A multi-modal work robot

Abstract

This invention belongs to the field of robotics technology and relates to a multimodal working robot, including a vehicle body and several deformable wheels symmetrically mounted on both sides of the vehicle body. Each deformable wheel includes a deformable drive assembly mounted on a cage, a deformable transmission assembly cooperating with the deformable drive assembly, and several hinged wheels arranged around the deformable drive assembly. The deformable drive assembly enables the hinged wheels to expand or close in a ring relative to the deformable transmission assembly. A power drive assembly is also provided on one side of the deformable transmission assembly to achieve overall rotation of the deformable wheel. To achieve electrical decoupling between the rotation of the deformable wheel and the deformable drive assembly, an electric slip ring is provided on one side of the power drive assembly. The deformable wheel can automatically switch between wheel and claw modes. The wheel mode allows for high-speed, low-power travel on flat surfaces, while the claw mode is particularly suitable for obstacle crossing on muddy or uneven surfaces or mudflats.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a multimodal work robot. Background Technology

[0002] Wheeled robots are widely used in various fields due to their high mobility, lightweight and flexible design, and ease of control. They can also carry various functional modules and travel at high speeds on smooth surfaces, making them suitable for a variety of tasks. However, wheeled robots also have certain limitations. When traveling in muddy, uneven, swampy, or mudflat environments, they are prone to getting stuck. This can range from affecting their work efficiency to requiring rescue, significantly limiting their application scope.

[0003] Deformable wheels enable traditional wheeled robots to move efficiently on smooth roads or walls, while also improving their efficiency and stability in complex and harsh terrains such as rugged, muddy, swampy, or mudflat areas through deformation. Patent CN 105774394 B discloses a mobile robot with deformable wheels, which uses a planar linkage mechanism with multiple forks and links to deform the arc-shaped wheel pieces. Patent CN 117141612 A discloses a deformable wheel-legged mobile robot, where the deformable wheel-leg mechanism drives several planetary gears through a central gear to extend or close the arc-shaped legs, enabling switching between wheeled and legged movement modes. Similar patents include CN 112455565 A, which discloses an adaptive wheel-legged reconnaissance robot with reconfigurable form; CN 116279876A, which discloses a deformable wheeled mobile robot; and CN 220180970 U, which discloses a stair-climbing robot based on automatically deformable wheels.

[0004] As can be seen, existing multimodal deformable robots mainly use gears, chains, timing belts, or more complex linkages and push rods to complete shape transformations. However, most of them have not clarified or solved the problem of power supply or sensing coupling between the deformation drive of the deformable wheel and the wheel's own drive. That is, when the deformable wheel is driven by a power unit on one side, the deformation drive or deformation detection device on the other side also needs to rotate with the drive wheel. At this time, the cable of the deformation drive or deformation detection device will become entangled as the drive wheel rotates. No corresponding solution has been mentioned in the existing solutions to this problem.

[0005] Furthermore, for deformable wheel mechanisms that use gears, connecting rods, synchronous belts, or connecting rods to drive deformation, the deformation arc hub is supported by only a few simple fulcrums, which is not conducive to improving the stability, high precision, and strong load characteristics of the deformable wheel. Summary of the Invention

[0006] The purpose of this invention is to provide a multimodal robot that can achieve independent decoupling control of movement and deformation, signal feedback and power supply through wheel system deformation, thereby enabling high-speed, low-power travel on flat ground and high-performance obstacle crossing in harsh environments such as mud and tidal flats.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a multimodal operation robot, including a vehicle body, a power module installed in the vehicle body for powering the robot, a control module installed in the vehicle body to realize the robot drive control, and a number of deformable wheels symmetrically installed on both sides of the vehicle body;

[0008] The deformable wheel includes a deformable drive assembly, a deformable transmission assembly that cooperates with the deformable drive assembly, and a wheel system disposed around the deformable drive assembly; the deformable drive assembly enables the wheel system to expand or close in a ring relative to the deformable transmission assembly; a power drive assembly is also disposed on one side of the deformable transmission assembly to enable the deformable wheel to rotate; an electrical assembly is disposed on one side of the power drive assembly.

[0009] The electrical component includes a fixed end and a rotating end. The fixed end is connected to the power drive component, and the rotating end passes through the power drive component and is electrically connected to the deformation drive component.

[0010] Furthermore, the power drive assembly includes a motor bracket and a power motor body mounted on the motor bracket. The motor bracket is fixedly connected to the vehicle body, and the output shaft of the power motor body is fixedly connected to the deformation transmission assembly.

[0011] Furthermore, the deformation drive assembly includes a deformation motor, a deformation motor bracket, and a deformation drive gear set. The deformation motor bracket is connected to the deformation transmission assembly, the deformation motor is fixedly mounted on the deformation motor bracket, the output shaft of the deformation motor is connected to the deformation drive gear set, and the deformation drive gear set is meshed with the gear train.

[0012] Furthermore, the number of gears in the deformable drive gear set is N, and N≥1;

[0013] When N=1, the shaft of the deformation drive gear set is directly connected to the output shaft of the deformation motor. The deformation drive gear set is located at the shaft of the gear train, and the gears of the deformation drive gear set mesh with the gear train.

[0014] When N=2, the deformable drive gear set includes a first gear and a second gear. The first gear of the deformable drive gear set is located at the output shaft end of the deformable motor, and the second gear is located at the center of the gear train shaft. The first gear and the second gear are meshed and connected, and the second gear is meshed and connected to the gear train, so as to realize the meshing of the first gear, the second gear, and the gear train and the transmission of power.

[0015] Similarly, when N = 3, 4..., by increasing the number of gears, the indirect meshing and power transmission effect of the deformable motor on the gear train after N gears can be achieved.

[0016] Preferably, when N=3, the deformable drive gear set includes a deformable drive gear, a deformable driven pinion, and a deformable driven large gear. The output shaft of the deformable motor is connected to the deformable drive gear. The deformable drive gear is meshed with the deformable driven pinion. The deformable driven pinion is coaxially connected with the deformable driven large gear. The deformable driven large gear is meshed with the gear train.

[0017] Furthermore, the deformable motor is connected to a deformation amount detection sensor and / or a deformable wheel travel speed detection sensor.

[0018] Furthermore, the wheel system includes several wheel frames, each wheel frame has an arc-shaped fan-shaped spoke on its outer side, all fan-shaped spokes are spliced ​​together to form a complete circle, the outer periphery of the fan-shaped spokes is provided with a rubber pad, one end of each wheel frame is provided with a hinge wheel, the center of each hinge wheel is rotatably connected to the deformation transmission component, each hinge wheel is meshed with the deformation drive gear set, the deformation motor drives the deformation drive gear set to rotate, and in turn drives each hinge wheel meshing with the deformation drive gear set to rotate synchronously about the center of the hinge wheel as the axis.

[0019] Furthermore, each of the hinged wheels is provided with an inner guide support plate and an outer guide support plate, and an arc-shaped groove is formed between the inner guide support plate and the outer guide support plate. A guide device, such as a guide pulley structure, is provided in the arc-shaped groove. The guide pulley is fixedly connected to the deformation transmission assembly through a support rod. When the hinged wheel rotates, the guide pulley is always located in the arc-shaped groove. The guide pulley and the support rod achieve guidance and support and increase load capacity.

[0020] Furthermore, the deformation transmission assembly includes a retainer, a follower frame, a support grid shaft, a rotating support bearing, a deformation shaft, a synchronous locking link, a retaining ring screw, a deformation support bearing, and a gear train link. The outer center of the follower frame is connected to the power motor body, and the outer side of the retainer is fixedly connected to the deformation motor bracket. The inner center of both the follower frame and the retainer is provided with a support grid shaft, and a rotating support bearing is provided on the support grid shaft. The deformation drive gear set is mounted on the rotating support bearing. The center of both the follower frame and the retainer is provided with a through hole for the electrical components to pass through. The follower frame and the retainer are both provided with a synchronous locking link, and the synchronous locking link of the follower frame is fixedly connected to the synchronous locking link of the retainer. The follower frame and the retainer are both distributed with a gear train link with the same number as the hinge wheel. The ends of the gear train links of the follower frame and the retainer are rotatably connected to the hinge wheel through the deformation support bearing and the deformation shaft. The outer end of the deformation shaft is provided with a retaining ring screw for limiting the position.

[0021] Furthermore, the electrical component includes an electric slip ring, which comprises a fixed end, a rotating end, and a slip ring wire. The fixed end is mounted on the power drive assembly, and the fixed end and the rotating end are rotatably connected. The rotating end passes through the center of the power drive assembly and extends out from one side of the deformation drive assembly. The ends of the fixed end and the rotating end are respectively connected to slip ring wires. The slip ring wire connected to the rotating end is connected to the deformation motor of the deformation drive assembly. The slip ring wire connected to the rotating end is also connected to a sensor to achieve signal transmission. The slip ring wire connected to the fixed end is connected to the power module and the control module.

[0022] Furthermore, the power motor body is a hollow shaft motor or a non-hollow shaft motor. When the power motor body is a hollow shaft motor, the electrical components pass through the shaft hole of the hollow shaft motor and are connected to the deformation drive component. When the power motor body is a non-hollow shaft motor, the output shaft of the power motor body is connected to a hollow gear set, the power motor body is connected to the deformation transmission component through the hollow gear set, and the electrical components pass through the hollow gear set and are connected to the deformation drive component.

[0023] The present invention has the following beneficial effects:

[0024] 1. The multimodal robot of this invention uses a deformation drive component to achieve the annular expansion or closure of the hinge wheel relative to the deformation transmission component. A power drive component is also provided on one side of the deformation transmission component to achieve overall rotation of the deformable wheel. The deformation drive component and the deformation transmission component cooperate to achieve autonomous deformation switching of the wheel system between wheel mode and claw mode. Wheel mode allows for high-speed, low-power travel on flat surfaces, while claw mode is particularly suitable for rapid obstacle crossing on muddy or uneven surfaces or tidal flats. This improves the robot's travel speed, obstacle crossing performance, and stability on muddy or uneven surfaces or tidal flats, and can be widely used for reconnaissance, detection, and operation in complex and harsh environments such as muddy or uneven surfaces or tidal flats.

[0025] 2. The multimodal robot of the present invention achieves electrical decoupling between the robot's power drive component driving the robot forward and the deformation drive component driving the deformation wheel during the process of the deformation of the robot by the deformation drive component through the cooperation of the deformation transmission component and the electrical decoupling of the deformation drive component driving the deformation wheel during the process of the robot's power drive component driving the robot forward.

[0026] 3. The multimodal operation robot of the present invention achieves a sliding connection between the cage and the hinge wheel through the guide pulley and the support rod, which enhances the guiding and supporting function of the deformation transmission component for the hinge wheel and improves the load-bearing capacity of the deformation wheel.

[0027] 4. The multimodal operation robot of the present invention can also realize the wall crawling function. The height adjustment of the adsorption power component can be realized through the spacing adjustment component. On the one hand, the adsorption force can be adjusted during negative pressure adsorption. On the other hand, different adsorption methods can be selected according to the specific conditions of the wall, thereby improving the adsorption efficiency of the robot and its applicability in different working environments. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the multimodal operation robot of the present invention with the claw mode adsorption power component in the lower position.

[0029] Figure 2 This is a front view structural diagram of the multimodal operation robot of the present invention with the wheel mode adsorption power component in the upper position.

[0030] Figure 3 This is a schematic diagram of the overall three-dimensional structure of the deformable wheel of the multimodal operation robot in Embodiment 1 of the present invention.

[0031] Figure 4 This is a front view schematic diagram of the deformable wheel structure of the multimodal operation robot in Embodiment 1 of the present invention.

[0032] Figure 5 yes Figure 4 Sectional view along the AA direction.

[0033] Figure 6 This is a rear view schematic diagram of the deformable wheel structure of the multimodal operation robot in Embodiment 1 of the present invention.

[0034] Figure 7 This is a left-side view of the deformable wheel structure of the multimodal operation robot in Embodiment 1 of the present invention.

[0035] Figure 8 yes Figure 7 Sectional view along the BB direction.

[0036] Figure 9 This is a schematic diagram of the overall three-dimensional structure of the deformable wheel of the multimodal operation robot in Embodiment 2 of the present invention.

[0037] Figure 10 yes Figure 9 A magnified schematic diagram of the local structure at point C.

[0038] Figure 11 This is a front view structural schematic diagram of the deformable wheel of the multimodal operation robot in Embodiment 3 of the present invention.

[0039] Figure 12 This is a left-side view of the deformable wheel structure of the multimodal operation robot in Embodiment 4 of the present invention.

[0040] Figure 13This is a front view structural schematic diagram of the deformable wheel of the multimodal operation robot in Embodiment 5 of the present invention.

[0041] Figure 14 This is a top view of the deformable wheel structure of the multimodal operation robot in Embodiment 5 of the present invention.

[0042] Figure 15 This is a front view structural diagram of the multimodal operation robot of the present invention with the claw mode adsorption power component in the upper position.

[0043] Figure 16 This is a schematic diagram of the overall three-dimensional structure of the adsorption module of the multimodal operation robot of the present invention.

[0044] Figure 17 This is a top view of the adsorption module of the multimodal robot of the present invention.

[0045] Figure 18 This is a front view structural diagram of the adsorption module of the multimodal operation robot of the present invention.

[0046] Figure 19 yes Figure 18 Sectional view along the DD direction.

[0047] Figure 20 This is a schematic diagram of the overall three-dimensional structure of the adsorption power component of the multimodal operation robot of the present invention.

[0048] Figure 21 This is a schematic diagram of the overall three-dimensional structure of the multimodal operation robot of the present invention in the state of the claw mode adsorption power component being placed on top.

[0049] In the diagram, 1. Vehicle body, 2. Deformable wheel, 3. Adsorption module, 4. Power module, 5. Control module;

[0050] 11. Body; 12. Adsorption plate;

[0051] 21. Power drive assembly; 22. Deformation drive assembly; 23. Deformation transmission assembly; 24. Electrical assembly; 25. Gear train;

[0052] 21a. Motor bracket; 21b. Power motor body; 21c. Hollow gear set;

[0053] 22a. Deformable motor; 22b. Deformable motor bracket; 22c. Deformable drive gear; 22d. Deformable driven pinion; 22e. Deformable driven large gear; 22f. Deformation amount detection sensor; 22g. Deformable wheel travel speed detection sensor; 22h. Wire channel.

[0054] 23a. Cage; 23b. Follower frame; 23c. Support grid shaft; 23d. Through hole; 23e. Rotary support bearing; 23f. Deformable shaft; 23g. Synchronous locking link; 23h. Retaining ring screw; 23i. Deformable support bearing; 23j. Gear train link.

[0055] 24a. Slip ring bracket; 24b. Electric slip ring; 24b1. Slip ring fixed end; 24b2. Slip ring rotating end; 24b3. Slip ring wire;

[0056] 25a, hinge wheel; 25b, wheel frame; 25c, fan spoke; 25d, rubber pad; 25e, inner guide support plate; 25f, outer guide support plate; 25g, guide pulley; 25h, support rod.

[0057] 31. Adsorption power component; 32. Flow channel; 33. Spacing adjustment component; 34. Fixing bracket;

[0058] 31a. Adsorption motor; 31b. Filter screen; 31c. Flange; 31d. Paddle blade; 31e. Motor guide tube; 31f. Shaft; 31g. Bearing; 31h. Grille support.

[0059] 33a. Spacing adjustment motor; 33b. Spacing adjustment slide rail; 33c. Spacing adjustment slider; 33d. Synchronous bracket; 33e. Spacing adjustment lead screw; 33f. Fixed lug; 33g. Spacing adjustment fixing bracket; 33h. Gear set. Detailed Implementation

[0060] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention. However, the scope of protection of the present invention is not limited to these embodiments. All changes or equivalent substitutions that do not depart from the concept of the present invention are included within the scope of protection of the present invention.

[0061] Example 1

[0062] like Figure 1-3 As shown, a multimodal robot includes a vehicle body 1, a power module 4 for powering the robot and a control module 5 for driving the robot, both installed within the vehicle body 1. The power module 4 is connected to the control module 5. Several deformable wheels 2 are symmetrically installed on both sides of the vehicle body 1. Each deformable wheel 2 includes a deformable drive assembly 22, a deformable transmission assembly 23 that cooperates with the deformable drive assembly 22, and a wheel system 25 arranged around the deformable drive assembly 22. The deformable drive assembly 22 enables the wheel system 25 to expand or close in a ring relative to the deformable transmission assembly 23. A power drive assembly 21 is also provided on one side of the deformable transmission assembly 23 to enable the rotation of the deformable wheel 2. An electrical assembly 24 is provided on one side of the power drive assembly 21 and is connected to the power module 4 and the control module 5.

[0063] like Figure 7 As shown, the power drive assembly 21 includes a motor bracket 21a and a power motor body 21b mounted on the motor bracket 21a. The motor bracket 21a is fixedly connected to the vehicle body 1. The output shaft of the power motor body 21b is connected and fixedly connected to the deformation transmission assembly 23. The power motor body 21b is a hollow shaft motor. The electrical component 24 passes through the power motor body 21b and connects to the deformation drive assembly 22. The power motor body 21b is connected to the control module 5. The power motor body 21a drives the output shaft to rotate, which in turn drives the deformation transmission assembly 23 and the entire wheel system 25 to rotate, driving the entire robot to achieve forward and backward functions.

[0064] like Figure 4 , Figure 8 As shown, the deformation drive assembly 22 includes a deformation motor 22a, a deformation motor bracket 22b, and a deformation drive gear set. In this embodiment, the deformation drive gear set has three gears, including a deformation drive gear 22c, a deformation driven pinion 22d, and a deformation driven large gear 22e. The deformation motor 22a is connected to the control module 5, and the deformation motor bracket 22b is connected to the deformation transmission assembly 23. The deformation motor 22a is fixedly mounted on the deformation motor bracket 22b. The output shaft of the deformation motor 22a is connected to the deformation drive gear 22c. The deformation drive gear 22c meshes with the deformation driven pinion 22d, the deformation driven pinion 22d is coaxially connected with the deformation driven large gear 22e, and the deformation driven large gear 22e meshes with the gear train 25.

[0065] like Figure 8 As shown, the wheel system 25 includes several wheel frames 25b. Each wheel frame 25b has an arc-shaped fan-shaped spoke 25c on its outer side. All the fan-shaped spokes 25c are spliced ​​to form a complete circle. The outer periphery of the fan-shaped spokes 25c is provided with rubber pads 25d for anti-slip and protection of the fan-shaped spokes 25c. One end of each wheel frame 25b is provided with a hinge wheel 25a. The center of each hinge wheel 25a is rotatably connected to the deformation transmission assembly 23. The outer periphery of the hinge wheel 25a is provided with teeth for meshing with the deformation driven large gear 22e. The deformation driven large gear 22e is located at the center of the wheel system 25. The deformation driven large gear 22e is meshed with each hinge wheel 25a.

[0066] The deformable motor 22a rotates forward, driving the deformable drive gear 22c to rotate, which in turn drives the deformable driven pinion 22d, which meshes with the deformable drive gear 22c, to rotate. This further drives the deformable driven large gear 22e, which is coaxially connected to the deformable driven pinion 22d, to rotate. This causes each hinge wheel 25a meshing with the deformable driven large gear 22e to rotate synchronously around the center of the hinge wheel 25a. This further drives the wheel frame 25b and the fan spokes 25c to rotate. The end of the fan spokes 25c away from the hinge wheel 25a rotates away from the center of the wheel system 25. The wheel system 25 transforms from a circular wheel mode to a claw mode. The power drive component 21 drives the robot to move in claw mode. In this mode, the robot is suitable for moving quickly on muddy or uneven roads or mudflats, improving the robot's speed and stability on muddy or mudflats.

[0067] When the robot moves on a flat surface, the deformable motor 22a reverses, sequentially driving the deformable drive gear 22c, the deformable driven small gear 22d, the deformable driven large gear 22e, and the hinge wheel 25a to rotate. This further drives the wheel frame 25b and the fan-shaped spokes 25c to rotate. The end of the fan-shaped spokes 25c away from the hinge wheel 25a rotates towards the center of the wheel system 25. The wheel system 25 transforms from a claw mode to a circular wheel mode, and the wheel system 25 returns to a circular shape, improving the robot's speed and stability on flat surfaces.

[0068] like Figure 3-8As shown, the deformation transmission assembly 23 includes a cage 23a, a follower frame 23b, a support grid shaft 23c, a rotational support bearing 23e, a deformation shaft 23f, a synchronous locking link 23g, a retaining ring screw 23h, a deformation support bearing 23i, and a gear train link 23j. Several gear train links 23j are distributed on both the cage 23a and the follower frame 23b. The number of gear train links 23j is the same as the number of hinge wheels 25a in the gear train 25. The ends of the gear train links 23j of the cage 23a and the follower frame 23b are rotatably connected to the hinge wheels 25a through the deformation support bearing 23i and the deformation shaft 23f. The outer end of the deformation shaft 23f is provided with a retaining ring screw 23h for limiting the position. The outer center of the follower frame 23b is fixedly connected to the output shaft of the power motor body 21b. The outer side of the retainer 23a is fixedly connected to the deformable motor bracket 22b. The deformable motor bracket 22b is fixedly installed on one side of the center of the retainer 23a. The inner center of both the follower frame 23b and the retainer 23a is provided with a support grid shaft 23c. The support grid shaft 23c is provided with a rotating support bearing 23e. The deformable driven pinion 22d and the deformable driven gear 22e are coaxially installed on the rotating support bearing 23e. The center of both the retainer 23a and the follower frame 23b is provided with a through hole 23d, which communicates with the shaft hole of the power motor body 21b for the electrical component 24 to pass through. Both the retainer 23a and the follower frame 23b are provided with a synchronous locking link 23g. The synchronous locking link 23g of the follower frame 23b is fixedly connected to the synchronous locking link 23g of the retainer 23a.

[0069] like Figure 5 As shown, the electrical component 24 includes a slip ring bracket 24a and an electric slip ring 24b. The slip ring bracket 24a is fixedly installed in the shaft hole of the power motor body 21b. The electric slip ring 24b includes a slip ring fixed end 24b1, a slip ring rotating end 24b2, and a slip ring wire 24b3. The slip ring fixed end 24b1 is fixedly installed inside the slip ring bracket 24a. The slip ring fixed end 24b1 and the slip ring rotating end 24b2 are rotatably connected. The slip ring rotating end 24b2 passes through the power motor body. The slip ring 21b extends from one side of the deformation drive assembly 22. The ends of the slip ring fixed end 24b1 and the slip ring rotating end 24b2 are respectively connected to the slip ring wire 24b3. The slip ring wire 24b3 connected to the slip ring rotating end 24b2 passes through the through hole 23d in the center of the retainer 23a and the follower 23b and is connected to the deformation motor 22a of the deformation drive assembly 22. The slip ring wire 24b3 connected to the slip ring fixed end 24b1 is connected to the power module 4 and the control module 5.

[0070] When the output shaft of the power motor body 21b of the power drive assembly 21 rotates, it drives the follower frame 23b and the wheel system 25 connected to the follower frame 23b to rotate as a whole, realizing the forward or backward movement of the wheel system 25. Since the slip ring fixed end 24b1 is fixedly installed at the shaft hole of the power motor body 21b through the slip ring bracket 24a, and the slip ring fixed end 24b1 and the slip ring rotating end 24b2 are rotatably connected, and the slip ring rotating end 24b2 is connected to the deformation drive assembly 22, the slip ring rotating end 24b2 rotates relative to the slip ring fixed end 24b1 while the output shaft of the power motor body 21b rotates, thus preventing the slip ring wire 24b3 connected to the slip ring rotating end 24b2 from coupling with the slip ring wire 24b3 connected to the slip ring fixed end 24b1.

[0071] When the deformable motor 22a rotates, it sequentially drives the deformable drive gear 22c, the deformable driven pinion 22d, the deformable driven large gear 22e, and the hinge wheel 25a to rotate, thereby realizing the deformation of the gear train 25. At the same time, the slip ring rotating end 24b2, which is connected to the deformable motor 22a through the slip ring wire 24b3, rotates relative to the slip ring fixed end 24b1, thus realizing the decoupling function between the slip ring wire 24b3 connected to the slip ring rotating end 24b2 and the slip ring wire 24b3 connected to the slip ring fixed end 24b1.

[0072] In addition to the basic components mentioned above, different work modules, such as robotic arms and detection sensors, can be installed on the vehicle body 1 according to the work requirements.

[0073] The specific working method of the multimodal operation robot is as follows:

[0074] 1) The robot moves forward on muddy or uneven surfaces or mudflats: Transforming wheel 2 is in claw mode, such as... Figure 1 , 21 As shown, the deformable motor 22a rotates forward, driving the deformable drive gear 22c to rotate, which in turn drives the deformable driven pinion 22d, which meshes with the deformable drive gear 22c, to rotate. This further drives the deformable driven large gear 22e, which is coaxially connected to the deformable driven pinion 22d, to rotate. This causes each hinge wheel 25a meshing with the deformable driven large gear 22e to rotate synchronously around the center of the hinge wheel 25a, which in turn drives the wheel frame 25b and the fan spokes 25c to rotate. The end of the fan spokes 25c away from the hinge wheel 25a rotates in a direction away from the center of the wheel system 25. The wheel system 25 transforms from a circular wheel mode to a claw mode, and the power drive component 21 drives the robot to move in claw mode.

[0075] 2) Decoupling of deformable wheel 2 during deformation process:

[0076] The output shaft of the power motor body 21b of the power drive assembly 21 rotates, driving the follower frame 23b and the wheel system 25 connected to the follower frame 23b to rotate as a whole, realizing the forward or backward movement of the wheel system 25. At the same time as the output shaft of the power motor body 21b rotates, the slip ring rotating end 24b2 rotates relative to the slip ring fixed end 24b1. The deformation motor 22a rotates, sequentially driving the deformation drive gear 22c, the deformation driven pinion 22d, the deformation driven gear 22e, and the hinge wheel 25a to rotate, realizing the deformation of the wheel system 25. At the same time, the slip ring rotating end 24b2 connected to the deformation motor 22a through the slip ring wire 24b3 rotates relative to the slip ring fixed end 24b1, realizing the decoupling of the forward movement of the deformation wheel and the deformation of the wheel system.

[0077] Example 2

[0078] To improve the load-bearing capacity of the deformable wheels, the structure of the multimodal robot in this embodiment is basically the same as that in Embodiment 1, except that:

[0079] like Figure 9 , 10 As shown, each hinge wheel 25a of the wheel system 25 is provided with an inner guide support plate 25e and an outer guide support plate 25f. The curvature of the inner guide support plate 25e and the outer guide support plate 25f is consistent with the curvature of the hinge wheel 25a. An arc-shaped groove is formed between the inner guide support plate 25e and the outer guide support plate 25f. A guide pulley 25g is provided in the arc-shaped groove. The guide pulley 25g is fixedly connected to the retainer 23a of the deformation transmission assembly 23 through the support rod 25h. When the hinge wheel 25a rotates, the guide pulley 25g is always located in the arc-shaped groove. The guide pulley 25g and the support rod 25h realize the guiding and supporting function of the hinge wheel 25a, thereby improving the load-bearing capacity of the deformation wheel 2.

[0080] Example 3

[0081] To increase the accuracy of direct drive motors and reduce costs, the structure of the multimodal robot in this embodiment is basically the same as that in Embodiment 1, except that:

[0082] like Figure 11 As shown, the deformable motor 22a is fixedly mounted on the center of the retainer 23a via the deformable motor bracket 22b. The deformable drive gear set includes a deformable drive gear 22c. The output shaft of the deformable motor 22a is connected to the deformable drive gear 22c, and the deformable drive gear 22c meshes with the hinge wheel 25a. A wire channel 22h for the slip ring conductor 24b3 to pass through is connected between the deformable motor 22a and the power drive assembly 21. The direct drive connection between the deformable motor 22a and the hinge wheel 25a improves drive stability and accuracy, simplifies the composition of drive components, and reduces costs.

[0083] Example 4

[0084] The structure of the multimodal robot in this embodiment is basically the same as that in Embodiment 1, except that:

[0085] like Figure 12 As shown, the deformable motor 22a is connected to a deformation amount detection sensor 22f and / or a deformable wheel travel speed detection sensor 22g. The deformation amount detection sensor 22f includes, but is not limited to, detecting the motor / gear angle or speed, and the deformable wheel travel speed detection sensor 22g includes, but is not limited to, detecting the motor / cage speed.

[0086] Example 5

[0087] The structure of the multimodal robot in this embodiment is basically the same as that in Embodiment 1, except that:

[0088] like Figure 13 , 14 As shown, the motor body 21b is a non-hollow shaft motor. The output shaft of the motor body 21b is connected to a hollow gear set 21c. The motor body 21b is connected to the follower frame 23b through the hollow gear set 21c. The electrical component 24 passes through the hollow gear set 21c and is connected to the deformation drive component 22, thereby realizing the offset placement of the motor body 21b.

[0089] Example 6

[0090] The structure of the multimodal robot in this embodiment is the same as that in embodiments 1-5, except that:

[0091] like Figure 1 , 2 As shown in Figure 15, the multimodal operation robot also includes an adsorption module 3 installed vertically through the middle of the vehicle body 1. The adsorption module 3 includes a vertically through flow channel 32. A fixed bracket 34 is provided on the outer wall of the flow channel 32. The flow channel 32 is installed on the vehicle body 1 through the fixed bracket 34. Two sets of spacing adjustment components 33 are symmetrically installed on the inner wall of the flow channel 32. An adsorption power component 31 is connected between the two sets of spacing adjustment components 33. The adsorption power component 31 can move up and down along the spacing adjustment component 33. The adsorption power component 31 and the spacing adjustment component 33 are respectively connected to the control module 5.

[0092] like Figure 17-20As shown, the adsorption power assembly 31 includes an adsorption motor 31a, a motor guide tube 31e, a rotating shaft 31f, a bearing 31g, and a grid support 31h. The adsorption motor 31a is connected to the power module 4 and the control module 5. The adsorption motor 31a is fixedly installed in the upper part of the motor guide tube 31e through the grid support 31h. The output end of the bottom of the adsorption motor 31a is connected to the top of the rotating shaft 31f. Several blades 31d are connected to the rotating shaft 31f through the bearing 31g. A flange 31c is connected to the bottom of the rotating shaft 31f. A filter screen 31b is provided at the bottom of the motor guide tube 31e. The number, diameter, pitch, and other parameters of the blades are arranged according to actual needs. The adsorption motor 31a can also be a hydraulic motor or other devices. The adsorption motor 31a connects to the rotating shaft 31f and provides power to drive the blades 31d to rotate, thereby agitating and propelling the fluid.

[0093] The adsorption motor 31a rotates, driving the paddle to rotate; the paddle drives the fluid to flow, and the fluid flows from bottom to top into the flow channel 32 of the adsorption module 3 from the cavity between the lower surface of the adsorption disk and the wall. According to the law of conservation of fluid mass, the cross-sectional area of ​​the flow channel near the outer edge of the adsorption disk is large and the flow velocity is slow; while the cross-sectional area of ​​the flow channel near the lower outer edge of the guide tube at the center of the adsorption disk is small and the flow velocity is fast. Therefore, the fluid velocity in the cavity between the adsorption disk and the wall is faster than the fluid velocity outside the vehicle body. According to Bernoulli's equation, the pressure is low where the flow velocity is high and the pressure is high where the flow velocity is low. Therefore, the fluid pressure inside the flow channel is lower than that outside, thus the fluid pressure squeezes the robot body against the wall, and the robot achieves the negative pressure adsorption function.

[0094] like Figure 16-20As shown, each spacing adjustment assembly 33 includes a spacing adjustment motor 33a, a spacing adjustment slide rail 33b, a spacing adjustment slider 33c, a spacing adjustment screw 33e, a spacing adjustment fixing frame 33g, and a gear set 33h. The spacing adjustment fixing frame 33g is fixedly installed on the inner wall of the flow channel 32. The spacing adjustment slide rail 33b and the spacing adjustment screw 33e are connected between the top and bottom of the spacing adjustment fixing frame 33g. There are two spacing adjustment slide rails 33b, which are symmetrically arranged on both sides of the spacing adjustment screw 33e, and play a guiding and supporting role. The spacing adjustment slider 33c is sleeved on the spacing adjustment slide rail 33b and the spacing adjustment screw 33e, and the spacing adjustment slider 33c is slidably connected to the spacing adjustment slide rail 33b. The spacing adjustment slider 33c is threadedly connected to the spacing adjustment screw 33e. A synchronous bracket 33d is fixedly installed on the side wall of the spacing adjustment slider 33c. Fixed ear seats 33f are symmetrically installed on the outer wall of the adsorption power component 31. The fixed ear seats 33f are fixedly connected to the corresponding synchronous brackets 33d, thereby realizing that the spacing adjustment slider 33c drives the adsorption power component 31 to move up and down. The spacing adjustment motor 33a is fixedly mounted on the top of the spacing adjustment bracket 33g. The spacing adjustment motor 33a is connected to the power module 4 and the control module 5. The output end of the spacing adjustment motor 33a is connected to the top of the spacing adjustment lead screw 33e via a gear set 33h. The spacing adjustment motor 33a drives the spacing adjustment lead screw 33e to rotate via the gear set 33h, which in turn drives the spacing adjustment slider 33c on the spacing adjustment lead screw 33e and the adsorption power assembly 31 fixedly connected to the spacing adjustment slider 33c to move up and down. The strength of the robot's adsorption force can be adjusted by adjusting the height of the adsorption power assembly 31.

[0095] The adsorption module 3 of this invention can also be equipped with a vertical thruster, which can be the vertical thruster disclosed in the invention patent application publication number CN 116985979A. When the adsorption power assembly is mounted on top, thrust adsorption can be achieved through the vertical thruster.

[0096] like Figure 2 As shown, the vehicle body 1 includes a main body 11 and an adsorption plate 12 disposed at the bottom of the main body 11. The main body 11 is used to install the power module 4 and the control module 5, and also to install different operating modules. Deformation wheels 2 are connected to both sides of the adsorption plate 12, and the adsorption module 3 is installed vertically through the middle of the main body 11 and the adsorption plate 12. A cavity flow channel is formed between the lower surface of the adsorption plate 12 and the wall surface to cooperate with the adsorption module 3 to achieve a negative pressure effect.

[0097] The robot's crawling motion on a flat wall surface in an adhesive state: the deformable wheel 2 is in wheel mode, and the adhesive power component 31 is located at the bottom, such as... Figure 2As shown, the spacing adjustment motor 33a drives the spacing adjustment screw 33e to rotate through the gear set 33h, which in turn drives the spacing adjustment slider 33c on the spacing adjustment screw 33e and the adsorption power component 31 fixedly connected to the spacing adjustment slider 33c to descend until the bottom surface of the adsorption power component 31 is level with the bottom of the flow channel 32. The rotation of the adsorption motor 31a drives the blade to rotate, and the blade drives the fluid to flow. The fluid flows from bottom to top into the flow channel 32 of the adsorption module 3 from the cavity flow channel between the lower surface of the adsorption plate and the wall. The fluid pressure inside the flow channel is lower than that outside, so the fluid pressure squeezes the robot body against the wall, and the robot realizes the negative pressure adsorption function. The control module 5 controls the power drive component 21 to drive the deformation wheel 2 to move, so as to realize the robot's crawling function under negative pressure adsorption.

[0098] Example 7

[0099] The structures of the multimodal robots in Embodiments 1-5 of the present invention can be used individually, or at least two of the differences in Embodiments 1-5 can be combined as needed.

[0100] This invention is not limited to the above-described embodiments. Anyone should know that any structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention.

[0101] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A multimodal work robot, comprising a vehicle body, a power module installed within the vehicle body for supplying power to the robot, and a control module installed within the vehicle body for realizing robot drive control, characterized in that, Several deformable wheels are symmetrically installed on both sides of the vehicle body; The deformable wheel includes a deformable drive assembly, a deformable transmission assembly that cooperates with the deformable drive assembly, and a wheel system disposed around the deformable drive assembly; the deformable drive assembly enables the wheel system to expand or close in a ring relative to the deformable transmission assembly; a power drive assembly is also disposed on one side of the deformable transmission assembly to enable the deformable wheel to rotate; an electrical assembly is disposed on one side of the power drive assembly. The electrical component includes a fixed end and a rotating end. The fixed end is connected to the power drive component, and the rotating end passes through the power drive component and is electrically connected to the deformation drive component. The deformation drive assembly includes a deformation motor, a deformation motor bracket, and a deformation drive gear set. The deformation motor bracket is connected to the deformation transmission assembly. The deformation motor is fixedly mounted on the deformation motor bracket. The output shaft of the deformation motor is connected to the deformation drive gear set. The deformation drive gear set is meshed with the gear train. The wheel system includes several wheel frames, each wheel frame has an arc-shaped fan-shaped spoke on its outer side, all fan-shaped spokes are spliced ​​together to form a complete circle, the outer periphery of the fan-shaped spokes is provided with a rubber pad, one end of each wheel frame is provided with a hinge wheel, the center of each hinge wheel is rotatably connected to the deformation transmission component, each hinge wheel is meshed with the deformation drive gear set, the deformation motor drives the deformation drive gear set to rotate, and in turn drives each hinge wheel meshing with the deformation drive gear set to rotate synchronously around the center of the hinge wheel as the axis; Each of the hinged wheels is provided with an inner guide support plate and an outer guide support plate, and an arc-shaped groove is formed between the inner guide support plate and the outer guide support plate. A guide device is provided in the arc-shaped groove, and the guide device is a guide pulley structure. The guide pulley is fixedly connected to the deformation transmission component through a support rod. When the hinged wheel rotates, the guide pulley is always located in the arc-shaped groove. The guide pulley and the support rod achieve guidance and support and increase load capacity. The deformation transmission assembly includes a retainer, a follower frame, and a synchronous locking link. The outer center of the follower frame is connected to the power motor body, and the outer side of the retainer is connected and fixed to the deformation motor bracket. Both the follower frame and the retainer have through holes in their centers for electrical components to pass through. Both the follower frame and the retainer are provided with synchronous locking links, and the synchronous locking links of the follower frame and the retainer are fixedly connected.

2. The multi-modal work robot of claim 1, wherein, The power drive assembly includes a motor bracket and a power motor body mounted on the motor bracket. The motor bracket is fixedly connected to the vehicle body, and the output shaft of the power motor body is fixedly connected to the deformation transmission assembly.

3. The multi-modal work robot of claim 1, wherein, The number of gears in the deformable drive gear set is N, and N≥1; When N=1, the shaft of the deformation drive gear set is directly connected to the output shaft of the deformation motor. The deformation drive gear set is located at the shaft of the gear train, and the gears of the deformation drive gear set mesh with the gear train. When N=2, the deformable drive gear set includes a first gear and a second gear. The first gear of the deformable drive gear set is located at the output shaft end of the deformable motor, and the second gear is located at the center of the gear train shaft. The first gear and the second gear are meshed and connected, and the second gear is meshed and connected to the gear train, so as to realize the meshing of the first gear, the second gear, and the gear train and the transmission of power. Similarly, when N=3, 4..., by increasing the number of gears, the indirect meshing and power transmission effect of the deformable motor on the gear train after N gears can be achieved.

4. The multimodal operation robot as described in claim 1, characterized in that, The deformable motor is connected to a deformation amount detection sensor and / or a deformation wheel travel speed detection sensor.

5. The multi-modal work robot of claim 1, wherein, The deformation transmission assembly also includes a support grid shaft, a rotating support bearing, a deformation shaft, a retaining ring screw, a deformation support bearing, and a gear train connecting rod. The inner side of the center of the follower frame and the inner side of the center of the cage are both provided with support grid shafts. The support grid shafts are provided with rotating support bearings. The deformation drive gear set is mounted on the rotating support bearings. The follower frame and the cage are both provided with gear train connecting rods with the same number of hinge wheels. The ends of the gear train connecting rods of the follower frame and the cage are rotatably connected to the hinge wheels through the deformation support bearings and the deformation shaft. The outer end of the deformation shaft is provided with a retaining ring screw for limiting the position.

6. The multi-modal work robot of any one of claims 1-5, wherein, The electrical components include an electric slip ring, which comprises a fixed end, a rotating end, and a slip ring wire. The fixed end is mounted on the power drive assembly, and the fixed end and the rotating end are rotatably connected. The rotating end passes through the center of the power drive assembly and extends out from one side of the deformation drive assembly. The ends of the fixed end and the rotating end are respectively connected to slip ring wires. The slip ring wire connected to the rotating end is connected to the deformation motor of the deformation drive assembly. The slip ring wire connected to the rotating end is also connected to a sensor to achieve signal transmission. The slip ring wire connected to the fixed end is connected to the power module and the control module.

7. The multi-modal work robot of claim 2, wherein, The power motor body is a hollow shaft motor or a non-hollow shaft motor. When the power motor body is a hollow shaft motor, the electrical components pass through the shaft hole of the hollow shaft motor and are connected to the deformation drive component. When the power motor body is a non-hollow shaft motor, the output shaft of the power motor body is connected to a hollow gear set, the power motor body is connected to the deformation transmission component through the hollow gear set, and the electrical components pass through the hollow gear set and are connected to the deformation drive component.

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