A deformable multi-mode mobile robot and a robot multi-mode deformation method

Abstract

This invention relates to a deformable multi-mode mobile robot and a method for its multi-mode transformation. The robot includes a control module, a fixed end-effector module, a four-bar linkage module, an end-effector module, and a motor module, and has three motion modes: a quadrilateral four-wheel mode, which allows the robot to change the distance between the two end-effector modules and the distance between the end-effector module and the fixed end-effector module, enabling the robot to push objects of different widths and traverse spaces of different heights; a collinear four-wheel mode, which allows the two end-effector modules to move to the side of the fixed end-effector module and be arranged collinearly with it, allowing the robot to traverse relatively narrow spaces; and an upright two-wheel mode, which lifts the end-effector module to act as a robotic arm, enabling the robot to grasp and transport target objects. The robot combines these three motion modes and can flexibly and quickly switch between them, thus enabling it to perform functions such as crawling, grasping, and transporting.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a deformable multi-mode mobile robot and a method for multi-mode robot deformation. Background Technology

[0002] Mobile robots are deployed in a wide range of environments, including factories, warehouses, hospitals, and offices, to perform various tasks. Object transport is a frequently used application, requiring robots with sufficient mobility and the ability to handle objects effectively. Legged-wheeled hybrid locomotion is a promising approach to ensuring appropriate mobility and accessibility for mobile robots, especially when using omnidirectional wheels. Recent representative products include omnidirectional mobile robots (OMRs) with active suspension, the Mecanum wheeled hybrid hexapod robot, and OMRs with ground reaction force compensation wheel-leg mechanisms. These legged-wheeled hybrid mobile robots demonstrate appropriate adaptability in different scenarios and irregular terrains due to their wheeled, legged, or hybrid locomotion modes. However, these mobile robots cannot transport objects without additional mechanisms; they require the addition of dedicated arms for object handling. This introduces highly redundant robot systems, leading to complex systems and controls. Arm planning and control under balance constraints become particularly difficult when the support polygon of the combined robot system is variable.

[0003] A Chinese patent discloses a transport robot, whose structure includes: a first walking unit comprising a first walking wheel, a servo motor assembly, and a connecting arm; the servo motor assembly is drive-connected to the first walking wheel to drive it to turn; the first end of the connecting arm is connected to the servo motor assembly; a second walking unit comprising a support column and a second walking assembly; the support column is connected to the second end of the connecting arm; the second walking assembly is mounted on the support column and is adapted to walk along the ground; and a lifting unit for connecting and / or lifting the items to be transported. The transport robot according to this utility model mainly includes a first walking unit, a second walking unit, and a lifting unit. Its overall structure is relatively simple and occupies less space, making it easier to move or transport containers within short distances and limited spaces. It avoids the problem of large operating space requirements associated with large cranes or gantry cranes, increasing the convenience of transportation and reducing transportation costs. While the above solution enables the robot to move and transport items within a certain space, the robot's motion environment requirements are high, and the transportation distance is short. Furthermore, the robot in the above solution can only lift and move the target object and cannot select a suitable handling method based on the actual situation of the object. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this invention provides a deformable multi-mode mobile robot and a method for multi-mode robot transformation, which can switch between multiple modes, improve the robot's flexibility, and enable it to move and transport in complex environments.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A deformable multi-mode mobile robot includes a base, a control module, a fixed wheel module, a four-bar linkage module, an end effector wheel module, and a first motor module, a second motor module, a third motor module, and a fourth motor module. The fixed wheel modules are rotatably mounted on both sides of the bottom of the base. The four-bar linkage modules are rotatably mounted on both sides of the top of the base, and the end effector wheel modules are rotatably mounted on the four-bar linkage modules. The four-bar linkage modules are arranged laterally. The first motor module is mounted on the base and connected to the fixed wheel module, driving the fixed wheel module to rotate. The first motor module is mounted on the four-bar linkage module and connected to the end-wheel module, driving the end-wheel module to rotate. The second motor module is mounted on the four-bar linkage module and drives the four-bar linkage module to change the included angle between each link, thereby realizing the deformation of the four-bar linkage module. The fourth motor module is mounted on the base and connected to the four-bar linkage module, driving the four-bar linkage module to rotate relative to the base. The control module is communicatively connected to the first motor module, the second motor module, the third motor module, and the fourth motor module.

[0007] Based on the aforementioned technical means, by adjusting the included angles between the links of the four-bar linkage module and the included angle between the four-bar linkage module as a whole and the base, the relative positions of the end-effector and fixed-effector modules can be changed. When the end-effector and fixed-effector modules are arranged in a front-to-back configuration (with the direction of movement forward), the robot is in a quadrilateral four-wheel motion mode; when the end-effector and fixed-effector modules are arranged side-by-side and coaxially, the robot is in a collinear four-wheel motion mode; when the end-effector module leaves the ground while the fixed-effector module remains in contact with the ground, the robot is in an upright two-wheel motion mode. Furthermore, by changing the distance between the two end-effector modules, it is possible to grip items of different sizes and change the overall width of the robot. In the quadrilateral four-wheel motion mode, the overall height of the robot can be adjusted by adjusting the included angle between the four-bar linkage module as a whole and the base. During use, the robot can flexibly switch between various modes according to its environment and the items to be transported, enabling smooth movement in spacious, narrow, obstacle-filled, and uneven environments.

[0008] In one embodiment, the four-bar linkage module includes a first link, a second link, a third link, and a fourth link. The middle portion of the fourth link is rotatably mounted on the base, and both ends of the fourth link are rotatably connected to one end of the first link and one end of the third link, respectively. The two ends of the second link are connected to the other ends of the first link and the third link, respectively. The output end of the fourth motor module is connected to the fourth link, driving the fourth link to rotate relative to the base. The third motor module is mounted on the fourth link, and its output end is connected to the middle portion of the second link via a fifth link. One end of the fifth link is fixedly connected to the output end of the third motor module, and the other end is rotatably connected to the second link. The rotation of the second motor drives the second link to rotate, thereby changing the angles between the links of the four-bar linkage module.

[0009] In one embodiment, a motor mount is provided on the fourth link, and the third motor module is mounted on the motor mount; a wheel mount is provided on the second link, and the end wheel module is rotatably mounted on the wheel mount, and the second motor module is also mounted on the wheel mount.

[0010] In one embodiment, the shafts of the two fixed wheat wheel modules are coaxially arranged; the shafts of the two end wheat wheel modules are coaxially arranged; and the shafts of the fixed wheat wheel modules are coaxial or parallel to the shafts of the end wheat wheel modules.

[0011] In one embodiment, both the fixed mecanoe wheel module and the end mecanoe wheel module include a Mecanum wheel.

[0012] In one embodiment, the base includes a base, a first mounting plate, and a second mounting plate; the first mounting plate and the second mounting plate are vertically and parallel to each other on both sides of the base, one end of the first mounting plate and the second mounting plate is fixedly connected to the base, and the other end of the first mounting plate and the second mounting plate is connected to the four-bar linkage module, and the two four-bar linkage modules are respectively located outside the first mounting plate and the second mounting plate; the fourth motor module is located between the first mounting plate and the second mounting plate.

[0013] In another embodiment, the present invention also provides a robot multi-mode deformation method, using the deformable multi-mode mobile robot described above, comprising:

[0014] The rotation of the third motor module is controlled to drive the change of the included angle between each link of the four-bar linkage module, thereby realizing the deformation of the four-bar linkage module and changing the distance between the two end wheel modules.

[0015] When the end-effector wheel module and the fixed wheel module are arranged in a front-to-back interval, the robot is in a quadrilateral four-wheel motion mode;

[0016] When the end-effector module and the fixed-effector module are arranged in parallel and coaxially, the robot is in a collinear four-wheel motion mode;

[0017] Controlling the rotation of the fourth motor module drives the four-bar linkage module to rotate relative to the base, causing the end-wheel module to leave the ground, and the robot to be in an upright two-wheel motion mode; or, controlling the rotation of the first motor module drives the fixed wheel module to accelerate forward, thereby generating a backward acceleration, causing the end-wheel module to lift up, achieving upright movement, and the robot to be in an upright two-wheel motion mode.

[0018] The quadrilateral four-wheel motion mode of the present invention includes multiple embodiments. In one embodiment, the robot maintains its initial state and moves in this state, in which the end-effector wheel module and the fixed wheel module are arranged in a front-to-back manner (with the direction of movement as the front), and the distance between them does not change; the two end-effector wheel modules maintain a minimum distance, and all modules of the robot are treated as a whole. In this embodiment, only the control module needs to control the rotation of the end-effector wheel module and the fixed wheel module to drive the robot to shuttle through the obstacle space.

[0019] In one embodiment, in the quadrilateral four-wheel motion mode, the fourth motor module is controlled to rotate, driving the four-bar linkage module to rotate relative to the base, thereby changing the distance between the end effector wheel module and the fixed wheel module to adjust the overall height of the robot. In this mode, the end effector wheel module and the fixed wheel module are arranged in a front-to-back configuration (with the direction of movement forward). The fourth motor module drives the entire four-bar linkage module to rotate, thereby changing the vertical angle between the four-bar linkage module and the YOZ plane, increasing the distance between the end effector wheel module and the fixed wheel module, reducing the overall height of the robot, and enabling the robot to navigate through spaces with lower heights.

[0020] In one embodiment, in the quadrilateral four-wheel motion mode, the rotation of the third motor module is controlled. By adjusting the angles between the links, the distance between the two end-wheel modules is changed, thereby adjusting the overall width of the robot and enabling the robot to grip or push objects of different sizes. In this mode, the robot's end-wheel and fixed-wheel modules are arranged in a front-to-back configuration (with the direction of movement forward). The third motor module drives the linkages of the four-bar variable mechanism module, changing the horizontal angle between the four-bar variable mechanism module and the YOZ plane, increasing the distance between the two end-wheel modules. This allows the robot to use the enclosed space formed by the end-wheel modules, the four-bar variable mechanism module, the fixed-wheel module, and the base to push forward larger obstacles.

[0021] In the collinear four-wheel mode of the present invention, in one embodiment, the robot's end effector wheel module and fixed wheel module are arranged in parallel and coaxially. The third motor module drives the linkage of the four-bar linkage module to change the horizontal angle between the four-bar linkage module and the YOZ plane, thereby driving the end effector wheel module to move to a position collinear with the fixed wheel module, so as to reduce the width of the robot and enable the robot to pass through relatively narrow spaces.

[0022] In one embodiment, in the upright two-wheeled motion mode, the rotation of the third motor module is controlled, and the distance between the two end-effector modules is changed by adjusting the angle between the various linkages, so that the robot can grip items of different sizes. In the upright two-wheeled mode of the present invention, the fixed end-effector module remains in contact with the ground. The base, the third motor module, the fourth motor module, the four-link variable mechanism module, and the end-effector modules are fixed as a whole. The fixed end-effector module remains in contact with the ground. The rotation of the first motor module causes the fixed end-effector module to accelerate forward, thereby generating a reverse torque, driving the whole to rotate backward, causing the end-effector modules to lift off the ground, realizing the switching of the upright two-wheeled mode. In this mode, the robot can lift or use the two end-effector modules as robotic arms to grip items and reach a designated location.

[0023] Compared with existing technologies, the beneficial effects are:

[0024] 1. The robot provided by this invention has multiple functions such as crawling, grasping, and transportation. By controlling the angle change between the four-bar linkage module and the YOZ plane or the base plane and the YOZ plane, the arrangement between the end effector wheel module and the fixed wheel module can be changed, which can flexibly and quickly switch between several robot modes and states, so that the robot has the ability to move freely in spaces of various sizes or spaces with obstacles.

[0025] 2. The robot of the present invention is in a quadrilateral four-wheel motion mode, with the four Mecanum wheels of the robot on the ground simultaneously and arranged in a front-to-back manner; when the robot starts working, the relative position between the end Mecanum wheel module and the fixed Mecanum wheel module is changed by adjusting the angle of each link of the four-link variable mechanism module through the third motor module or adjusting the overall position of the four-link variable mechanism module through the fourth motor module, thereby changing the height of the robot and the width of the robot gripper, improving the robot's adaptability in complex scenarios;

[0026] 3. The robot of the present invention is in a collinear four-wheel motion mode. The end effector module and the fixed effector module of the robot land on the ground at the same time and are arranged side by side. The robot controls the four-bar linkage module through the third motor module, which drives the end effector module to move, so that the axis of the end effector module and the fixed effector module coincides with a straight line, forming a collinear arrangement, which reduces the width of the robot and allows the robot to pass through relatively narrow spaces.

[0027] 4. The robot of this invention operates in an upright two-wheeled motion mode. The robot's fixed Mecanum wheel module is on the ground, and the first motor module controls the fixed Mecanum wheel module, thereby lifting the end Mecanum wheel module upwards to form a two-wheeled upright motion mode. In this mode, the two Mecanum wheels of the end Mecanum wheel module can be used as two robotic arms to grasp and transport target objects, and the posture of the grasped object can be adjusted by controlling the rotation of the two Mecanum wheels. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0029] Figure 2 This is a schematic diagram of the base structure of the present invention.

[0030] Figure 3 This is a schematic diagram of the four-bar linkage variable structure module of the present invention.

[0031] Figure 4 This is a schematic diagram of the motor module installation of the present invention.

[0032] Figure 5 This is a schematic diagram of the robot's initial state according to the present invention.

[0033] Figure 6 This is a first-person perspective schematic diagram of the robot surrounding obstacles according to the present invention.

[0034] Figure 7 This is a second-view schematic diagram of the robot surrounding obstacles according to the present invention.

[0035] Figure 8 This is a schematic diagram of the robot of the present invention lowering its height.

[0036] Figure 9 This is a schematic diagram illustrating the invention's method of reducing height to pass through obstacles.

[0037] Figure 10 This is a schematic diagram of the collinear motion mode of the four wheels of the present invention.

[0038] Figure 11 This is a schematic diagram of a narrow passage under the four-wheel collinear motion mode of the present invention.

[0039] Figure 12 This is a schematic diagram of the upright motion mode of the present invention.

[0040] Figure 13 This is a schematic diagram of the upright movement mode for transporting items according to the present invention.

[0041] Reference numerals: 1. Base; 11. Base plate; 12. First mounting plate; 13. Second mounting plate; 2. Control module; 3. Fixed wheel module; 4. Four-bar linkage module; 41. First link; 42. Second link; 43. Third link; 44. Fourth link; 45. Fifth link; 46. Motor mount; 47. Wheel mount; 5. End wheel module; 6. First motor module; 7. Second motor module; 8. Third motor module; 9. Fourth motor module. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The present invention will be described in one embodiment below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and represent schematic diagrams, not actual pictures, and should not be construed as limiting the present patent. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the actual product size. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0043] In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. In addition, if the embodiments of this invention involve descriptions of "first," "second," etc., such descriptions are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of those features. Furthermore, the meaning of "and / or" throughout the text is to include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution that simultaneously satisfies A and B.

[0044] Example 1:

[0045] like Figures 1 to 4 As shown, this embodiment provides a deformable multi-mode mobile robot, including a base 1, a control module 2, a fixed wheel module 3, a four-bar linkage module 4, an end effector wheel module 5, a first motor module 6, a second motor module 7, a third motor module 8, and a fourth motor module 9. The fixed wheel modules 3 are rotatably mounted on both sides of the bottom of the base 1; the four-bar linkage modules 4 are rotatably mounted on both sides of the top of the base 1, and the end effector wheel module 5 is rotatably mounted on the four-bar linkage modules 4; the four-bar linkage modules 4 are arranged horizontally; the first motor module 6 is mounted on the base 1 and connected to the fixed wheel module 3. The first motor module 6 drives the fixed wheat wheel module 3 to rotate; the second motor module 7 is installed on the four-bar linkage transformation module 4 and connected to the end wheat wheel module 5, driving the end wheat wheel module 5 to rotate; the third motor module 8 is installed on the four-bar linkage transformation module 4 and drives the four-bar linkage transformation module 4 to change the included angle between each link, thereby realizing the deformation of the four-bar linkage transformation module 4; the fourth motor module 9 is installed on the base 1 and connected to the four-bar linkage transformation module 4, driving the four-bar linkage transformation module 4 to rotate relative to the base 1; the control module 2 is communicatively connected to the first motor module 6, the second motor module 7, the third motor module 8 and the fourth motor module 9 respectively.

[0046] Based on the aforementioned technical means, by adjusting the included angles between the links of the four-bar linkage module 4 and the included angle between the four-bar linkage module 4 as a whole and the base 1, the relative positions of the end-effector wheel module 5 and the fixed wheel module 3 can be changed. When the end-effector wheel module 5 and the fixed wheel module 3 are arranged in a front-to-back configuration (with the direction of movement forward), the robot is in a quadrilateral four-wheel motion mode; when the end-effector wheel module 5 and the fixed wheel module 3 are arranged side-by-side and coaxially, the robot is in a collinear four-wheel motion mode; when the end-effector wheel module 5 leaves the ground, the fixed wheel module... 3. Maintaining contact with the ground, the robot is in an upright two-wheeled movement mode. In addition, by changing the distance between the two end wheel modules 5, it can clamp items of different sizes and change the overall width of the robot. In the quadrilateral four-wheeled movement mode, the overall height of the robot can be adjusted by adjusting the angle between the four-bar linkage module 4 and the base 1. During use, the robot can flexibly switch between various modes according to the environment and the items to be transported, enabling the robot to move smoothly in spacious, narrow, obstacle-filled, and uneven environments.

[0047] Specifically, such as Figure 3 As shown, the four-bar linkage module 4 includes a first link 41, a second link 42, a third link 43, and a fourth link 44. The middle part of the fourth link 44 is rotatably mounted on the base 1, and both ends of the fourth link 44 are rotatably connected to one end of the first link 41 and one end of the third link 43, respectively. The two ends of the second link 42 are connected to the other ends of the first link 41 and the other ends of the third link 43, respectively. The output end of the fourth motor module 9 is connected to the fourth link 44, driving the fourth link 44 to rotate relative to the base 1. The third motor module 8 is mounted on the fourth link 44, and the output end of the third motor module 8 is connected to the middle part of the second link 42 through a fifth link 45. One end of the fifth link 45 is fixedly connected to the output end of the third motor module 8, and the other end is rotatably connected to the second link 42. The rotation of the second motor drives the second link 42 to rotate, thereby realizing the change of the angle between the links of the four-bar linkage module 4.

[0048] like Figure 3 As shown, a motor mount 46 is provided on the fourth link 44, and the third motor module 8 is mounted on the motor mount 46; a wheel mount 47 is provided on the second link 42, and the end wheel module 5 is rotatably mounted on the wheel mount 47, and the second motor module 7 is also mounted on the wheel mount 47.

[0049] like Figure 1 As shown, the shafts of the two fixed wheat wheel modules 3 are coaxially arranged; the shafts of the two end wheat wheel modules 5 are coaxially arranged; the shafts of the fixed wheat wheel modules 3 and the shafts of the end wheat wheel modules 5 are coaxially or parallel.

[0050] In this embodiment, both the fixed mecanum wheel module 3 and the end mecanum wheel module 5 include a Mecanum wheel.

[0051] like Figure 2 As shown, the base 1 includes a base 11, a first mounting plate 12, and a second mounting plate 13. The first mounting plate 12 and the second mounting plate 13 are vertically and parallel to each other on both sides of the base 1. One end of the first mounting plate 12 and the second mounting plate 13 is fixedly connected to the base 11, and the other end of the first mounting plate 12 and the second mounting plate 13 is connected to the four-bar linkage module 4. The two four-bar linkage modules 4 are located on the outside of the first mounting plate 12 and the second mounting plate 13, respectively. The fourth motor module 9 is located between the first mounting plate 12 and the second mounting plate 13.

[0052] In this embodiment, the robot is mounted on the Z-axis, with the first motor module 6 and the fixed wheel module 3 coaxially mounted on the left and right sides of the bottom of the base 1; the control module 2 is mounted in the middle of the base 1; the four-bar linkage module 4, the end wheel module 5, the second motor module 7, the third motor module 8 and the fourth motor module 9 are all arranged symmetrically about the base 1.

[0053] According to the embodiment provided, a deformable multi-mode mobile robot may include at least three motion modes: quadrilateral four-wheel motion mode, collinear four-wheel motion mode, and upright two-wheel motion mode.

[0054] like Figures 5 to 9 As shown, in the quadrilateral four-wheel motion mode, the end effector Mecanum wheel module 5 and the fixed Mecanum wheel module 3 are arranged in a front-to-back configuration. In this mode, the robot has two ways to change its posture. The first is that, with the YOZ plane as the reference plane, the four-bar linkage module 4 changes the horizontal angle between the first link 41, the third link 43, and the YOZ plane, causing the second link 42 and the Mecanum wheel of the end effector Mecanum wheel module 5 to move. This changes the opening and closing distance between the two Mecanum wheels of the end effector Mecanum wheel module 5, and consequently changes the relative position between the Mecanum wheels of the end effector Mecanum wheel module 5 and the Mecanum wheels of the fixed Mecanum wheel module 3. In this motion mode, the overall height of the robot remains unchanged. The second... As a whole, the four-bar linkage module 4 changes the vertical angle between itself and the YOZ plane, causing the Mecanum wheel of the end Mecanum wheel module 5 to move forward, or changes the vertical angle between the base 1 and the YOZ plane, causing the Mecanum wheel of the fixed Mecanum wheel module 3 to move backward. This causes both the Mecanum wheel of the end Mecanum wheel module 5 and the Mecanum wheel of the fixed Mecanum wheel module 3 to move forward and backward simultaneously, thereby changing the straight-line distance between the Mecanum wheel of the end Mecanum wheel module 5 and the Mecanum wheel of the fixed Mecanum wheel module 3, and thus changing the robot's center of gravity and overall height.

[0055] like Figure 10 and Figure 11 As shown, in the collinear four-wheel motion mode, the end Mecanum wheel module 5 and the fixed Mecanum wheel module 3 are arranged collinearly. In this mode, with the YOZ plane as the reference plane, the four-bar linkage module 4 changes the horizontal angle between the first link 41, the third link 43 and the YOZ plane to 180°, driving the movement of the second link 42 and the Mecanum wheel of the end Mecanum wheel module 5. This maximizes the distance between the two Mecanum wheels of the end Mecanum wheel module 5, thereby aligning the axes of the Mecanum wheels of the end Mecanum wheel module 5 and the Mecanum wheels of the fixed Mecanum wheel module 3 onto a straight line, achieving the collinearity requirement.

[0056] like Figure 12 and Figure 13 As shown, in the upright two-wheel mode, the base 1, fourth motor module 9, third motor module 8, four-bar linkage module 4, and end Mecanum wheel module 5 are fixed as a whole. The fixed Mecanum wheel module 3 remains in contact with the ground. The rotation of the bottom motor causes the Mecanum wheel of the fixed Mecanum wheel module 3 to accelerate forward, thereby generating a reverse torque that drives the whole to rotate backward, causing the end Mecanum wheel module 5 to lift off the ground, thus achieving the switching from the upright two-wheel mode. In this mode, the Mecanum wheel of the fixed Mecanum wheel module 3 acts as the motion unit in contact with the ground, while the other units act as a whole. By changing the vertical angle between the plane of the base 1 and the YOZ plane, the end Mecanum wheel module 5 is lifted, achieving the switching from four wheels to two wheels.

[0057] Example 2

[0058] This embodiment provides a method for multi-mode robot deformation, using the deformable multi-mode robot provided in Embodiment 1, including:

[0059] The third motor module 8 is controlled to rotate, which drives the change of the included angle between each link of the four-bar linkage module 4, thereby realizing the deformation of the four-bar linkage module 4 and changing the distance between the two end wheel modules 5.

[0060] When the end-effector module 5 and the fixed-effector module 3 are arranged in a front-to-back interval, the robot is in a quadrilateral four-wheel motion mode.

[0061] When the end-effector module 5 and the fixed end-effector module 3 are arranged in parallel and coaxially, the robot is in a collinear four-wheel motion mode.

[0062] Control the rotation of the fourth motor module 9 to drive the four-bar linkage module 4 to rotate relative to the base 1, so that the end wheel module 5 leaves the ground and the robot is in an upright two-wheel motion mode; or, control the rotation of the first motor module 6 to drive the fixed wheel module 3 to accelerate forward, thereby generating a backward acceleration, so that the end wheel module 5 is lifted up, achieving upright movement, and the robot is in an upright two-wheel motion mode.

[0063] Example 3

[0064] like Figure 5 As shown, in the initial state, the robot's end-effector Mecanum wheel module 5 and the fixed Mecanum wheel module 3 are arranged one in front of the other, with the Mecanum wheels of the end-effector Mecanum wheel module 5 maintaining the shortest possible distance. At this time, the robot is also in a quadrilateral four-wheel motion mode.

[0065] like Figure 6 and Figure 7 As shown, the distance between the Mecanum wheels of the two end Mecanum wheel modules 5 of the robot changes. The robot begins to move and deform from the initial state, and the three motor modules 8 control the four-bar linkage module 4 to move outward, causing the shape of the first link 41, the second link 42, the third link 43, and the fourth link 44 of the four-bar linkage module 4 to change, thereby changing the horizontal angle between the first link 41, the third link 43 and the YOZ, driving the Mecanum wheels of the end Mecanum wheel modules 5 to move. By changing the distance between the two Mecanum wheels, the robot can push target objects of different widths.

[0066] The beneficial effects of this embodiment are: by controlling the change of the horizontal angle between the four-bar linkage module 4 and the YOZ plane, the distance between the Mecanum wheels of the end Mecanum wheel module 5 can be adjusted flexibly and quickly according to the width of the object to be pushed, forming a semi-enclosed shape with the base 1, which can prevent the target object from deviating during the process of the robot pushing the target object.

[0067] Example 4

[0068] like Figure 8 and Figure 9 As shown, the distance between the robot's end effector Mecanum wheel module 5 and the fixed Mecanum wheel module 3 changes. Considering the third motor module 8, the four-bar linkage module 4, and the end effector Mecanum wheel module 5 as a single unit I maintaining contact with the ground, the fourth motor module 9 controls the rotation of the third linkage 43, causing the entire unit I to move forward. This changes the vertical angle between the four-bar linkage module 4 and the YOZ plane. Alternatively, the fourth motor module 9 can drive the base 1 to move, changing the vertical angle between the plane of the base 1 and the YOZ plane. This causes the Mecanum wheels of the end effector Mecanum wheel module 5 and the fixed Mecanum wheel module 3 to move, changing the distance between them. This allows the robot's height to be reduced.

[0069] The beneficial effects of this embodiment are: by controlling the change of the vertical angle between the four-bar linkage module 4 and the YOZ plane, the distance between the end effector module 5 and the coaxial module can be adjusted flexibly and quickly according to the required height of the space, thereby reducing the robot's center of gravity and overall height, allowing the robot to move in more complex environments.

[0070] Example 5

[0071] like Figure 10 and Figure 11 As shown, the distance between the Mecanum wheels of the two end Mecanum wheel modules 5 of the robot is increased to the maximum, and they are arranged collinearly with the fixed Mecanum wheel module 3. The three motor modules 8 control the four-bar linkage module 4 to move outward, so that the shape between the first link 41, the second link 42, the third link 43, and the fourth link 44 of the four-bar linkage module 4 changes, thereby changing the horizontal angle between the first link 41, the third link 43 and the YOZ plane, driving the Mecanum wheels of the two end Mecanum wheel modules 5 to move to both sides of the Mecanum wheels of the two fixed Mecanum wheel modules 3, so that the end Mecanum wheel modules 5 and the fixed Mecanum wheel modules 3 are arranged collinearly.

[0072] The beneficial effects of this embodiment are: by controlling the change of the horizontal angle between the four-bar linkage module 4 and the YOZ plane, the distance between the two Mecanum wheels of the end-effector module 5 can be flexibly and quickly adjusted to achieve the collinear arrangement of the end-effector module 5 and the fixed Mecanum module 3, thereby changing the width of the robot so that it can pass through relatively narrow spaces.

[0073] Example 6

[0074] like Figure 12 and Figure 13 As shown, the robot's end effector Mecanum wheel module 5 lifts up, and the robot switches from four-wheel mode to two-wheel mode. Considering the base 1, third motor module 8, four-bar linkage module 4, and end effector Mecanum wheel module 5 as a whole, the first motor module 6 controls the fixed Mecanum wheel module 3, causing its two Mecanum wheels to accelerate forward, generating a reverse torque on the entire assembly. This changes the vertical angle between the base 1 and the YOZ plane, causing the Mecanum wheels of the end effector Mecanum wheel module 5 to lift off the ground. The robot switches to two-wheel mode, and the two Mecanum wheels of the end effector Mecanum wheel module 5 act as robotic arms to grasp the target object. The posture of the grasped object can be adjusted by controlling the rotation of the two Mecanum wheels.

[0075] The beneficial effects of this embodiment are: by controlling the change of the vertical angle between the four-bar linkage module 4 and the YOZ plane, the robot can be flexibly and quickly switched from a four-wheel motion mode to a two-wheel motion mode, so that the Mecanum wheel of the end effector module 5 can act as a robotic arm to grasp the target object, thereby realizing the robot's transportation of the target object.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A deformable multi-mode mobile robot, characterized in that, The system includes a base (1), a control module (2), a fixed wheat wheel module (3), a four-bar linkage module (4), an end wheat wheel module (5), a first motor module (6), a second motor module (7), a third motor module (8), and a fourth motor module (9). The fixed wheat wheel module (3) is rotatably mounted on both sides of the bottom of the base (1). The four-bar linkage module (4) is rotatably mounted on both sides of the top of the base (1). The end wheat wheel module (5) is rotatably mounted on the four-bar linkage module (4). The four-bar linkage module (4) is arranged horizontally. The first motor module (6) is mounted on the base (1) and is connected to the fixed wheat wheel module (9). The wheel module (3) is connected to drive the fixed wheat wheel module (3) to rotate; the second motor module (7) is installed on the four-bar linkage module (4) and connected to the end wheat wheel module (5) to drive the end wheat wheel module (5) to rotate; the third motor module (8) is installed on the four-bar linkage module (4) to drive the four-bar linkage module (4) to change the included angle between each link, thereby realizing the deformation of the four-bar linkage module (4); the fourth motor module (9) is installed on the base (1) and connected to the four-bar linkage module (4) to drive the four-bar linkage module (4) to rotate relative to the base (1); the control Module (2) is communicatively connected to the first motor module (6), the second motor module (7), the third motor module (8), and the fourth motor module (9), respectively; wherein, the four-bar linkage module (4) includes a first link (41), a second link (42), a third link (43), and a fourth link (44); the middle part of the fourth link (44) is rotatably mounted on the base (1), and the two ends of the fourth link (44) are rotatably connected to one end of the first link (41) and one end of the third link (43), respectively; the two ends of the second link (42) are respectively connected to the other end of the first link (41) and the other end of the third link (43). Connection; the output end of the fourth motor module (9) is connected to the fourth link (44), driving the fourth link (44) to rotate relative to the base (1); the third motor module (8) is installed on the fourth link (44), and the output end of the third motor module (8) is connected to the middle of the second link (42) through the fifth link (45). One end of the fifth link (45) is fixedly connected to the output end of the third motor module (8), and the other end is rotatably connected to the second link (42); the third motor module (8) rotates, driving the second link (42) to rotate, thereby realizing the change of the angle between each link of the four-bar linkage module (4).

2. The morphable multi-modal mobile robot of claim 1, wherein, A motor mount (46) is provided on the fourth link (44), and the third motor module (8) is mounted on the motor mount (46); a wheel mount (47) is provided on the second link (42), and the end wheel module (5) is rotatably mounted on the wheel mount (47), and the second motor module (7) is also mounted on the wheel mount (47).

3. The morphable multi-modal mobile robot of claim 1, wherein, The two fixed wheat wheel modules (3) are coaxially arranged; the two end wheat wheel modules (5) are coaxially arranged; the shaft of the fixed wheat wheel module (3) is coaxial or parallel to the shaft of the end wheat wheel module (5).

4. The morphable multi-modal mobile robot of any one of claims 1 to 3, wherein, Both the fixed mecanum wheel module (3) and the end mecanum wheel module (5) include a Mecanum wheel.

5. The morphable multi-modal mobile robot of claim 4, wherein, The base (1) includes a base (11), a first mounting plate (12) and a second mounting plate (13); the first mounting plate (12) and the second mounting plate (13) are vertically and parallel to each other on both sides of the base (11), one end of the first mounting plate (12) and the second mounting plate (13) is fixedly connected to the base (11), and the other end of the first mounting plate (12) and the second mounting plate (13) is connected to the four-bar linkage module (4), and the two four-bar linkage modules (4) are located on the outside of the first mounting plate (12) and the second mounting plate (13) respectively; the fourth motor module (9) is located between the first mounting plate (12) and the second mounting plate (13).

6. A method of robotic multi-modal metamorphosis, characterized by, Using the deformable multimodal mobile robot according to any one of claims 1 to 5, comprising: Control the rotation of the third motor module (8) to drive the change of the included angle between each link of the four-bar linkage module (4), thereby realizing the deformation of the four-bar linkage module (4) and changing the distance between the two end wheel modules (5); When the end wheel module (5) and the fixed wheel module (3) are arranged in a front-to-back interval, the robot is in a quadrilateral four-wheel motion mode; When the end wheel module (5) and the fixed wheel module (3) are arranged in parallel and coaxially, the robot is in a collinear four-wheel motion mode; Control the rotation of the fourth motor module (9) to drive the four-bar linkage module (4) to rotate relative to the base (1), so that the end wheel module (5) leaves the ground and the robot is in an upright two-wheel movement mode; or, control the rotation of the first motor module (6) to drive the fixed wheel module (3) to accelerate forward, thereby generating a backward acceleration, so that the end wheel module (5) is lifted up to achieve upright movement and the robot is in an upright two-wheel movement mode.

7. The robotic multi-modal metamorphic method of claim 6, wherein, In the quadrilateral four-wheel motion mode, the fourth motor module (9) is controlled to rotate, driving the four-bar linkage module (4) to rotate relative to the base (1), thereby changing the distance between the end wheel module (5) and the fixed wheel module (3) to achieve the adjustment of the overall height of the robot.

8. The robotic multi-modal metamorphic method of claim 6, wherein, In the quadrilateral four-wheel motion mode, the third motor module (8) is controlled to rotate. By adjusting the included angle between each link, the distance between the two end wheel modules (5) is changed to adjust the overall width of the robot and enable the robot to grip or push items of different sizes.

9. The robotic multi-modal metamorphic method of claim 6, wherein, In the upright two-wheel motion mode, the third motor module (8) is controlled to rotate, and the distance between the two end wheel modules (5) is changed by adjusting the included angle between each link, so that the robot can clamp items of different sizes.

Images