A high-mobility hopping and rolling combined mobile robot

Abstract

The application discloses a high-maneuverability spring-rolling combined mobile robot, which comprises a central core, powder ejection devices installed on the upper and lower positions of the core, three spring movement branches and six rolling movement branches. Three long arms are designed on the circumference of the core, and the ends of the three long arms are connected with sliding members installed on the ends of the upper and lower powder ejection devices through the three rolling movement branches respectively. The unfolding and folding of the rolling movement branches on the same side are controlled to realize the zooming of the robot, and the center of gravity of the robot can be changed to achieve the rolling movement purpose. The three spring movement branches are installed on the ends of the three long arms and are controlled to unfold and fold through the screw nuts, and the unfolding of the spring movement branches exerts force on the ground, and the robot is springed under the action of the reaction force. The application can integrate multiple movement modes such as zooming, rolling and springing, can conduct investigation through the installation of a miniature camera and can launch powder to a target.

Description

TECHNICAL FIELD

[0001] The application relates to a high-mobility rolling and bouncing combined mobile robot, in particular to a mobile robot capable of rolling and launching gunpowder. BACKGROUND

[0002] Currently, existing rolling robots include:

[0003] An application No. CN201721718028.4 discloses a rolling robot based on a parallel mechanism, which comprises a polygonal gravity center adjusting device, a parallel unit module and a wheel hub motor, and can move in a rolling manner.

[0004] An application No. CN201910315905.0 discloses a steerable rolling robot, which is composed of four support plates, two motors and two push rods. The rolling can be realized by the forward offset of the gravity center through the alternate extension and retraction of the push rods.

[0005] An application No. CN102673669A discloses a polyhedral rolling mechanism, which adopts a closed chain mechanism to increase the rigidity of the robot and improve the load capacity, and can realize movement and steering in a plane.

[0006] An application No. CN201710866370.7 discloses a universal rolling spherical robot. The shell is spherical, and the inside contains six gravity center moving devices of the same structure, which realize rolling through the gravity center moving devices.

[0007] Due to the structure and the volume limitation of the overall shell, the above-mentioned rolling robot schemes have small deformation and poor overall movement ability. In order to further improve the movement performance of the moving mechanism composed of a series of connecting rods and increase the actual use function, it is necessary to integrate multiple movement modes to improve the movement ability and obstacle crossing ability of the robot. SUMMARY

[0008] In view of the above problems, the application provides a high-mobility rolling and bouncing combined mobile robot, which is a mobile robot composed of a core, a gunpowder launching device and a series of connecting rods, can integrate multiple movement modes such as scaling, rolling and bouncing, and can rely on a miniature camera to conduct investigation and launch gunpowder to a target.

[0009] The high-mobility rolling and bouncing combined mobile robot comprises a core, a gunpowder launching device, three bouncing movement branches and six rolling movement branches.

[0010] The core is circumferentially installed with a single long arm arranged transversely at equal angles; and the top end and the bottom end of the core are respectively provided with an upper gunpowder launching device and a lower gunpowder launching device.

[0011] Among the six rolling motion branch chains, the two ends of three rolling motion branch chains are connected with the joints designed above the end caps of the three long arms and the joints designed on the end cover of the upper powder launching device, forming a rotating pair; the two ends of the other three rolling motion branch chains are connected with the joints designed below the end caps of the three long arms and the joints designed on the end cover of the lower powder launching device, forming a rotating pair.

[0012] The six rolling motion branch chains have the same structure and are all double-link structures, wherein the end of link A is connected with the end cap, and the end of link B is connected with the long arm; an arc-shaped shell is fixed on link A, and the outer arc surface is arranged outward; synchronous motion among the three rolling motion branch chains on the same side of the upper and lower sides is realized through a driving mechanism.

[0013] The three elastic motion branch chains are connected with the dampers through the push rod assemblies and the three long arms; the three elastic motion branch chains have the same structure and comprise a vertex buffer and an elastic rod; the vertex buffer is connected with the push rod assembly installed on the long arm on the inner side; the arc-shaped elastic rod is hingedly connected with the side of the vertex buffer, and is connected with the long arm through the damper.

[0014] The high-mobility elastic rolling composite mobile robot with the above structure has a contraction mode, a rolling movement mode, an elastic movement mode and a robot detection mode.

[0015] (1) Contraction mode: the elastic motion branch chains are controlled to be folded to the limit position through the push rod assembly, and the rolling motion branch chains are controlled to be unfolded to the limit through the driving mechanism of the rolling motion branch chains.

[0016] (2) Rolling movement mode: on the basis of (1), the three rolling branch chains on one side of the rolling direction are controlled to be folded, and the three rolling branch chains on the other side remain unchanged; at this time, the end cap on the rolling side moves outward, so that the center of gravity of the robot is deviated to the rolling side, and the purpose of rolling of the robot is achieved.

[0017] (3) Elastic movement mode: two of the three elastic motion branch chains remain unchanged in the folded state, and the other elastic motion branch chain is controlled to be unfolded through the push rod assembly, and one elastic movement is completed; continuous elastic movement is realized by repeatedly unfolding each elastic motion branch chain.

[0018] (4) Robot detection mode: the micro camera is installed on the outer wall of the top end cap and the bottom end cap in the circumferential direction, the surrounding environment is monitored, and when the target is found, the target is aimed, and the powder launching device is further controlled to launch powder to the target.

[0019] The advantages of the present application are:

[0020] 1. The high-mobility elastic rolling composite mobile robot can realize the movement of the robot through the deformation of the elastic branch chain and the rolling branch chain.

[0021] 2、The high-mobility rolling and springing combined mobile robot can realize robot zooming and folding in a narrow space through rotation of the rolling branch.

[0022] 3、The high-mobility rolling and springing combined mobile robot can launch gunpowder to a target through the installed gunpowder launching device, and can be applied to reconnaissance or infiltration action. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a whole structure schematic diagram of the high-mobility rolling and springing combined mobile robot.

[0024] Figure 2 It is a position schematic diagram of a rolling branch in the high-mobility rolling and springing combined mobile robot.

[0025] Figure 3 It is a core structure schematic diagram in the high-mobility rolling and springing combined mobile robot.

[0026] Figure 4 It is a gunpowder launching device structure schematic diagram in the high-mobility rolling and springing combined mobile robot.

[0027] Figure 5 It is a rolling branch structure schematic diagram in the high-mobility rolling and springing combined mobile robot.

[0028] Figure 6 It is a connection mode schematic diagram between the rolling branch and the top end cover.

[0029] Figure 7 It is a connection mode schematic diagram between the rolling branch and the bottom end cover.

[0030] Figure 8 It is a connection mode schematic diagram between the rolling branch and the long arm.

[0031] Figure 9 It is a driving mode schematic diagram of the rolling branch.

[0032] Figure 10 It is a springing branch structure schematic diagram.

[0033] Figure 11 It is a driving structure schematic diagram of the springing branch.

[0034] Figure 12 It is a contraction mode schematic diagram of the high-mobility rolling and springing combined mobile robot.

[0035] Figure 13 It is a rolling movement mode schematic diagram of the high-mobility rolling and springing combined mobile robot.

[0036] Figure 14The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6).

[0037] Figure 15 The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6). DETAILED DESCRIPTION

[0038] The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6).

[0039] The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6). Figure 1 、 Figure 2 The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6).

[0040] The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6). Figure 3 The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6).

[0041] The high-mobility elastic rolling composite mobile robot of the present application is shown in the figure, which comprises a core (A), a first powder ejection device (B1), a second powder ejection device (B2), a first elastic movement branch (Y1), a second elastic movement branch (Y2), a third elastic movement branch (Y3), a first rolling movement branch (O1), a second rolling movement branch (O2), a third rolling movement branch (O3), a fourth rolling movement branch (O4), a fifth rolling movement branch (O5), and a sixth rolling movement branch (O6).Figure 4

[0042] The powder installation pipe (b2) is a cylindrical structure, and is used for containing powder (V) inside. One end of the powder installation pipe (b2) is a connecting end, and the outer wall of the connecting end has an annular shoulder. The shoulder is provided with a connecting hole for connecting the core (A) at a circumferentially opposite position. The outer wall of the middle part of the powder installation pipe (b2) is designed with a motor installation boss (b3) in an integral structure. A friction wheel motor (L1) is fixedly installed on the same side of the motor installation boss (b3). The output shaft of the friction wheel motor (L1) is perpendicular to the axial direction of the powder installation pipe (b2), and is coaxially connected to a friction wheel (J1) through an opening in the motor installation boss (b3). The main body of the friction wheel (J1) is a gear structure, and is wrapped with rubber. Two friction wheels (J1) are further designed to pass through the openings in the side wall of the powder installation pipe (b2) in the axial direction, and are located inside the powder installation pipe (b2) as built-in parts. The built-in parts can axially limit the powder (V) in the powder installation pipe (b2), and can apply a pushing force to the powder (V) from the built-in parts by rotating the two friction wheels (J1) when the powder (V) needs to be ejected.

[0043] The spring assembly (C) is installed inside the powder installation pipe (b2), and includes a spring (c2), a spring upper seat (c1), and a spring lower seat (c3). The spring lower seat (c3) is fixedly installed at the connecting end of the powder installation pipe (b2), and the bottom surface is flush with the end surface of the connecting end. The top surface of the spring lower seat (c3) is provided with a cylindrical protrusion at the center. The bottom end of the spring (c2) is positioned on the cylindrical protrusion and is welded and fixed. The top end of the spring (c2) is inserted into the cylindrical recess in the bottom surface of the spring upper seat (c3) for positioning and welding and fixing. The spring upper seat (c3) is gap-fitted with the inner wall of the powder installation pipe (b2) in the circumferential direction.

[0044] When the powder is filled, the powder (V) is inserted into the powder installation pipe (b2) through the top opening of the powder installation pipe (b2), passes through the friction wheel (J1), reaches the spring upper seat (c1), further compresses the spring (c2), and makes the powder (V) located between the spring upper seat (c1) and the two friction wheels (J1). At this time, the axial position of the powder (V) is limited by the two friction wheels (J1). When the powder (V) needs to be ejected, the two friction wheels (J1) are controlled to rotate. At this time, the powder (V) is thrown out of the opening of the powder installation pipe (b2) by the friction force and the upward elastic force of the spring (c2).

[0045] The first powder ejection device (B1) and the second powder ejection device (B2) are coaxially arranged at the upper and lower ends of the core (A) respectively, are fixed by the connecting holes in the circumferential direction of the shoulder of the connecting end of the powder installation pipe (b2) and the screw holes in the circumferential direction of the end surface of the core (A), and are fixed by screwing.

[0046] As Figure 5 ​As shown, the first rolling motion branch (01), the second rolling motion branch (02), the third rolling motion branch (03), the fourth rolling motion branch (04), the fifth rolling motion branch (05) and the sixth rolling motion branch (06) are the same structure, which includes a double-link structure composed of two inner end hinges and two rolling branch housings (E1, E2).

[0047] The rolling branch housings (E1, E2) are arc-shaped housings, which are arranged symmetrically left and right, and the inner arc surfaces are arranged towards the core (A). The double-link structure is located between the housings (E1, E2), and the two links in the double-link structure are link A (Oa) and link B (Ob). The middle part of link A (Oa) is fixedly connected with the top end of the rolling branch housing (E1, E2) through a connecting shaft, and the two ends of the hinge shaft of the double-link structure are fixed with the middle part of the rolling branch housing (E1, E2), so that link A (Oa) is fixed with the rolling branch housing (E1, E2), and link B (Ob) has a rotating pair.

[0048] In the above-mentioned structure of the six rolling motion branches, three are upper rolling branches, and the other three are lower rolling branches. The outer ends (o4) of link A (Oa) in the three upper rolling branches are respectively hinged with three branch connection heads evenly distributed on the bottom surface of the annular top end cover (o1), as shown in Figure 6 The outer ends of link A (o4) in the three lower rolling branches are respectively hinged with three branch connection heads evenly distributed on the top surface of the annular bottom end cover (o2), as shown in Figure 7 The bottom of the annular top end cover (o1) and the top of the annular bottom end cover (o2) are designed with a cylindrical plug, which is coaxially inserted into the pipe opening of the first and second powder ejection devices (B1, B2) to realize radial positioning, and has a moving pair in the axial direction, as shown in Figure 2

[0049] The outer ends of link B in the above-mentioned three upper rolling branches are respectively connected with the rolling branch connection heads (a5) above the end parts of the three long arms on the circumference of the core (A) through a rolling branch drive shaft assembly. Similarly, the outer ends of link B in the three lower rolling branches are respectively connected with the rolling branch connection heads (a5) below the end parts of the three long arms on the circumference of the core (A) through a side rolling branch drive shaft assembly.

[0050] The rolling branch drive shaft assembly includes a rolling bearing (z1), a drive shaft (z2) and a synchronous pulley (z3), as shown in Figure 8 The drive shaft (z2) is installed in the rolling branch connection hole of the rolling branch connection head (a5) through the bearings at both ends. The drive shaft (z2) passes through the through holes on both sides of the U-shaped interface of the outer end of link B and is fixed. At the same time, the synchronous pulley (z3) is coaxially fixed on one end of the drive shaft (z2) through a jackscrew.​Figure 9 As shown, the upper and lower rolling branch chains connected by the third long arm are the upper active motion branch chain and the lower active motion branch chain, respectively, and are driven to move by the upper rolling branch chain drive motor (M1) and the lower rolling branch chain drive motor (M2) fixed on the connecting plate (a8) in the third long arm (a4); the remaining upper and lower rolling branch chains are the upper passive motion branch chain and the lower passive motion branch chain, respectively. The upper rolling branch chain drive motor (M1) and the lower rolling branch chain drive motor (M2) are located above and below the third long arm (a4), respectively, and the output shaft ends are coaxially fixedly installed with the upper transmission wheel (M3) and the lower transmission wheel (M4), respectively; the upper transmission wheel (M3) and the lower transmission wheel (M4) are respectively sleeved with the synchronous pulleys (z3) in the upper active motion branch chain and the lower active motion branch chain through a transmission belt. Thus, the upper transmission wheel (M3) and the lower transmission wheel (M4) are driven to rotate by the upper rolling branch chain drive motor (M1) and the lower rolling branch chain drive motor (M2), and then driven to rotate by the transmission belt, respectively, to drive the drive shafts (z2) in the upper active motion branch chain and the lower active motion branch chain to rotate, so that the connecting rod B (Ob) rotates around the drive shaft axis, and then the connecting rod A (Oa) rotates around the rotation pair between the connecting rod A (Oa) and the end cover. During the outward rotation of the connecting rod A (Oa), the two rolling branch chain housings (E1, E2) fixed with the connecting rod A (Oa) will rotate outward together to open, so that the rolling branch chain is in an open state at this time. Conversely, the two rolling branch chain housings (E1, E2) fixed with the connecting rod A (Oa) will rotate inward together to open, so that the rolling branch chain is in a closed state at this time. When the upper active motion branch chain and the lower active motion branch chain move, the remaining upper rolling branch chain and the remaining lower rolling branch chain synchronously move in the same way; and during the opening of the rolling branch chain housings (E1, E2) in the upper rolling branch chain and the lower rolling branch chain, the annular top end cover (o1) and the annular bottom end cover (o2) will produce inward displacement along the axial direction; conversely, the annular top end cover (o1) and the annular bottom end cover (o2) will produce outward displacement along the axial direction.

[0051] The three elastic motion branch chains have the same structure, including a vertex buffer (G), an electric push rod assembly (F), a damper (H), and a first elastic rod (D1) and a second elastic rod (D2), as shown in Figure 10

[0052] ​The vertex buffer (G) is a plate-shaped structure with an outer arc surface, and grooves are formed on the upper and lower positions of the left and right sides, forming an H-shaped structure. A connecting sleeve is designed in the middle of the inner side of the vertex buffer (G) to connect the electric push rod assembly. The first elastic rod (D1) and the second elastic rod (D2) are arc-shaped members with the same size, and the thickness gradually decreases from the end to the front end. The outer sides of the ends of the two elastic rods are respectively placed in the grooves on the same side of the vertex buffer (G), and a rotating pair is formed between the elastic rods and the grooves. The inner sides of the ends of the two elastic rods are connected with one end of the damper, and the other end of the damper is connected with the damper connecting joint (a6) on the side wall of the long arm to form a rotating pair. The outer arc surfaces of the first elastic rod (D1), the second elastic rod (D2) and the vertex buffer are located on the same side, and the outer arc surfaces of the first elastic rod (D1), the second elastic rod (D2) and the vertex buffer (G) are covered with elastic rubber.

[0053] The electric push rod assembly (F) includes a stepping motor (f1a), a shaft coupling (f1b), a bearing (f1c), a ball screw (f1d) and a push rod (f1e), as shown in Figure 11 The ball screw (f1d) is coaxially arranged in the long arm, and the end is connected with the long arm through the bearing (f1c); the nut of the ball screw (f1d) is gap-fitted with the inner wall of the long arm. The push rod (f1e) is a hollow rod, which is sleeved outside the ball screw (f1d) and gap-fitted with the inner wall of the long arm. The end is coaxially fixedly connected with the nut. The front end of the push rod (f1e) is inserted and fixed with the connecting sleeve on the inner side of the vertex buffer (G). The stepping motor (f1a) is fixed in the inner core (A), and the output shaft is coaxially connected and fixed with the end of the ball screw (f1d) through the shaft coupling (f1b).

[0054] Therefore, by controlling the rotation of the ball screw (f1d) through the stepping motor (f1a) in the electric push rod assembly (F), the vertex buffer (G1) can be driven to move outward along the long arm axis, and in the movement process, the front ends of the two elastic rods are gradually close to the inner core (A) under the limiting and buffering action of the damper, until the front ends of the two elastic rods reach the two grooves on the same side of the adjacent vertex buffer (G). At this time, the elastic motion branch (Y) is in a closed state. Conversely, by controlling the reverse rotation of the ball screw (f1d) through the stepping motor (f1a), the front ends of the two elastic rods can be controlled to gradually move away from the inner core (A), and at this time, the elastic motion branch (Y1) is in an open state. The three elastic motion branches are independently driven by the electric push rod assemblies (F) on the long arms. When the elastic motion branch is in a closed state, the outer arc surfaces of the two elastic rods and the vertex buffer (G) form an integral arc surface; when the three elastic motion branches (Y) are in a closed state, the first elastic rod (D), the second elastic rod (D) and the vertex buffer (G) in the three elastic motion branches (Y) form a circumferential surface.

[0055] Through the above design, the robot of this invention can achieve multi-mode motion switching, including contraction mode, rolling movement mode, bouncing movement mode, and robot detection mode, specifically:

[0056] (1) Contraction mode

[0057] like Figure 12 As shown, the electric actuator assembly (F) controls all three spring-loaded motion chains (Y) to be in a retracted state; simultaneously, the upper rolling chain drive motor (M1) and the lower rolling chain drive motor (M2) control both the upper and lower rolling chains to be in a retracted state. Subsequently, the stepper motor (f1a) in the electric actuator assembly (F), as well as the upper and lower rolling chain drive motors (M1 and M2), lock. At this point, the three spring-loaded motion chains and each rolling chain are not deployed, minimizing the robot's overall size and making it easy to carry and navigate confined spaces.

[0058] (2) Scrolling movement mode

[0059] like Figure 13 As shown, based on (1), the three rolling branches on one side of the rolling direction are brought together, while the three rolling branches on the other side remain unchanged. At this time, due to the outward movement of the end cap on the rolling side, the robot's center of gravity is shifted to the rolling side, thereby achieving the purpose of the robot rolling.

[0060] (3) Bouncing Movement Mode:

[0061] like Figure 14 As shown, two of the three spring-like motion chains (Y) remain in a retracted state, while the third spring-like motion chain (Y) is deployed under the control of an electric push rod assembly (F), completing one spring-like movement by relying on the rubber covering the outer edge of the chain. The remaining chains deploy alternately and repeat the above process to achieve continuous spring-like movement, thus achieving the purpose of overcoming obstacles.

[0062] (4) Robot reconnaissance mode:

[0063] like Figure 15 As shown, in this invention, miniature cameras are installed on the outer circumferential walls of the top shell (o1) and bottom shell (o2) of the robot to monitor the surrounding environment and to aim at the target after finding it; after finding and aiming at the target through the miniature camera, gunpowder (V) is launched at the target by controlling the gunpowder ejection device.

Claims

1. A high-mobility hopping and rolling combined mobile robot, characterized by: It includes the core, the gunpowder ejection mechanism, and three spring-loaded motion chains and six rolling motion chains; The core is equipped with horizontally arranged single long arms at equal angular intervals around its circumference; an upper propellant ejection device and a lower propellant ejection device are respectively installed at the top and bottom of the core. Of the six rolling motion chains, three rolling motion chains are connected at both ends to the joints designed above the ends of the three long arms and the joints designed at equal angular intervals around the end caps fitted onto the ends of the upper propellant ejection device, forming a rotating pair; the other three rolling motion chains are connected at both ends to the joints designed below the ends of the three long arms and the joints designed at equal angular intervals around the end caps fitted onto the ends of the lower propellant ejection device, forming a rotating pair. The six rolling motion chains have the same structure, all of which are double-link structures. The end of link A is connected to the end cap, and the end of link B is connected to the long arm. An arc-shaped shell is fixed on link A, with the outer arc facing outward. Synchronous movement between the three rolling motion chains located on the same upper and lower sides is achieved through a drive mechanism. The three spring-like motion chains are connected to the three long arms via push rod assemblies and dampers, respectively; the three spring-like motion chains have the same structure, including an apex buffer and a spring rod; The inner side of the apex buffer is connected to the push rod assembly mounted on the long arm; the end of the arc-shaped spring rod is hinged to the side of the apex buffer and connected to the long arm through a damper.

2. The high-mobility hop-bounding combined mobile robot according to claim 1, wherein: The core has a columnar structure, and an installation port on its outer wall for installing the core module. The core module is a circuit board used to control the robot and is installed inside the main body through the installation port.

3. The high-mobility hop-bounding combined mobile robot according to claim 1, wherein: The gunpowder ejection device includes a gunpowder mounting tube, a friction wheel motor, a friction wheel, and a spring assembly. One end of the gunpowder mounting tube is a connecting end that is fixed to the core. A spring assembly is installed on the connecting end side inside the gunpowder mounting tube to eject the gunpowder. A boss is designed on the opposite side of the outer wall of the gunpowder mounting tube to mount the friction wheel motor. A friction wheel is installed on the output shaft of the friction wheel motor. The outer ring of the friction wheel passes through the opening in the side wall of the gunpowder mounting tube and is located inside the gunpowder mounting tube to limit the gunpowder. When the gunpowder needs to be ejected, the rotation of the friction wheel applies a thrust to the gunpowder to contact the limit.

4. The high-mobility hop-bounding combined mobile robot according to claim 1, wherein: The driving method for the synchronous movement of the three rolling motion chains on the same side is as follows: one of the three rolling motion chains is the active motion chain, and a synchronous pulley A is installed at the end of the connecting shaft between the connecting rod B and the long arm in the active motion chain; at the same time, a drive motor is installed on the side of the long arm through a connecting frame, and a synchronous pulley B is further installed on the output shaft of the drive motor, and the synchronous pulley A and the synchronous pulley B are connected by a transmission belt.

5. The high-mobility hop-bounding combined mobile robot according to claim 1, wherein: In the elastic motion chain, grooves are opened at corresponding positions on the left and right sides of the vertex buffer; at the same time, two elastic rods are designed, with the thickness of the two elastic rods gradually decreasing from the end to the front end, and the outer side of the end is placed in the groove on the same side of the vertex buffer, and the connection between the end and the groove forms a rotating pair; the inner side of the end of the two elastic rods is connected to one end of the damper; the other end of the damper is connected to the long arm, forming a rotating pair.

6. The high-mobility hop-bounding combined mobile robot according to claim 1 or 5, wherein: The apex buffer has an outer arc surface, which is located on the same side as the outer arc surface of the spring rod; and elastic rubber is laid on the outer arc surface of the spring rod and the apex buffer.

7. The high-mobility hop-bounding combined mobile robot according to claim 1 or 5, wherein: The push rod assembly pushes the vertex buffer to move outward along the long arm axis, and in the process, the front end of the elastic rod gradually approaches the inner core due to the damping buffer, until the front end of the two elastic rods reaches the adjacent vertex buffer; at this time, the elastic movement branch is in a closed state; conversely, the push rod assembly pulls the vertex buffer to move inward along the long arm circumference, so that the front end of the elastic rod gradually moves away from the inner core; at this time, the elastic movement branch is in an open state; and when the elastic movement branch is in a closed state, the elastic rod and the outer arc surface of the vertex buffer form an integral arc surface together; when the three elastic movement branches are in a recovery state, the elastic rods in the three elastic movement branches and the vertex buffers form a circumferential surface together.

8. The high-mobility hop-bounding combined mobile robot according to claim 1, wherein: The push rod assembly includes a stepping motor, a ball screw, and a push rod; the ball screw is coaxially arranged inside the long arm, and the distal end is connected with the long arm through a bearing; the nut of the ball screw is circumferentially matched with the inner wall of the long arm; the push rod is sleeved outside the ball screw, and the outer wall is matched with the inner wall of the long arm; at the same time, the distal end of the push rod is coaxially fixedly connected with the nut; the front end of the push rod is connected with the vertex buffer; the stepping motor is fixedly arranged inside the inner core, and the output shaft is coaxially connected and fixed with the distal end of the ball screw.

9. The high-mobility hop-bounding combined mobile robot according to claim 1 or 5, wherein: It has a contraction mode, a rolling movement mode, an elastic movement mode, and a robot detection mode: (1) Contraction mode: control the elastic movement branch to be closed to the limit position through the push rod assembly, and control the rolling movement branch to be expanded to the limit through the driving mechanism of the rolling movement branch; (2) Rolling movement mode: on the basis of (1), control three rolling branches on one side of the rolling direction to be closed, and control three rolling branches on the other side to remain unchanged; at this time, the rolling side end cover moves outward, so that the robot center of gravity deviates to the rolling side, so as to achieve the purpose of rolling of the robot; (3) Elastic movement mode: two of the three elastic movement branches remain in a closed state, and the other elastic movement branch is controlled to be expanded through the push rod assembly to complete one elastic movement; the above process is repeated by alternately expanding each elastic movement branch to realize continuous elastic movement; (4) Robot detection mode: a miniature camera is installed on the outer wall of the top end cover and the bottom end cover in a circumferential direction, which monitors the surrounding environment, and further controls the fire powder launching device to launch fire powder to the target when the target is found.

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