A space scaling mechanism based throw-and-go robot

Abstract

The application discloses a throwable robot based on a space scaling mechanism, which comprises a space scaling mechanism, a left variable wheel and a right variable wheel. The space scaling mechanism comprises three connecting modules, and the three connecting modules are connected through three circumferentially arranged supporting chains. The distance between the three connecting modules can be adjusted by control, and the width of the whole space scaling mechanism can be adjusted. The variable wheels are installed on the two sides of the space scaling mechanism, and the variable wheels can rotate around the axis of the robot and move along the rotation axis of the variable wheels. Meanwhile, the variable wheels are provided with three circumferentially arranged tire pieces connected by scissors mechanisms. The unfolding and contraction of the three tire pieces can be realized by controlling the extension and contraction of the scissors mechanisms. Thus, the robot has a certain obstacle crossing ability by controlling the unfolding of the space scaling mechanism and the variable wheels to improve the gravity center of the robot, and the rotation of the variable wheels. The robot can wriggle in the pipeline environment by alternately unfolding and contracting the space scaling mechanism and the variable wheels.

Description

TECHNICAL FIELD

[0001] The present application relates to a mobile robot, in particular to a deformable and throwable mobile robot, which can be used in military reconnaissance, special rescue, planet exploration and other fields. BACKGROUND

[0002] The throwable robot has the characteristics of small size, light weight, easy to carry and deploy, high flexibility, and will be more and more widely used in special rescue and military fields. The existing throwable robot schemes are mainly divided into wheel type, track type, ball type, variable form and other types, among which the wheel type and the ball type are relatively sufficient, and the track type and the variable form are relatively less. The invention patent with publication number CN103213117A discloses a throwable detection robot, which is a two-wheel cylindrical robot with simple structure and high mechanical strength. The invention patent with publication number CN210790997U discloses a small throwable robot, which is a four-wheel structure, reducing the weight of the robot and improving the service life. The invention patent with publication number CN212471477U discloses a deployable reconnaissance robot, which is also a four-wheel robot, and a variable-size honeycomb tire structure is designed, which has a certain shock resistance. The invention patent with publication number CN212423326U discloses a throwable spherical robot. These robots have a single moving mode and are difficult to apply to complex and variable terrains.

[0003] In order to further improve the environmental adaptability of such robots, a robot scheme integrating wheel type, obstacle crossing, peristalsis and other motion modes is needed, and a spatial deformation mechanism and a spatial deformation wheel are added to the robot, and the sequence of deformation and rotation actions is designed to make the robot have the ability to cross obstacles and peristalsis in the pipeline. SUMMARY

[0004] The technical problem to be solved by the present application is to improve the mobility and obstacle crossing ability of the robot by using a spatial scaling mechanism based on the traditional two-wheel cylindrical robot, so that the robot can adapt to more use environments.

[0005] The throwable robot based on the spatial scaling mechanism comprises a spatial scaling mechanism, a left deformation wheel and a right deformation wheel.

[0006] The spatial scaling mechanism comprises a left connecting module, a right connecting module, a middle connecting module, first to third short connecting rods, first to sixth long connecting rods and a motor A.

[0007] The left connecting module, the right connecting module and the middle connecting module are circumferentially provided with three interfaces; a screw nut A is installed on the left connecting module, and a motor A is installed on the right connecting module; the left connecting module, the right connecting module and the middle connecting module are connected through first to third short connecting rods and first to sixth long connecting rods. The ends of the first to third short connecting rods are connected with the circumferential three interfaces of the middle connecting module to form rotary pairs; the ends of the first to third long connecting rods are respectively connected with the circumferential three interfaces of the left connecting module to form rotary pairs; the ends of the fourth to sixth long connecting rods are respectively connected with the circumferential three interfaces of the right connecting module to form rotary pairs. The front ends of the first to third short connecting rods are connected with the first to third long connecting rods to form rotary pairs, and the connection positions are close to the ends of the first to third long connecting rods; the middle parts of the first to third long connecting rods are connected with the middle parts of the fourth to sixth long connecting rods to form rotary pairs. Meanwhile, the screw nut on the middle connecting module is threadedly connected with the screw rod part on the output shaft of the deformation motor; the front ends of the first to sixth long connecting rods are provided with passive wheels.

[0008] The left deformation wheel and the right deformation wheel are the same in structure and comprise an inner hub, an outer hub, a wheel shaft motor and three wheel feet.

[0009] The three wheel feet are the same in size and structure and comprise two tire pieces and a set of scissors mechanisms. The two tire pieces are the same in structure and are arc-shaped plate structures curved in a trapezoidal plane, and are provided with three joints on inner arc surfaces; joint A and joint B are located close to both ends of a long arc edge; joint C is located at the center of a short arc edge; joint C in the two tire pieces is connected through a connecting pin to form a rotary pair. The top four ends of the scissors mechanism are respectively connected with joint A and joint B in the two tire pieces to form rotary pairs; by controlling the extension and contraction of the scissors mechanism, the two tire pieces can be rotated to expand or contract around the rotary pair therebetween, and in the expanded state, the short arc edges of the two tire pieces are attached to form an integral arc surface.

[0010] The outer hub comprises a hub piece and a connecting flange installed on the hub piece. The inner hub comprises an upper cover, a lower cover, an upper support, a lower support, a roller bearing, a linear bearing and a screw nut, and is a ring structure as a whole. The roller bearing is installed between the upper support and the lower support, and the relative positions are provided with holes, and the linear bearing is installed inside. The screw nut is installed on the upper support. The outer ring of the roller bearing is embedded in the center circular hole of the lower cover, and is positioned through the shoulder at the end of the circular hole. The upper cover and the lower cover are fixed.

[0011] The wheel shaft motor assembly comprises a direct current motor, a deformation motor, a screw rod and a bevel gear, wherein the output shafts of the direct current motor and the deformation motor are arranged vertically; the screw rod is installed on the side of the direct current motor along the axial direction of the direct current motor; the screw rod is connected with the top surface and the bottom surface of the direct current motor through bearings at two ends respectively; and the end part is engaged with the bevel gear coaxially installed on the output shaft of the deformation motor.

[0012] Among the left deformation wheel and the right deformation wheel, three wheel foot mounting positions are designed at equal intervals in the circumferential direction, the wheel foot mounting position comprises four connecting grooves designed at the hub piece in the outer hub and the edge position of the lower cover in the inner hub, and the four end parts of the scissor mechanism at the tail end are connected with the connecting grooves respectively.

[0013] The left deformation wheel and the right deformation wheel with the above structure are respectively installed outside the left connecting module and the right connecting module in the space zooming mechanism.

[0014] Through the above connection, the throwable robot based on the space zooming mechanism is formed.

[0015] The advantages of the present application are:

[0016] 1. The throwable robot based on the space zooming mechanism utilizes the space zooming mechanism and the deformation wheel to realize the movement, obstacle crossing and peristaltic mode switching of the mobile robot, and has higher environmental adaptability compared with the traditional two-wheel cylindrical robot.

[0017] 2. The throwable robot based on the space zooming mechanism realizes the zooming of the whole robot body through single degree of freedom, can lift the body, assists in obstacle crossing, improves the obstacle crossing ability and increases the movement flexibility. DETAILED DESCRIPTION

[0018] Figure 1 It is a whole structure schematic diagram of the throwable robot based on the space zooming mechanism.

[0019] Figure 2 It is a space zooming mechanism schematic diagram in the throwable robot based on the space zooming mechanism.

[0020] Figure 3 It is a left connecting module structure schematic diagram in the space zooming mechanism.

[0021] Figure 4 It is a side plate structure schematic diagram in the left connecting module.

[0022] Figure 5 It is a right connecting module structure schematic diagram in the space zooming mechanism.

[0023] Figure 6 This is a schematic diagram of the intermediate connecting module in the spatial scaling mechanism.

[0024] Figure 7 This is a schematic diagram of the unfolded state of the deformable wheel structure in the throwable robot based on the spatial scaling mechanism of the present invention.

[0025] Figure 8 This is a schematic diagram of the wheel foot structure in a deformable wheel.

[0026] Figure 9 This is a schematic diagram of the outer hub structure of the deformable wheel.

[0027] Figure 10 This is a schematic diagram of the inner hub structure of the deformable wheel.

[0028] Figure 11 This is a schematic diagram of the axle motor structure of the deformable wheel.

[0029] Figure 12 This is a schematic diagram of the wheeled motion mode of the throwable robot based on the spatial scaling mechanism of the present invention.

[0030] Figure 13 This is a side view of the wheeled motion mode of the throwable robot based on the spatial scaling mechanism of the present invention.

[0031] Figure 14 This is a schematic diagram of the obstacle-crossing mode of the throwable robot based on the spatial scaling mechanism of the present invention.

[0032] Figure 15 This is a schematic diagram of the peristaltic mode of the throwable robot based on the spatial scaling mechanism of the present invention. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings.

[0034] This invention relates to a throwable robot based on a spatial scaling mechanism, comprising a spatial scaling mechanism (A), a left deformable wheel (B), and a right deformable wheel (C), as follows: Figure 1 As shown.

[0035] The spatial scaling mechanism (A) includes a left connecting module (A1), a right connecting module (A2), a middle connecting module (A3), first to third short connecting rods (S1, S2, S3), first to sixth long connecting rods (L1, L2, L3, L4, L5, L6), and a deformable motor (A4). Figure 2 As shown.

[0036] like Figure 3As shown in the drawings, the left connecting module (A1) has two side plates (A11, A12) parallel to each other; the two side plates (A11, A12) are symmetrically arranged and have three rectangular joint portions at equal angles in the circumferential direction, the axes of the three joint portions do not intersect at a point, facilitating installation, such as Figure 4 As shown in the drawings; and each joint end is designed with a U-shaped groove (A13). The opposite U-shaped grooves (A13) in the two side plates (A11, A12) are provided with connecting blocks (A14) between the two sides, and the two side plates (A11, A12) and the connecting blocks (A14) are fixedly connected by screws to form a whole. Thus, the left connecting module (A1) circumferentially constitutes three interfaces (A15), i.e. the U-shaped grooves (A13) at the corresponding joints in each position of the two side plates (A11, A12); and the two side plates (A11, A12) have a certain space through the connecting blocks (A14) to install the deformation motor (A4). The deformation motor (A4) adopts a right-angle speed reducer motor, the gear reduction box part of which is fixed on the side plate (A11), and the output shaft passes through the output shaft through hole (A16) in the center of the other side plate (A12).

[0037] As shown in the drawings Figure 5 , Figure 6 The right connecting module (A2) and the middle connecting module (A3) have basically the same structure as the left connecting module (A1), the difference is that: the right connecting module (A2) and the middle connecting module (A3) do not have a deformation motor (A4); and in the middle connecting module (A3), a lead screw nut (A33) is coaxially installed on the outside of one side plate (A31), and the lead screw nut (A33) is threadedly connected to the output shaft of the gear reduction box part of the aforementioned deformation motor (A4).

[0038] The left connecting module (A1), the right connecting module (A2) and the intermediate connecting module (A3) are connected through the first to third short connecting rods (S1, S2, S3), the first to sixth long connecting rods (L1, L2, L3, L4, L5, L6). The first to third short connecting rods (S1, S2, S3) are respectively located in the circumferential three interfaces of the intermediate connecting module (A3), and are hinged to form a rotating pair through the connecting pins and the two connecting blocks (A14) at the interfaces. The first to third long connecting rods (L1, L2, L3) are respectively located in the circumferential three interfaces of the left connecting module (A1), and are hinged to form a rotating pair through the connecting pins and the two connecting blocks (A14) at the interfaces. The fourth to sixth long connecting rods (L4, L5, L6) are respectively located in the circumferential three interfaces of the right connecting module (A2), and are hinged to form a rotating pair through the connecting pins and the two connecting blocks (A23) at the interfaces. Further, the front ends of the first to third short connecting rods (S1, S2, S3) are connected through the connecting pins to form a rotating pair with the first to third long connecting rods (L1, L2, L3), and the connecting position is close to the end of the first to third long connecting rods (L1, L2, L3). The middle parts of the first to third long connecting rods are connected through the connecting pins to form a rotating pair with the middle parts of the fourth to sixth long connecting rods (L4, L5, L6). At the same time, the screw nut (A33) on the intermediate connecting module (A3) is threadedly connected with the screw part on the output shaft of the deformation motor (A4), and the output shaft perforations (A34) for the output shaft of the deformation motor (A4) to pass through are also designed on the two side plates (A31, A32) of the intermediate connecting module (A3). Thus, the screw nut (A33) can be driven to move along the output shaft of the gear reduction box part by the deformation motor (A4), thereby changing the distance between the intermediate connecting module (A3) and the left connecting module (A1). During the process, the angles between the first to third long connecting rods (L1, L2, L3) and the fourth to sixth long connecting rods (L4, L5, L6) are changed by the three short connecting rods, thereby changing the width of the overall space zooming mechanism (A) and realizing the deformation of the space zooming mechanism (A).

[0039] The front end of the first to sixth long connecting rods (L1, L2, L3, L4, L5, L6) is provided with a set of passive wheels (W) on the opposite sides, and the rotating axis of the passive wheels (W) is perpendicular to the output shaft of the deformation motor (A14).

[0040] As shown in Figure 7 , the left deformation wheel (B) includes inner and outer hubs (B2, B3), a wheel shaft motor (B4) and three wheel feet (B11, B12, B13).

[0041] Among them, the three wheel feet (B11, B12, B13) are the same in size and structure. Here, one of the three wheel feet (B11) is taken as an example to describe the structure of the three wheel feet (B11, B12, B13), as shown in Figure 8 .

[0042] The wheel foot (B11) includes tire plate I (b1), tire plate II (b2), and a scissor mechanism consisting of four short connecting rods (b3, b4, b5, b6) and two reinforcing connecting rods (b7, b8). Tire plate I and tire plate II have the same structure, both being arc-shaped plate structures formed by bending a trapezoidal plane. Each has three joints on its inner arc surface, designated A, B, and C. Joints A and B are located near the ends of the longer arc edge and are used to connect to the scissor mechanism; the other joint, C, is located at the center of the shorter arc edge. Joint C of the two tire plates is connected by a connecting pin to form a rotating pair. The outer arc surfaces of the two tire plates can be designed with treads to adapt to more complex terrain.

[0043] The four short connecting rods (b3, b4, b5, b6) and two reinforcing connecting rods (b7, b8) are alternately connected to form a two-stage semi-scissor mechanism. The reinforcing connecting rods (b7, b8) are an integral structure consisting of two parallel side rods and an X-shaped reinforcing rod between the two side rods. The connection between the four short connecting rods and the two reinforcing connecting rods is as follows: the middle portions of the two side rods of the reinforcing connecting rod (b8) are connected to the middle portions of the short connecting rods (b5) and (b6) respectively via connecting pins to form a revolute joint; the middle portions of the two side rods of the reinforcing connecting rod (b7) are connected to the middle portions of the short connecting rods (b3) and (b4) respectively via connecting pins to form a revolute joint. The ends of the two side rods of the reinforcing connecting rod (b7) are connected to the front ends of the short connecting rods (b5) and (b6) respectively via connecting pins to form a revolute joint; the front ends of the two side rods of the reinforcing connecting rod (b8) are connected to the ends of the short connecting rods (b3) and (b4) respectively via connecting pins to form a revolute joint. This constitutes a complete two-and-a-half-stage scissor lift mechanism.

[0044] In the two-and-a-half-stage scissor lift mechanism described above, the front ends of the two sides of the reinforcing link (b7) are connected to joints A and B in tire piece I (b1) via connecting pins to form a rotating pair; the front ends of the short links (b3) and (b4) are connected to joints A and B in tire piece II via connecting pins to form a rotating pair. Thus, by controlling the extension and retraction of the scissor lift mechanism, tire piece I (b1) and tire piece II (b2) can be rotated and extended or retracted around the rotating pair between them. In the extended state, the short arc edges of tire piece I (b1) and tire piece II (b2) are in contact, and their outer arc surfaces form a single integral arc surface.

[0045] like Figure 9 As shown, the outer hub (B2) consists of a hub plate (B21) and a connecting flange (B22). The hub plate (B21) has a 120-degree rotationally symmetrical structure; in this embodiment, the hub plate is designed as an isosceles triangle. The connecting flange (B22) is fixedly mounted to the center of the inner side of the hub plate (B21) with screws, and is used to connect to the end of the output shaft of the DC motor (B42) in the wheel axle motor (B4).

[0046] As Figure 10 shown, the inner hub (B3) is composed of an upper cover (B31), a lower cover (B32), an upper support (B33), a lower support (B34), a roller bearing (B35), linear bearings (B36, B37) and a screw nut (B38).

[0047] Wherein, the upper support (B33) and the lower support (B34) are annular structures, and the opposite sides have annular bosses. The inner ring of the roller bearing (B35) is sleeved on the outer support surface formed by the opposite annular bosses of the upper support (B33) and the lower support (B34). The linear bearings (B36, B37) are embedded in the bearing mounting channel formed by the circumferential opposite position mounting grooves of the upper support (B33) and the lower support (B34). The screw nut (B38) is placed in the nut mounting channel opened on the upper support (B33), and the end of the screw nut (B38) is designed with an annular connecting flange which is attached to the upper support (B33) and fixed by screws. The screw nut (B38) is used to cooperate with the screw rod segment (B44) on the output shaft of the wheel shaft motor. The upper cover (B31) and the lower cover (B32) are 120-degree rotational symmetry structures, the outer ring of the roller bearing (B35) is embedded in the center circular hole of the lower cover (B32), and is positioned by the circular hole end shoulder. The upper cover (B31) and the lower cover (B32) are fixed by screws, and the annular boss on the circumferential of the center circular hole of the upper cover (B31) is in contact with the outer ring of the roller bearing (B35) to limit the position of the roller bearing (B35) between the upper cover (B31) and the lower cover (B32).

[0048] As Figure 11 shown, the wheel shaft motor assembly (B4) is composed of a bracket (B41), a DC motor (B42), a deformation motor (B43), a screw rod (B44) and a helical gear (B45).

[0049] Wherein, the bracket (B41) includes a DC motor mounting rack, and a deformation motor mounting rack designed on the top of the DC motor mounting rack, and the inner part of the two is respectively fixedly installed with a DC motor (B42) and a deformation motor (B43), and the output shafts of the two motors are vertically arranged. On the side of the DC motor, a screw rod (B44) is installed along the axial direction of the DC motor; the screw rod (B44) is connected with the top surface and the bottom surface of the DC motor through bearings at the two ends respectively, and the end is engaged with the helical gear coaxially installed on the output shaft of the deformation motor (B43), and the deformation motor (B43) can drive the screw rod (B44) to rotate.

[0050] The wheel shaft motor assembly (B4) is arranged in the annular inner hub (B3); the screw nut (B38) in the annular inner hub (B3) is threadedly connected to the screw rod (B44), and the two linear bearings (B36 and B37) are respectively sleeved on the two light shafts designed in the circumferential direction of the DC motor mounting rack to form a moving pair. The end of the DC motor mounting rack is bolted to the left connecting module (A1) of the space zooming mechanism (A), so that the output shaft of the DC motor (B42) is perpendicular to the left connecting module (A1). The end of the output shaft of the DC motor (B42) is fixedly connected to the flange of the outer hub (B2), thereby forming a wheel hub structure with integral driving.

[0051] The wheel hub structure with integral driving is designed with three wheel foot mounting positions at equal intervals in the circumferential direction, and three wheel feet (B11, B12 and B13) are respectively arranged in the wheel foot mounting positions in the same manner.

[0052] The wheel foot mounting position is four connecting grooves designed at the edge position of the hub piece (B21) in the outer hub (B2) and the lower cover (B32) in the inner hub (B3), and two connecting grooves are respectively arranged on the two side rod ends of the reinforcing connecting rod (b9) in the wheel foot (B11) to form a rotating pair. The other two connecting grooves are respectively arranged on the ends of the connecting rod (b5) and the connecting rod (b6) in the wheel foot (B11) to form a rotating pair.

[0053] Therefore, by controlling the rotation of the DC motor (B42) in the wheel shaft motor assembly (B4), the outer hub (B2) and the inner hub (B3) can be driven to rotate together. By controlling the deforming motor (B43) to drive the screw rod (B44) to rotate, the screw nut (B38) moves along the screw rod (B44) in the axial direction, thereby driving the inner hub (B3) to move in the axial direction, changing the distance between the inner hub (B3) and the outer hub (B2), and driving the scissor mechanism to move. The extension and retraction movement of the three wheel feet and the extension and retraction movement of the tire piece I (b1) and the tire piece II (b2) in the wheel foot are realized by the movement of the scissor mechanism, the deformation of the left deformed wheel (B) is realized, and when the left deformed wheel (B) is completely retracted (the scissor mechanism is completely folded and the two tire pieces are completely unfolded), the outer contour is circular, and when it is unfolded, the envelope is circular.

[0054] The right deformed wheel (C) and the left deformed wheel (B) have the same size structure and are arranged on the right connecting module (A2) of the space zooming mechanism (A) in the same manner.

[0055] The movement mode change of the space zooming mechanism based on the space zooming mechanism will be described below.

[0056] (1) Wheel type movement mode:

[0057] As Figure 12 , 13 shown, the left and right transform wheels (B, C) of the robot are independently driven by corresponding motors. In the contracted state of the transform wheels, by controlling the steering and rotating speed of the two transform wheels (B, C), the robot can realize forward movement, backward movement and turning on a flat road surface.

[0058] (2) Obstacle crossing mode

[0059] As Figure 14 shown, when the robot moves to the front of a higher obstacle, the front side of the space scaling mechanism (A) first contacts the step. Then adjust the turning angle of the transform wheels (B, C) and control the transform wheels (B, C) to expand and open, so that two of the transform wheels (B, C) contact the ground, forming a relatively stable support, and making the space scaling mechanism (A) suspended. Then adjust the turning angle of the space scaling mechanism (A) and open it, so that one group of long connecting rods (two long connecting rods connected to each other) can touch the ground after expansion, further expand the group of long connecting rods, lift the center of gravity of the robot, and make the center of gravity of the robot higher than the obstacle. Finally, cooperate with the rotation of the transform wheels (B, C) to cross the obstacle. After crossing the obstacle, sequentially contract the transform wheels (B, C) and the transform scaling mechanism (A), and complete the obstacle crossing action.

[0060] (3) Peristaltic mode

[0061] As Figure 15 shown, the robot enters the pipeline, and the transform wheels (B, C) and the space scaling mechanism (A) are scaled according to the inner diameter of the inner wall of the pipeline, so that there are 12 contact points between the robot and the pipe wall. When moving, first control the size of the contracted part of the left transform wheel (B) to release the fixation between the robot and the front end of the pipeline, and further control the space scaling mechanism (A) to contract, which drives the left transform wheel (B) to move forward, and then control the left transform wheel (B) to expand to form a new front end fixation. Then, control the size of the contracted part of the right transform wheel (C) to release the fixation between the robot and the rear end of the pipeline, and further control the space scaling mechanism (A) to expand, which drives the right transform wheel (C) to move forward, and then control the right transform wheel (C) to expand to form a new rear end fixation. At this point, a peristaltic action sequence is completed. Repeat or reverse the action sequence to realize the peristalsis of the robot in the pipeline environment.

Claims

1. A space-faring robot based on a spatially scaled mechanism, characterized by: The space scaling mechanism, the left deformation wheel and the right deformation wheel are provided. The space scaling mechanism comprises a left connecting module, a right connecting module, a middle connecting module, first to third short connecting rods, first to sixth long connecting rods and a deformation motor A. The left connecting module, the right connecting module and the middle connecting module are each provided with three interfaces in the circumferential direction; the left connecting module is provided with a screw nut A and the deformation motor A; the left connecting module, the right connecting module and the middle connecting module are connected through the first to third short connecting rods and the first to sixth long connecting rods; the ends of the first to third short connecting rods are connected with the three circumferential interfaces of the middle connecting module to form rotary pairs; the ends of the first to third long connecting rods are connected with the three circumferential interfaces of the left connecting module to form rotary pairs; the ends of the fourth to sixth long connecting rods are connected with the three circumferential interfaces of the right connecting module to form rotary pairs; the front ends of the first to third short connecting rods are connected with the first to third long connecting rods to form rotary pairs, and the connection positions are close to the ends of the first to third long connecting rods; the middle portions of the first to third long connecting rods are connected with the middle portions of the fourth to sixth long connecting rods to form rotary pairs; meanwhile, the screw nut on the middle connecting module is threadedly connected with the screw rod on the output shaft of the deformation motor; the front ends of the first to sixth long connecting rods are provided with passive wheels; The left deformation wheel and the right deformation wheel are the same in structure and comprise an inner hub, an outer hub, a wheel shaft motor assembly and three wheel feet. The three wheel feet are the same in size and structure and comprise two tire pieces and a set of scissor mechanisms; the two tire pieces are the same in structure and are arc-shaped plate structures curved in a trapezoidal plane, and are provided with three joints on the inner arc surface; joint A and joint B are located close to the two ends of the long arc edge; joint C is located at the center of the short arc edge; joint C in the two tire pieces is connected through a connecting pin to form a rotary pair; the top four ends of the scissor mechanism are connected with joint A and joint B in the two tire pieces to form rotary pairs; by controlling the extension and retraction of the scissor mechanism, the two tire pieces can be rotated to expand or contract around the rotary pair therebetween, and in the expanded state, the short arc edges of the two tire pieces are attached to form an integral arc surface; The outer hub comprises a hub piece and a connecting flange mounted on the hub piece; the inner hub comprises an upper cover, a lower cover, an upper support, a lower support, a roller bearing, a linear bearing and a screw nut, and is in a ring structure; the roller bearing is mounted between the upper support and the lower support, and the linear bearing is mounted in the inner part; the screw nut is mounted on the upper support; the outer ring of the roller bearing is embedded in the center circular hole of the lower cover and is positioned through the circular hole end shoulder; the upper cover and the lower cover are fixed. The wheel shaft motor assembly comprises a direct current motor, a variable shape motor B, a screw rod and a bevel gear; wherein the direct current motor and the variable shape motor B output shaft are vertically arranged; the direct current motor side is provided with a screw rod along the direct current motor axial direction; the screw rod is connected with the top surface and the bottom surface of the direct current motor through bearings at both ends, and the end is engaged with the bevel gear coaxially arranged on the variable shape motor output shaft; the wheel shaft motor assembly with the above structure is arranged in the annular inner hub; the screw nut in the annular inner hub is threadedly connected to the screw rod, and the linear bearing sleeve is arranged on the optical axis designed in the circumferential direction of the direct current motor mounting frame to form a moving pair; the direct current motor output shaft is connected with the connecting flange on the outer hub; Among the left variable shape wheel and the right variable shape wheel, three wheel foot mounting positions are designed at equal intervals in the circumferential direction, the wheel foot mounting position comprises four connecting grooves designed at the hub piece in the outer hub and the lower cover edge position in the inner hub, which are respectively connected with the four end portions of the scissor mechanism in the wheel foot; The left variable shape wheel and the right variable shape wheel with the above structure are respectively arranged outside the left connecting module and the right connecting module of the space zooming mechanism.

2. The space-folding based throw-and-go robot of claim 1, wherein: It has a wheel type motion mode, an obstacle crossing mode and a peristalsis mode, specifically: (1) In the wheel type motion mode, the left variable shape wheel and the right variable shape wheel are independently driven to the contracted state by the corresponding motors, and by controlling the steering and rotating speed of the two variable shape wheels, forward movement, backward movement and turning on flat road surface are realized; (2) In the obstacle crossing mode, the front side of the space zooming mechanism first contacts the step; then the turning angle of the two variable shape wheels is adjusted and the variable shape wheels are expanded, so that two wheel feet in the variable shape wheel contact the ground, and the space zooming mechanism is suspended; then the turning angle of the space zooming mechanism is adjusted and expanded, so that a group of interconnected long connecting rods are in contact with the ground after expansion, the long connecting rods are further expanded, so that the overall center of gravity is higher than the obstacle; finally, the two variable shape wheels are rotated to cross the obstacle; after crossing the obstacle, the two variable shape wheels and the space zooming mechanism are sequentially contracted to complete the obstacle crossing action; (3) In the peristalsis mode, the robot enters the pipeline, the two variable shape wheels and the space zooming mechanism are expanded according to the inner diameter of the pipeline and reach 12 contact points with the pipe wall; when moving, first control the size of the contracted part of the left variable shape wheel to release the front end fixation, further control the space zooming mechanism to contract, drive the left variable shape wheel to move forward, then control the left variable shape wheel to expand to form a new front end fixation; then, control the size of the contracted part of the right variable shape wheel to release the rear end fixation, further control the space zooming mechanism to expand, drive the right variable shape wheel to move forward, then control the right variable shape wheel to expand to form a new rear end fixation; thus, a peristalsis action sequence is completed; repeat or reverse the action sequence to realize the peristalsis of the robot in the pipeline environment.

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