetic clutch is powered on, the bidirectional moving block moves toward the electromagnetic clutch, the third friction plate abuts against the fourth friction plate, and the transmission shaft and the shaft sleeve move synchronously.

[0020] Furthermore, a groove is provided on the inner side of the side plate, and a first bearing is provided between the groove and the shaft sleeve.

[0021] The first bearing is used to support the shaft sleeve;

[0022] The second shaft sleeve is sleeved on the shaft sleeve, the second shaft sleeve is arranged between the electromagnetic brake and the first bearing, and the second shaft sleeve is used to fix the first bearing.

[0023] Furthermore, the expandable and reconfigurable wheel further includes a wheel body, a connecting rod, a rotating three-claw disc, and a relatively fixed tripod frame;

[0024] A tripod through hole is provided at the center of the relatively fixed tripod, the transmission shaft passes through the tripod through hole, and the shaft sleeve is fixedly connected to the relatively fixed tripod;

[0025] Three brackets are provided on the outside of the relatively fixed tripod;

[0026] A three-claw through hole is provided at the center of the rotating three-claw disc, and the rotating three-claw disc is fixedly connected to the second end of the transmission shaft through the three-claw through hole;

[0027] Three claws are provided on the outer side of the rotating three-claw disc;

[0028] There are three connecting rods, and the first ends of the three connecting rods are connected to the three claw shafts;

[0029] There are three wheels, each including a support rail and a wheel shaft, wherein a first end of the support rail is fixedly connected to a first side surface of the wheel shaft;

[0030] A support rail groove is provided inside the second end of the support rail, and the three brackets of the relatively fixed tripod are installed in cooperation with the three support rail grooves, and the three brackets can slide along the three support rail grooves respectively;

[0031] The second ends of the three connecting rods are respectively connected to the second side surfaces of the three support rails;

[0032] When the distance between the three brackets is the longest in the three grooves, the three wheel bodies are closed, and the expandable reconfigurable wheel is a wheel-type structure;

[0033] When the distance between the three brackets is the shortest in the three grooves, the three claws of the rotating three-claw plate, the three connecting rods and the three support rails are respectively in the same straight line, the three wheel bodies are separated and the distance between them is the longest, and the expandable reconfigurable wheel is a quasi-arc-leg structure;

[0034] When the distance between the three brackets in the three grooves is between the longest and shortest, the three claws of the rotating three-claw plate, the three connecting rods and the three support rails are not in the same straight line, and the three wheel bodies are separated and the distance between them is less than the longest distance, the expandable reconfigurable wheel is in an intermediate state structure;

[0035] Three limit blocks are provided on one side of the relatively fixed tripod near the through hole of the tripod.

[0036] Three limiting grooves are provided on one side of the rotating three-claw disc near the through hole of the three-claw disc;

[0037] The three limiting blocks are matched and connected with the three limiting grooves;

[0038] When the expandable reconfigurable wheel is assembled, the three limiting blocks slide in the three limiting grooves respectively;

[0039] The limiting groove is provided with a limiting angle;

[0040] When the limiting block is at a first limiting angle, the expandable reconfigurable wheel is a wheel-type structure;

[0041] When the limiting block is at the second limiting angle, the expandable reconfigurable wheel is an arc-leg-like structure;

[0042] When the limiting block is located between the first limiting angle and the second limiting angle, the expandable reconfigurable wheel is in an intermediate state structure.

[0043] Furthermore, the reconfigurable robot is provided with a cavity on its abdomen, and a lifting column is installed in the cavity;

[0044] The first end of the lifting column is connected to the bottom axis of the reconfigurable robot, and the lifting column can rotate along the axis; the second end of the lifting column can be extended and retracted.

[0045] Furthermore, the reconfigurable robot also includes a battery module, and the battery module is used for power supply.

[0046] This invention designs a six-wheel drive reconfigurable robot with a compact size and high terrain adaptability. It features two motion modes: wheeled and three-arc legged. In structured terrain, the robot can switch to wheeled mode for rapid movement, while in unstructured terrain, it can switch to three-arc legged mode for navigating complex terrain. By switching between wheel and three-arc legged modes, the robot can quickly and maneuverably reach its target location and perform operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The figure shows an overall schematic diagram of a six-drive reconfigurable robot according to an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the internal structure of a six-drive reconfigurable robot according to an embodiment of the present invention is shown;

[0049] Figure 3 A partial cross-sectional view of a six-drive reconfigurable robot according to an embodiment of the present invention is shown;

[0050] Figure 4 The figure shows an overall schematic diagram of an expandable and reconfigurable wheel structure of a six-wheel drive reconfigurable robot according to an embodiment of the present invention;

[0051] Figure 5 A schematic diagram of a first exploded structure of an expandable and reconfigurable wheel of a six-wheel drive reconfigurable robot according to an embodiment of the present invention is shown;

[0052] Figure 6 A schematic diagram of a second exploded structure of an expandable and reconfigurable wheel of a six-wheel drive reconfigurable robot according to an embodiment of the present invention is shown.

[0053] In the figure: 1. wheel body; 2. connecting rod; 3. first bearing; 4. transmission shaft; 5. rotating three-claw disk; 6. shaft sleeve; 7. relatively fixed tripod; 8. side plate; 9. motor driver; 10. intermediate support frame; 11. first sleeve; 12. bevel gear set; 13. motor reduction head; 14. motor; 15. encoder; 16. front and rear support frames; 17. second bearing; 18. reducer housing; 19. fixing screw; 20. third bearing; 21. electromagnetic clutch; 22. rotating body; 23. bidirectional moving block; 24. first friction plate; 25. electromagnetic brake; 26. second sleeve. DETAILED DESCRIPTION

[0054] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0055] The present invention provides a six-wheel drive reconfigurable robot, comprising: a body, expandable reconfigurable wheels, and a transmission system; three expandable reconfigurable wheels are provided on each side of the body, and six transmission systems are provided inside the body. The transmission systems are connected to the expandable reconfigurable wheel axles and can control the rotation and deformation of the expandable reconfigurable wheels.

[0056] For example, Figure 1 As shown in FIG, the present invention provides a six-wheel drive reconfigurable robot, comprising: a body, expandable and reconfigurable wheels, and a transmission system. Three expandable and reconfigurable wheels are provided on each side of the body, for a total of six expandable and reconfigurable wheels. Figure 2 As shown, inside the fuselage, each expandable and reconfigurable wheel is equipped with a transmission system, which is connected to the expandable and reconfigurable wheel axle. The transmission system can control the rotation and deformation of the expandable and reconfigurable wheel.

[0057] The staggered layout of the front, rear, and intermediate wheels in this invention ensures ample space for the reconfigurable robot's expandable wheels in both wheeled and deployed states, preserving wheel expansion while minimizing the robot's longitudinal dimensions. Furthermore, the transmission systems of each wheel are aligned on the same plane, ensuring consistent space on the top and bottom of the robot, facilitating the placement of other electronic components.

[0058] Specifically, the expandable reconfigurable wheel includes a drive shaft 4 and an axle sleeve 6, wherein the axle sleeve 6 is sleeved on the second end of the drive shaft 4, and the axle sleeve 6 can rotate around the drive shaft 4. Through the relative movement / synchronous movement of the drive shaft 4 and the axle sleeve 6, the rotation and deformation of the expandable reconfigurable wheel can be controlled.

[0059] For example, the expandable and reconfigurable wheel designed by the present invention is as follows: Figure 5 As shown, the wheel comprises a transmission shaft 4 and a shaft sleeve 6, the shaft sleeve 6 being sleeved on the second end of the transmission shaft 4. The shaft sleeve 6 is rotatable around the transmission shaft 4. Through the relative motion / synchronous motion of the transmission shaft 4 and the shaft sleeve 6, the rotation and deformation of the expandable and reconfigurable wheel can be achieved.

[0060] Specifically, the transmission system includes an intermediate support frame 10, a first shaft sleeve 11, a bevel gear set 12, a motor reduction head 13, a motor 14, an encoder 15, a front and rear support frame 16, a reducer housing 18, an electromagnetic clutch 21, a rotating body 22, a bidirectional moving block 23, a first friction plate 24, an electromagnetic brake 25 and a second shaft sleeve 26; the front and rear support frames 16 and the intermediate support frame 10 are fixedly installed in the fuselage, and the front and rear support frames 16 and the intermediate support frame 10 are used to support the transmission system; the reducer housing 18 is connected to the front and rear support frames 16 through the front and rear support frames The intermediate support frame 10 is installed in the fuselage, the motor 14 is fixedly connected to the reducer housing 18, the motor reduction head 13 is connected to the output shaft of the motor 14, and the output end of the motor 14 can drive the motor reduction head 13 to rotate; the bevel gear set 12 and the first shaft sleeve 11 are arranged in the reducer housing 18; the motor reduction head 13 is key-connected with the small gear in the bevel gear set 12, the large gear in the bevel gear set 12 is key-connected with the transmission shaft 4, the first shaft sleeve 11 is sleeved on the first end of the transmission shaft 4, and the bevel gear set 12 is key-connected with the small gear in the bevel gear set 12. The two ends of the large gear are fixed to the first shaft sleeve 11 through the shaft shoulder; the electromagnetic clutch 21 is fixedly installed on the side of the reducer housing 18 close to the expandable and reconfigurable wheel, and the electromagnetic clutch 21 is sleeved on the transmission shaft 4; the electromagnetic clutch 21 is provided with a rotating body 22 on the end close to the expandable and reconfigurable wheel, and the rotating body is sleeved on the transmission shaft 4, and the rotating body 22 is key-connected to the transmission shaft 4; the rotating body 22 is installed with a fourth friction plate on the end close to the expandable and reconfigurable wheel; the electromagnetic brake 25 is fixedly installed on the inner side of the vehicle body side panel 8, The electromagnetic brake 25 is mounted on the transmission shaft 4. The first friction plate 24 is mounted on the end of the electromagnetic brake 25 away from the expandable and reconfigurable wheel. The bidirectional movable block 23 is mounted on the transmission shaft 4 and disposed between the friction plate 24 and the rotating body 22. The bidirectional movable block 23 is movable along the transmission shaft 4. A second friction plate and a third friction plate are mounted on each end of the bidirectional movable block 23. The first friction plate 24 engages with the second friction plate, and the third friction plate engages with the fourth friction plate. The bidirectional movable block 23 is keyed to the shaft sleeve 6.

[0061] For example, Figure 3As shown, the transmission system includes an intermediate support frame 10, a first sleeve 11, a bevel gear set 12, a motor reduction head 13, a motor 14, an encoder 15, front and rear support frames 16, a reducer housing 18, an electromagnetic clutch 21, a rotating body 22, a bidirectional movable block 23, a first friction plate 24, an electromagnetic brake 25, and a second sleeve 26. The transmission system designed by the present invention is supported by the front and rear support frames 16 and the intermediate support frame fixedly installed in the vehicle body. The front and rear support frames 16 support the transmission systems of the front and rear axles respectively, and the intermediate support frame 10 supports the transmission system of the intermediate shaft. Preferably, the reducer housing 18 is fixed to the front and rear support frames 16 and the intermediate support frame 10 by fixing screws 19. For the power output components in the transmission system, especially the transmission-related components, the reducer housing 18 is used to cover and fix the related parts, such as the motor reduction head 13 is arranged in the reducer housing 18; the bevel gear set 12 is installed in the reducer housing 18. For example, a second bearing 17 is installed on the inner side of the reducer housing 18 away from the end of the expandable reconstructible wheel, and the outer side of the second bearing 17 is fixedly connected to the reducer housing 18; a third bearing 20 is installed on the inner side of the reducer housing 18 close to the end of the expandable reconstructible wheel, and the outer side of the third bearing 20 is fixedly connected to the reducer housing 18; the second bearing 17 and the third bearing 20 are sleeved on the drive shaft 4, and the second bearing 17 and the third bearing 20 are used to support the drive shaft 4.

[0062] The motor 14 is fixedly connected to the reducer housing 18 and is used to convert electrical energy into mechanical energy, thereby outputting power. The motor reduction head 13 is a pre-existing, pre-assembled component fixedly connected to the reducer housing 18 and connected to the output shaft of the motor 14. The output of the motor 14 can drive the motor reduction head 13 to rotate, providing initial speed reduction and increasing output torque. The bevel gear set 12 and the first sleeve 11 are located within the reducer housing 18. The motor reduction head 13 is keyed to the small gear in the bevel gear set 12, and the large gear in the bevel gear set 12 is keyed to the transmission shaft 4. The bevel gear set 12 acts to reduce speed and increase torque, while also changing the direction of power transmission, ensuring that the transmission system is aligned (i.e., the motor direction is along the longitudinal direction of the six-wheel drive reconfigurable robot). This design helps to reserve sufficient central space for the robot, ensuring the hollow design of the reconfigurable robot. Because the large gear in the bevel gear set 12 is keyed to the transmission shaft 4, the transmission shaft 4 rotates continuously when the motor is started. Both ends of the large gear in the bevel gear set 12 are fixed to the first shaft sleeve 11 via shaft shoulders.

[0063] In the present invention, the electromagnetic brake 25 mainly realizes the braking of the shaft sleeve 6; the electromagnetic clutch 18 mainly realizes the fixation and separation between the transmission shaft 4 and the shaft sleeve 6. Through the electromagnetic brake 25 and the electromagnetic clutch 21, the three motion forms of the reconstructed robot can be smoothly switched between wheel type, arc leg type and cross type.

[0064] The electromagnetic clutch 21 is fixedly mounted on the side of the reducer housing 18 near the expandable and reconfigurable wheel. The electromagnetic clutch 21 is mounted on the drive shaft 4. A rotating body 22 is mounted on the end of the electromagnetic clutch 21 near the expandable and reconfigurable wheel. The rotating body 22 is mounted on the drive shaft 4 and is keyed to the drive shaft 4, allowing the drive shaft 4 to rotate. A fourth friction plate is mounted on the end of the rotating body 22 near the expandable and reconfigurable wheel. The electromagnetic brake 25 is fixedly mounted on the inside of the vehicle body side panel 8. The side panel 8 serves as a support plate connecting the reconfigurable robot to the transmission system on both sides, supporting the transmission system. The electromagnetic brake 25 is mounted on the drive shaft 4. The first friction plate 24 is mounted on the end of the electromagnetic brake 25 away from the expandable and reconfigurable wheel. A bidirectional movable block 23 is mounted on the drive shaft 4 and is positioned between the first friction plate 24 and the rotating body 22, that is, between the first friction plate 24 and the fourth friction plate. The bidirectional movable block 23 is capable of slight movement along the transmission shaft 4. A second friction plate and a third friction plate are mounted on either end of the block. The first friction plate 24 engages with the second friction plate, while the third friction plate engages with the fourth friction plate. The bidirectional movable block 23 is keyed to the shaft sleeve 6, ensuring synchronized movement.

[0065] Specifically, when the electromagnetic brake 25 is energized and the electromagnetic clutch 21 is de-energized, the bidirectional movable block 23 moves toward the electromagnetic brake 25, the first friction plate 24 is in close contact with the second friction plate, and the transmission shaft 4 and the shaft sleeve 6 move relative to each other; when the electromagnetic brake 25 is de-energized and the electromagnetic clutch 21 is energized, the bidirectional movable block 23 moves toward the electromagnetic clutch 21, the third friction plate is in close contact with the fourth friction plate, and the transmission shaft 4 and the shaft sleeve 6 move synchronously.

[0066] The following describes in detail how the transmission system controls the relative motion between the transmission shaft 4 and the shaft sleeve 6:

[0067] When the electromagnetic brake 25 is energized (and the electromagnetic clutch is de-energized), the electromagnetic force causes the bidirectional movable block 23 to move toward the electromagnetic brake 25. The first friction plate 24 abuts against the second friction plate, generating sufficient friction. Because the electromagnetic brake 25 is fixedly connected to the side plate 8, the bidirectional movable block 23 is fixed, thereby securing the shaft sleeve 6. The drive shaft 4 then rotates, and the drive shaft 4 and shaft sleeve 6 move relative to each other. This allows for stable deployment of the reconfigurable wheel. When the electromagnetic clutch 21 is energized (and the electromagnetic brake 25 is de-energized), the electromagnetic force causes the bidirectional movable block 23 to move toward the electromagnetic clutch 21. The third friction plate abuts against the fourth friction plate, generating sufficient friction to synchronize the rotating body 22 with the bidirectional movable block 23. Because the rotating body 22 is keyed to the drive shaft 4, and the bidirectional movable block 23 is keyed to the shaft sleeve 6, synchronized movement of the drive shaft 4 and shaft sleeve 6 is ultimately achieved.

[0068] Specifically, the expandable reconfigurable wheel includes a transmission shaft 4 and an axle sleeve 6, and the axle sleeve 6 is sleeved on the second end of the transmission shaft 4. The rotation and deformation of the expandable reconfigurable wheel can be controlled by the relative movement / synchronous movement of the transmission shaft 4 and the axle sleeve 6; the center of the relatively fixed tripod 7 is provided with a tripod through-hole, the transmission shaft 4 passes through the tripod through-hole, and the axle sleeve 6 is fixedly connected to the relatively fixed tripod 7; three brackets are provided on the outside of the relatively fixed tripod 7; the center of the rotating three-claw disk 5 is provided with a three-claw disk through-hole, and the rotating three-claw disk 5 is fixedly connected to the second end of the transmission shaft 4 through the three-claw disk through-hole; the rotating three Three claws are provided on the outside of the claw plate 5; there are three connecting rods 2, and the first ends of the three connecting rods 2 are connected to the three claw shafts; there are three wheel bodies 1, and the wheel body 1 includes a support rail and a wheel outer shaft, and the first end of the support rail is fixedly connected to the first side of the wheel outer shaft; a support rail groove is provided inside the second end of the support rail, and the three brackets of the relatively fixed tripod 7 are installed in cooperation with the three support rail grooves, and the three brackets can slide along the three support rail grooves respectively; the second ends of the three connecting rods 2 are respectively connected to the second side faces of the three support rails; when the distance between the three brackets in the three grooves is the longest, the three wheel bodies 1 are closed, and the The expandable reconfigurable wheel is a wheel structure; when the distance between the three brackets in the three grooves is the shortest, the three claws of the rotating three-claw plate 5, the three connecting rods 2 and the three supporting rails are respectively in the same straight line, the three wheel bodies 1 are separated and the distance between them is the longest, and the expandable reconfigurable wheel is an arc-leg structure; when the distance between the three brackets in the three grooves is between the longest and the shortest, the three claws of the rotating three-claw plate 5, the three connecting rods 2 and the three supporting rails are not in the same straight line, the three wheel bodies 1 are separated and the distance between them is less than the longest distance, and the expandable reconfigurable wheel is an intermediate structure; the relatively fixed tripod frame 7 Three limit blocks are provided on one side near the through-hole portion of the tripod frame, and three limit grooves are provided on one side near the through-hole portion of the three-claw disk; the three limit blocks are matched and connected with the three limit grooves; when the reconstructed wheel is assembled, the three limit blocks slide in the three limit grooves respectively; the limit grooves are provided with limit angles; when the limit block is at a first limit angle, the expandable reconstructed wheel is a wheel-type structure; when the limit block is at a second limit angle, the expandable reconstructed wheel is an arc-leg-type structure; when the limit block is between the first limit angle and the second limit angle, the expandable reconstructed wheel is an intermediate structure.

[0069] For example, the expandable reconfigurable wheel designed by the present invention can enable a small robot to pass through structured and unstructured terrain quickly and efficiently. The expandable reconfigurable wheel adopts the motion principle of the crank slider mechanism, and realizes radial expansion and contraction through mechanism transformation, thereby completing the wheel type and arc leg type transformation of the expandable reconfigurable wheel. In structured terrain, the robot can be transformed into a wheel type structure to increase the movement speed of the body; in unstructured terrain, the robot can be transformed into an arc leg type structure to smoothly cross various obstacles. Figure 1 As shown in FIG, the expandable and reconfigurable wheel designed by the present invention presents two different forms on the robot at the same time. Figure 4 As shown, Figure 4 The expandable and reconfigurable wheels shown are respectively an arc-leg structure, an intermediate structure and a wheel structure from top to bottom. Figure 5 As shown, the expandable and reconfigurable wheel includes a wheel body 1, a connecting rod 2, a transmission shaft 4, a rotating three-claw disc 5, an axle sleeve 6, and a relatively fixed tripod frame 7.

[0070] The transmission shaft 4 is powered from the outside, and the first end of the transmission shaft 4 is used to receive external power, allowing the transmission shaft 4 to rotate. The shaft sleeve 6 is the outer sleeve of the transmission shaft 4. The first end of the shaft sleeve 6 is in the same direction as the first end of the transmission shaft 4. The first end of the shaft sleeve 6 is used to receive external power. The shaft sleeve 6 is sleeved on the second end of the transmission shaft 4 and can rotate around the transmission shaft 4. The relatively fixed tripod 7 is provided with a tripod through-hole at the center, through which the transmission shaft 4 passes. The shaft sleeve 6 is fixedly connected to the relatively fixed tripod 7; this allows the shaft sleeve 6 to rotate with the fixed tripod 3. Three brackets are provided on the outside of the relatively fixed tripod 7. The rotating three-claw disc 5 is provided with a three-claw disc through-hole at the center, through which the rotating three-claw disc 5 is fixedly connected to the second end of the transmission shaft 4. This allows the transmission shaft 4 to rotate with the rotating three-claw disc 5. Preferably, the through hole of the three-claw disk is an irregular circular hole, and the second end of the transmission shaft 4 is provided with an irregular cylindrical end, and the irregular cylindrical end can be inserted into the irregular circular hole. The contact portion of the rotating three-claw disk 5 and the transmission shaft 4 adopts the matching mode of the irregular circular hole and the irregular cylindrical end, which can ensure the reliable transmission of torque during the rotation process. After the irregular cylindrical end can be inserted into the irregular circular hole, the rotating three-claw disk 5 is fixed to the transmission shaft 4 with bolts. The bolts can ensure that the rotating three-claw disk 5 does not move axially, avoiding the fall apart during the movement of the expandable and reconstructible wheel. Three claws are provided on the outside of the rotating three-claw disk 5; there are three connecting rods 2, and the first ends of the three connecting rods 2 are connected to the three claw shafts. The wheel bodies 1 comprise three support rails and a wheel shaft. The first end of the support rail is fixedly connected to the first side of the wheel shaft; the second end of the support rail is internally provided with a support rail groove. Three brackets are mounted relative to the fixed tripod 7 and engage with the three support rail grooves, allowing the three brackets to slide along the three support rail grooves. The second ends of the three connecting rods 2 are connected to the second side of the three support rails. When the three brackets are at their longest distance within the three support rail grooves, that is, when the three brackets extend into the three support rail grooves to the longest distance, the three wheel bodies 1 are closed, and the expandable reconfigurable wheel is in a wheeled configuration. When the three brackets are at their shortest distance within the three grooves, that is, when the three brackets extend into the three support rail grooves to the shortest distance, the three claws of the rotating three-claw plate 5, the three connecting rods 2, and the three support rails are aligned, the three wheel bodies 1 are separated and at their longest distance, and the expandable reconfigurable wheel is in a quasi-arc-leg configuration.When the distance between the three brackets in the three grooves is between the two, that is, when the three brackets extend into the three support rail grooves at an intermediate distance, the rotating three-claw plate 5, the three claws, the three connecting rods 2 and the three support rails are not in the same straight line, the three wheel bodies 1 are separated and the distance between them is less than the longest distance, and the expandable reconstructible wheel is in an intermediate structure.

[0071] like Figure 5 As shown, three limit blocks 31 are provided on one side of the relatively fixed tripod 7 near the tripod through hole; Figure 6 As shown, three limiting grooves are provided on one side of the rotating three-claw disc 5 near the through-hole portion of the three-claw disc. The three limiting blocks are matched and connected with the three limiting grooves; when the expandable reconstructible wheel is assembled, the three limiting blocks slide in the three limiting grooves respectively. The limiting grooves are provided with limiting angles; when the limiting block is at a first limiting angle, when the three brackets are at the longest distance among the three grooves, the expandable reconstructible wheel is a wheel-type structure; when the limiting block is at a second limiting angle, the three brackets are at the shortest distance among the three grooves, the rotating three-claw disc 5, the three supporting claws, the three connecting rods 2 and the three supporting rails are respectively in the same straight line, and the expandable reconstructible wheel is an arc-leg-type structure; when the limiting block is between the first limiting angle and the second limiting angle, the expandable reconstructible wheel is an intermediate structure. Preferably, the limiting angle of the limiting groove 11 is designed to be related to the designed length of each component and the desired posture. Specifically, when the limiting blocks are at either end of the limiting groove, the expandable reconfigurable wheel adopts a wheel-like structure and an arc-leg-like structure, respectively. When the limiting blocks are in the middle of the limiting groove, the expandable reconfigurable wheel adopts an intermediate structure. This ensures that the expandable reconfigurable wheel has only one state mode at each angle during the transformation process.

[0072] When the shaft sleeve 6 is fixed and the transmission shaft 4 rotates, the expandable reconfigurable wheel is opened or retracted; the shaft sleeve 6 and the transmission shaft 4 are connected as one body, and the expandable reconfigurable wheel achieves synchronous movement.

[0073] Use the following method to implement the conversion between the three structures of the scalable reconstructible wheel.

[0074] The expandable reconfigurable wheel adopts the principle of three sets of "crank slider" mechanisms. The common "crank" is the rotating three-claw disk 5, and the three axially symmetrical "sliders" are support rails. Rotating the "crank" drives the "sliders" to move (the "sliders" are connected to the outer shaft of the wheel), thereby realizing various forms of transformation of the expandable reconfigurable wheel.

[0075] The following is a detailed description of the scalable reconfiguration wheel deployment process:

[0076] The present invention realizes smooth switching of the three motion modes of the reconfigurable robot, namely, wheeled, arc-legged, and cross-type, through the electromagnetic brake 25 and the electromagnetic clutch 21 .

[0077] First, assume that the expandable reconfigurable wheel is initially in the wheeled state. At this point, the electromagnetic brake 25 secures the shaft sleeve 6, and the limit block connected to the shaft sleeve 6 and the relatively fixed tripod 7 are also fixed. Then, external power is introduced via the drive shaft 4, causing the drive shaft 4 to rotate (clockwise). The drive shaft 4 drives the rotating three-claw disc 5 connected to it to move synchronously, which in turn drives the connecting rod 2 connected to it to move (the rotating three-claw disc 5 and the connecting rod 2 form a rotating pair), which in turn drives the support rail to move (the connecting rod 2 and the support rail form a rotating pair). Because the support rail is connected to the relatively fixed tripod 7 via a sliding pair, the support rail can only move in the direction outward of each fork of the fixed tripod 3. The support rail is fixedly connected to the wheel shaft, thus driving the wheel shaft to expand outward (radially), and the expandable reconfigurable wheel gradually unfolds. During this process, the limit block moves from one end to the other within the limit groove. When the three connecting rods 2, the three support rails, and the three supports of the relatively fixed tripod (or the three claws of the rotating three-claw plate 5) are aligned, the reconstructed wheel expands into a maximum arc-leg-like configuration. Simultaneously, the stopper moves from one end of the limit groove to the other, preventing further conversion. At this point, the electromagnetic clutch 21 synchronously connects the shaft sleeve 6 to the drive shaft 4, and the reconstructed wheel moves in a maximum arc-leg-like configuration. When the drive shaft 4 rotates clockwise, the reconstructed wheel also rotates forward; when the drive shaft 4 rotates counterclockwise, the reconstructed wheel also rotates counterclockwise. The electromagnetic brake 25 again secures the shaft sleeve 6, causing the drive shaft 4 to move counterclockwise. Through this reverse motion, the arc-leg-like configuration is transformed into a wheeled configuration. The stopper moves in the opposite direction from one end of the limit groove to the other. At this point, the electromagnetic clutch 21 synchronously connects the shaft sleeve 6 to the drive shaft 4, and the expandable reconstructed wheel moves in a wheeled configuration.

[0078] The expandable reconstructible wheel can be acted upon by the electromagnetic brake 25 and the electromagnetic clutch 21 in any unfolding mode (i.e., when it has not changed into the arc-leg-like state or the wheel-like state, the shaft sleeve 6 is synchronously connected to the transmission shaft 4), thereby realizing movement in the intermediate state mode of the arc-leg-like state.

[0079] To achieve braking of the expandable reconfigurable wheel in any motion mode, it is only necessary to fix the shaft sleeve 6 through the electromagnetic brake 25. However, when the expandable reconfigurable wheel is in an intermediate state structure, it will automatically convert to a wheel type or an arc-leg type to achieve braking during braking.

[0080] The reconfigurable robot designed in the present invention has expandable reconfigurable wheels at different positions that can be expanded or retracted as needed. Depending on the specific state of the expandable reconfigurable wheels, there are mainly the following modes: front and rear axle expansion - intermediate axle wheel mode, intermediate and rear axle wheel mode - front wheel expansion mode, one side wheel mode - one side expansion mode, and front and intermediate axle expansion - rear axle wheel mode. The different modes can be switched according to different terrain characteristics.

[0081] For example, when the robot is navigating a staircase, the front axle unfolds (the middle and rear axles are wheeled); when the middle axle traverses the staircase, the front axle retracts to a wheeled configuration and the middle axle unfolds (the front and rear axles are wheeled); and when the rear axle traverses the staircase, the middle axle retracts to a wheeled configuration and the rear axle unfolds (the front and middle axles are wheeled). This switching process significantly improves the robot's obstacle-crossing capabilities. When the robot is moving on a slope, it can adopt a one-side wheeled-one-side unfolded motion, which greatly improves its stability. When the robot is moving on gravel or uneven surfaces, it can adopt a fully unfolded motion. When the robot is moving on a flat surface, it can adopt a wheeled state. Therefore, by flexibly switching the robot's modes during movement, the robot can operate efficiently.

[0082] Specifically, the transmission system also includes an encoder 15, which is fixed to the rear end of the motor 14 and is used to detect and provide feedback on the motor's speed and revolutions. The transmission system also includes a motor driver 9, which is mounted on the side panel 8. The motor driver 9 is electrically connected to the encoder 15 and the motor 14. The motor driver 9 is capable of receiving motor speed and revolutions information from the encoder 15 and controlling the movement of the motor 14.

[0083] Exemplarily, the present invention controls the movement of the motor 14 through the motor driver 9 , and cooperates with the electromagnetic brake 25 and the electromagnetic clutch 21 to ultimately achieve various morphological transformations of the scalable reconfigurable wheel.

[0084] The transmission system also includes a motor driver 9 and an encoder 15. The encoder 15 is fixed to the rear end of the motor 14 and is used to detect and provide feedback on the motor's speed and revolutions. The motor driver 9 is mounted on the side panel 8 and is electrically connected to the encoder 15 and the motor 14. The motor driver 9 is capable of receiving motor speed and revolutions information from the encoder 15 and controlling the movement of the motor 14. Both the motor driver 9 and the encoder 15 are prior art, such as those described in CN216709074U, CN206785946U, and CN210573379U.

[0085] Specifically, a groove is provided on the inner side of the side plate 8, and a first bearing 3 is provided between the groove and the shaft sleeve 6, and the first bearing 3 is used to support the shaft sleeve 6; the second shaft sleeve 26 is sleeved on the shaft sleeve 6, and the second shaft sleeve 26 is provided between the electromagnetic brake 25 and the first bearing 3, and the second shaft sleeve 26 is used to fix the first bearing 3.

[0086] For example, Figure 3 As shown, a groove is provided on the inner side of the side plate 8, and the shaft sleeve 6 intersects with the side plate 8 in this groove. A first bearing 3 is provided between the groove and the shaft sleeve 6, and is used to support the shaft sleeve 6. The second shaft sleeve 26 is sleeved on the transmission shaft 4 and is provided between the electromagnetic brake 25 and the first bearing 3. The second shaft sleeve 26 fixes the first bearing 3 to the side plate 8.

[0087] Specifically, the reconfigurable robot is provided with a cavity in its abdomen, a lifting column is installed in the cavity, a load interface is provided on the lifting column, and the lifting column is used to install the load; the first end of the lifting column is connected to the bottom axis of the reconfigurable robot, and the lifting column can rotate along the axis; the second end of the lifting column can be extended and retracted.

[0088] For example, a cavity is provided in the midsection of the reconfigurable robot's abdomen, within which a lifting column is mounted. The lifting column is provided with a load interface for attaching a load. The load can be switched based on actual needs, and the load can be raised or lowered into the abdominal space without affecting the reconfigurable robot's operational efficiency. The first end of the lifting column is connected to the bottom axis of the reconfigurable robot, and the column can rotate along the axis; the second end of the lifting column is retractable. The lifting column can raise and lower the load mounted on it, and its inherent rotational and retractable functions offer the advantage of storing the load in the robot's abdominal space without affecting the reconfigurable robot's motion performance.

[0089] Specifically, the reconfigurable robot also includes a binocular vision camera and a solid-state laser radar, which are arranged on the front panel of the fuselage; the binocular vision camera is used to collect visual information of the robot's front environment, and the solid-state laser radar is used to collect radar information of the robot's front environment; the binocular vision camera and the solid-state laser radar can fuse the visual information with the radar information to establish a three-dimensional map.

[0090] Exemplarily, the reconfigurable robot designed by the present invention also includes a binocular vision camera and a solid-state laser radar, which are arranged on the front panel of the fuselage; the binocular vision camera is used to collect visual information of the robot's front environment, and the solid-state laser radar is used to collect radar point cloud information of the robot's front environment; the binocular vision camera and the solid-state laser radar can fuse the visual information with the radar point cloud information through corresponding fusion algorithms to establish a three-dimensional map.

[0091] Specifically, the reconfigurable robot also includes a power control system capable of controlling the transmission system to achieve scalable and reconfigurable wheel rotation and deformation. The power control system is also capable of receiving visual information, radar information, and a three-dimensional map, and based on the received visual information, radar information, and three-dimensional map, controls the transmission system to achieve scalable and reconfigurable wheel rotation and deformation.

[0092] Exemplarily, the reconfigurable robot further includes a power control system capable of controlling the transmission system to rotate and deform the deformable and reconfigurable wheels. The power control system is also capable of receiving visual information, radar information, and a three-dimensional map, and controlling the transmission system to rotate and deform the deformable and reconfigurable wheels based on the received visual information, radar point cloud information, and three-dimensional map. If the map indicates steps ahead, the transmission control system can control the transmission system to deform the deformable and reconfigurable wheels into an arc-leg mode. If the map indicates relatively flat terrain ahead, the deformable and reconfigurable wheels can be deformed into a wheeled mode, etc. The transmission control system can also deform each deformable and reconfigurable wheel into an arc-leg mode or a wheeled mode based on the actual terrain, making it more suitable for complex terrain.

[0093] The reconfigurable robot designed in this invention also has additional payload space reserved on its abdomen and exterior, allowing for the addition of various functional modules. For example, a communication module is installed to transmit data between the front and back ends, including image and digital signals, enabling information exchange and control. A monocular camera is installed on the rear side to capture video footage from behind the reconfigurable robot. Switches and reset buttons are installed on the exterior of the robot, while a battery and battery management component are installed inside to power the robot's motors, various internal components, and external payloads. These components also provide voltage division and protection, providing each electronic component with the required reliable voltage and current. A central processing module can also be added to facilitate information exchange and integrated processing between components, embedding intelligent control algorithms and processing data.

[0094] This application uses a battery module for power supply. The battery module is installed inside the robot. The battery module can use a common lithium battery and corresponding charging and discharging equipment and circuits. In this application, the battery module is existing technology and is widely used in electric toy cars, electric cars, small robots and other fields.

[0095] The six-wheel drive reconfigurable robot designed in this invention has a small size, high adaptability to terrain, and two motion modes: wheeled and three-arc leg. In structured terrain, the robot can switch to the wheeled motion mode for rapid movement; in unstructured terrain, the robot can switch to the three-arc leg motion mode to pass through complex terrain. By switching between the wheel-three-arc leg motion mode, the robot can quickly and maneuverably reach the target point to perform operations.

[0096] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A six-drive reconfigurable robot, characterized in that: The reconfigurable robot includes a body, expandable and reconfigurable wheels, and a transmission system; Three expandable and reconfigurable wheels are provided on each side of the fuselage. Six transmission systems are provided inside the fuselage. The transmission systems are connected to the axles of the expandable and reconfigurable wheels and can control the rotation and deformation of the expandable and reconfigurable wheels. The expandable and reconfigurable wheel comprises a transmission shaft (4) and an axle sleeve (6), wherein the axle sleeve (6) is sleeved on the second end of the transmission shaft (4), and the axle sleeve (6) is capable of rotating around the transmission shaft (4). The rotation and deformation of the expandable and reconfigurable wheel can be controlled by relative motion or synchronous motion of the transmission shaft (4) and the axle sleeve (6); The transmission system comprises an intermediate support frame (10), a first shaft sleeve (11), a bevel gear set (12), a motor reduction head (13), a motor (14), front and rear support frames (16), a reducer housing (18), an electromagnetic clutch (21), a rotating body (22), a bidirectional moving block (23), a first friction plate (24), an electromagnetic brake (25) and a second shaft sleeve (26); The front and rear support frames (16) and the intermediate support frame (10) are fixedly installed in the fuselage, and the front and rear support frames (16) and the intermediate support frame (10) are used to support the transmission system; The reducer housing (18) is installed in the fuselage through the front and rear support frames (16) and the intermediate support frame (10); the motor (14) is fixedly connected to the reducer housing (18); the motor reduction head (13) is connected to the output shaft of the motor (14); and the output end of the motor (14) can drive the motor reduction head (13) to rotate; The bevel gear set (12) and the first shaft sleeve (11) are arranged in the reducer housing (18); the motor reduction head (13) is key-connected to the small gear in the bevel gear set (12); the large gear in the bevel gear set (12) is key-connected to the transmission shaft (4); the first shaft sleeve (11) is sleeved on the first end of the transmission shaft (4); and both ends of the large gear in the bevel gear set (12) are fixed to the first shaft sleeve (11) via shaft shoulders; The electromagnetic clutch (21) is fixedly mounted on a side of the reducer housing (18) close to the expandable and reconfigurable wheel, and the electromagnetic clutch (21) is sleeved on the transmission shaft (4); The electromagnetic clutch (21) is provided with a rotating body (22) near one end of the expandable and reconfigurable wheel, the rotating body (22) is sleeved on the transmission shaft (4), and the rotating body (22) is key-connected to the transmission shaft (4); A fourth friction plate is installed at one end of the rotating body (22) close to the expandable and reconfigurable wheel; The electromagnetic brake (25) is fixedly mounted on the inner side of the vehicle body side panel (8), the electromagnetic brake (25) is sleeved on the transmission shaft (4), and the first friction plate (24) is mounted on the end of the electromagnetic brake (25) away from the expandable and reconfigurable wheel; A bidirectional moving block (23) is sleeved on the transmission shaft (4), and the bidirectional moving block (23) is arranged between the first friction plate (24) and the rotating body (22). The bidirectional moving block (23) can move along the direction of the transmission shaft (4). A second friction plate and a third friction plate are respectively installed at both ends of the bidirectional moving block (23). The first friction plate (24) is relatively matched with the second friction plate, and the third friction plate is relatively matched with the fourth friction plate. The bidirectional moving block (23) is key-connected to the shaft sleeve (6).

2. The reconfigurable robot according to claim 1, characterized in that: When the electromagnetic brake (25) is powered on and the electromagnetic clutch (21) is powered off, the bidirectional moving block (23) moves toward the electromagnetic brake (25), the first friction plate (24) abuts against the second friction plate, and the transmission shaft (4) and the shaft sleeve (6) move relative to each other; When the electromagnetic brake (25) is powered off and the electromagnetic clutch (21) is powered on, the bidirectional moving block (23) moves toward the electromagnetic clutch (21), the third friction plate and the fourth friction plate are in close contact, and the transmission shaft (4) and the shaft sleeve (6) move synchronously.

3. The reconfigurable robot according to claim 1, characterized in that: A groove is provided on the inner side of the side plate (8), and a first bearing (3) is provided between the groove and the shaft sleeve (6). The first bearing (3) is used to support the shaft sleeve (6); The second shaft sleeve (26) is sleeved on the shaft sleeve (6), the second shaft sleeve (26) is arranged between the electromagnetic brake (25) and the first bearing (3), and the second shaft sleeve (26) is used to fix the first bearing (3).

4. The reconfigurable robot according to claim 1, characterized in that: The expandable and reconfigurable wheel further comprises a wheel body (1), a connecting rod (2), a rotating three-claw disc (5), and a relatively fixed tripod frame (7); A tripod through hole is provided at the center of the relatively fixed tripod (7), the transmission shaft (4) passes through the tripod through hole, and the shaft sleeve (6) is fixedly connected to the relatively fixed tripod (7); Three brackets are provided on the outside of the relatively fixed tripod frame (7); A three-claw disc through hole is provided at the center of the rotating three-claw disc (5), and the rotating three-claw disc (5) is fixedly connected to the second end of the transmission shaft (4) through the three-claw disc through hole; Three supporting claws are provided on the outer side of the rotating three-claw disc (5); There are three connecting rods (2), and the first ends of the three connecting rods (2) are connected to the three claw shafts; There are three wheel bodies (1), and the wheel body (1) comprises a support rail and a wheel outer shaft, and the first end of the support rail is fixedly connected to the first side surface of the wheel outer shaft; A support rail groove is provided inside the second end of the support rail, and three brackets of the relatively fixed tripod (7) are mounted in cooperation with the three support rail grooves, and the three brackets can slide along the three support rail grooves respectively; The second ends of the three connecting rods (2) are respectively connected to the second side surfaces of the three support rails; When the distance between the three brackets in the three grooves is the longest, the three wheel bodies (1) are closed, and the expandable reconfigurable wheel is a wheel-type structure; When the distance between the three brackets is the shortest in the three grooves, the three claws of the rotating three-claw disc (5), the three connecting rods (2) and the three support rails are respectively in the same straight line, the three wheel bodies (1) are separated and the distance between them is the longest, and the expandable reconfigurable wheel is a quasi-arc leg structure; When the distance between the three brackets in the three grooves is between the longest and the shortest, the three claws of the rotating three-claw disc (5), the three connecting rods (2) and the three support rails are not in the same straight line, the three wheel bodies (1) are separated and the distance between them is less than the longest distance, and the expandable reconfigurable wheel is an intermediate structure; Three limit blocks are provided on one side of the relatively fixed tripod (7) near the tripod through hole. Three limiting grooves are provided on one side of the rotating three-claw disc (5) near the through hole of the three-claw disc; The three limiting blocks are matched and connected with the three limiting grooves; When the expandable reconfigurable wheel is assembled, the three limiting blocks slide in the three limiting grooves respectively; The limiting groove is provided with a limiting angle; When the limiting block is at a first limiting angle, the expandable reconfigurable wheel is a wheel-type structure; When the limiting block is at the second limiting angle, the expandable reconfigurable wheel is an arc-leg-like structure; When the limiting block is located between the first limiting angle and the second limiting angle, the expandable reconfigurable wheel is in an intermediate state structure.

5. The reconfigurable robot according to claim 1, characterized in that: The reconfigurable robot has a cavity provided on its abdomen, and a lifting column is installed in the cavity; The first end of the lifting column is connected to the bottom axis of the reconfigurable robot, and the lifting column can rotate along the axis; the second end of the lifting column can be extended and retracted.

6. The reconfigurable robot according to claim 1, characterized in that: The reconfigurable robot further includes a battery module, which is used for supplying power.

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