A deformable composite mobile robot

Abstract

This invention proposes a deformable composite mobile robot, comprising: a deformable hub and outer tracks. The deformable hub includes external gears, support hubs, transmission sleeves, a power spindle, a triangular plate, a front clutch mechanism, a rear clutch mechanism, a forward / reverse mechanism, a bottom disc, and a guide rail disc. The triangular plate is connected to the power spindle. The transmission sleeve is fitted around the power spindle and fixed to the bottom end of the triangular plate. Three external gears and three support hubs are evenly distributed and connected to the transmission sleeve via a linkage mechanism, and are limited on the guide rail disc. The axles of the three external gears are respectively engaged in three grooves of the triangular plate by pins and can slide within them. The forward / reverse mechanism is located between the bottom disc and the guide rail disc. The front clutch mechanism disconnects or closes the transmission between the power spindle and the triangular plate, and the rear clutch mechanism disconnects or closes the transmission between the power spindle and the forward / reverse mechanism. The outer tracks mesh with the external gears. This invention improves adaptability to terrain through the deformation of the deformable hub.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation, and in particular to a deformable composite mobile robot. Background Technology

[0002] With the continuous expansion of global exploration and mining activities, the demand for robots capable of efficient movement in complex terrains is increasing, especially in soft or uneven terrains such as beaches, mud, and snow. Traditional robots use wheeled or tracked mobility mechanisms in soft terrain, but they are still limited by the terrain conditions and cannot achieve their full mobility. Currently, there is also a lot of research on hybrid mobile robots that combine wheeled, legged, or tracked and legged structures, such as patent applications with publication numbers CN1317398A and CN1644328A. Although these disclosed technologies are hybrid technologies, they have poor structural stability, low reliability, and complex control, and their load-bearing capacity and mobility are still limited when used in soft terrain. Summary of the Invention

[0003] To address the issues of low load-bearing capacity and limited mobility of existing mobile robots in soft terrain, this invention proposes a deformable composite mobile robot.

[0004] The technical solution of this invention is implemented as follows:

[0005] A deformable composite mobile robot includes: a deformable hub and an outer track. The deformable hub includes three external gears, three support hubs, a transmission sleeve, a power spindle, a triangular plate, a front clutch mechanism, a rear clutch mechanism, a forward and reverse rotation mechanism, a bottom disc, and a guide rail disc. The triangular plate is connected to the power spindle via bearings. The transmission sleeve is sleeved on the outside of the power spindle and fixed to the bottom end of the triangular plate. The three external gears and the three support hubs are evenly distributed and connected to the transmission sleeve via a linkage mechanism, and are limited on the guide rail disc. The triangular plate is provided with three sliding grooves. The axles of the three external gears are respectively locked in the three sliding grooves by pins and can slide within them. The forward and reverse rotation mechanism is located between the bottom disc and the guide rail disc. The front clutch mechanism disconnects or closes the transmission between the power spindle and the triangular plate, and the rear clutch mechanism disconnects or closes the transmission between the power spindle and the forward and reverse rotation mechanism. The outer track meshes with the three external gears.

[0006] When the front clutch is engaged and the rear clutch is disengaged, the power spindle drives the triangular plate to rotate, which in turn drives the three external gears to rotate. These three external gears then drive the outer track to rotate. Conversely, when the front clutch is disengaged and the rear clutch is engaged, the power spindle drives the forward / reverse mechanism to rotate, which in turn drives the guide rail disc to rotate. As the three external gears rotate, they slide inward along the slots, and the three support hubs extend outward into a circular shape, or vice versa. After deformation, the front clutch is engaged and the rear clutch is disengaged, and the power spindle drives the triangular plate to rotate, which in turn drives the three external gears to rotate. The direction of rotation of the power spindle remains unchanged. With the cooperation of the front and rear clutches, the deformable wheel hub deforms stably and can move quickly after deformation, adapting to different environments.

[0007] Preferably, the transmission sleeve includes a cylindrical body and three sets of protruding rods. The three sets of protruding rods are evenly distributed on the outer periphery of the cylindrical body and have the same height. Each set of protruding rods includes two first protruding rods distributed vertically and vertically, and one second protruding rod distributed offset from the two first protruding rods. The outer ends of the first and second protruding rods are configured as grooves with openings on three sides for hinged connection to the linkage mechanism. The transmission sleeve can both transmit force and, at the same time, hinge with the linkage mechanism, allow the three external gears and three support hubs to deform relative to the transmission sleeve.

[0008] Preferably, the guide rail disc is provided with three sets of limit clips, each set of limit clips including a high limit clip and a low limit clip. The high limit clip is used to limit the rotation of the support hub, and the low limit clip is used to limit the rotation of the external gear.

[0009] Preferably, each external gear includes a gear body and an axle fixed at the center of the gear body, with both ends of the axle extending out of the gear body. Each support hub includes an arc-shaped hub and a connecting rod connected to the inner side of the arc-shaped hub perpendicular to it. Each axle has transverse support rods fixed at both ends. The two support rods are respectively hinged to the first connecting rod of the linkage mechanism. Two adjacent first connecting rods are hinged to the two first protrusions of a corresponding set of protrusions. The connecting rod of each support hub is hinged to the second connecting rod of the linkage mechanism. The second connecting rod is hinged to the second protrusion of a corresponding set of protrusions. The three external gears and the three support hubs are respectively connected to the three sets of protrusions of the transmission sleeve through the linkage mechanism.

[0010] Preferably, a limiting block is connected below the support rod at the bottom of each external gear, and one limiting block is locked in a lower limiting card.

[0011] Preferably, the front clutch mechanism includes a clutch spindle, a spindle gear, a transmission gear, a first gear, a second gear, a first spline, a second spline, a clutch sleeve, and a clutch drive. The clutch spindle is fixed to the outside of the transmission sleeve by a bracket and is parallel to the power spindle. The spindle gear is fixed to the power spindle. The transmission gear is fixed to the bottom of the triangular plate and is coaxial with the drive gear. The first gear is fixed to the clutch spindle by a first spline. The second gear is fixed to the second spline and is also set on the clutch spindle with a clearance fit. The first spline and the second spline are located between the first gear and the second gear and have a gap. The first gear meshes with the spindle gear, and the second gear meshes with the transmission gear. The clutch sleeve is sleeved on the first spline. The clutch drive is connected to the outside of the clutch sleeve and fixed to the bracket.

[0012] The clutch drive causes the clutch sleeve to engage with the first spline and the second spline. The main shaft gear drives the first gear, which in turn transmits power to the second spline through the first spline and the clutch sleeve. The second spline drives the second gear, which in turn drives the transmission gear to rotate the triangular plate, thus closing the transmission between the power main shaft and the triangular plate. The clutch sleeve is only engaged with the first spline, thus disengaging the transmission between the power main shaft and the triangular plate.

[0013] Preferably, the rear clutch mechanism includes a transmission main shaft, a third gear, a fourth gear, a clutch gear, a drive gear, a third spline, a fourth spline, a spline sleeve, and a sleeve drive. The transmission main shaft is connected to the bottom disk via bearings and is parallel to the power main shaft. The drive gear is fixed to the bottom end of the power main shaft. The gear shaft is fixed in the middle of the clutch gear and is connected to the bottom disk via bearings. A forward and reverse mechanism is connected to the gear shaft on the other side of the bottom disk. The third gear is fixed to the transmission main shaft via a third spline. The fourth gear is fixed to a fourth spline and is also set on the transmission main shaft with clearance fit. The third spline and the fourth spline are located between the third gear and the fourth gear and have a gap. The third gear meshes with the drive gear, and the fourth gear meshes with the clutch gear. The spline sleeve is sleeved on the third spline. The sleeve drive is connected to the outside of the spline sleeve and fixed to the bottom disk.

[0014] The sleeve drive causes the spline sleeve to fit onto the third and fourth splines. The drive gear drives the third gear, which in turn transmits power to the fourth spline through the third spline and the spline sleeve. The fourth spline drives the fourth gear, which in turn drives the clutch gear to rotate. The clutch gear drives the forward and reverse mechanism to rotate through the gear shaft, thus closing the transmission between the power shaft and the forward and reverse mechanism. The spline sleeve is only fitted onto the third spline, thus disconnecting the transmission between the power shaft and the forward and reverse mechanism.

[0015] Preferably, the forward and reverse mechanism includes a forward gear, a reverse gear, and a guide gear. The forward gear is fixed to the other end of the gear shaft. Several arc-shaped forward pins are fixed on the forward gear and are coaxial with it. The reverse gear is connected to the bottom disk through a reverse wheel shaft and meshes with the forward gear. Several arc-shaped reverse pins are fixed on the reverse gear and are coaxial with it. The guide gear is connected to the bottom disk through a guide wheel shaft. The guide wheel shaft is fixed to the guide disk through a spline. The guide gear is higher than the forward gear and the reverse gear. The forward pins and the reverse pins can be located in the tooth grooves of the guide gear.

[0016] The forward gear rotates, driving the reverse gear to rotate. The forward gear rotates clockwise by a certain angle, and the forward pin is located in the tooth groove of the guide gear, causing the guide gear to rotate in reverse. The guide gear drives the guide disk to rotate in reverse. When the forward gear rotates until the forward pin is completely away from the guide gear, the reverse pin on the reverse gear is located in the tooth groove of the guide gear, causing the guide gear to rotate in the forward direction. The guide gear drives the guide disk to rotate in the forward direction.

[0017] The angles of the forward and reverse pins are consistent with the angles required for the guide rail to rotate in both directions.

[0018] Preferably, the outer side of the arc-shaped hub of the support hub is provided as an arc-shaped groove, and a plurality of support wheels are evenly arranged in the arc-shaped groove, with the outer side of the support wheels extending beyond the arc-shaped groove.

[0019] Preferably, the power spindle is provided with three power shafts of different diameters, with two adjacent power shafts having a convex shape, the drive gear being fixed on the last power shaft, and the main shaft gear being fixed on the top power shaft.

[0020] The beneficial effects of this invention are as follows: The deformable composite mobile robot of this invention can quickly switch between circular and triangular shapes in its deformable hub, forming a circular wheel and a triangular wheel in combination with the outer track. The circular wheel is used on flat ground, while the triangular wheel is used on soft terrain, which improves the adaptability to terrain, increases the contact area between the outer track and soft terrain, reduces pressure, maintains movement, and solves the problem of limited movement. Moreover, the rotation of the main power shaft does not change when the deformable hub deforms, which improves the stability of deformation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1This is a schematic diagram of the deformable composite mobile robot of the present invention in a circular state.

[0023] Figure 2 This is a schematic diagram of the triangular state of the deformable composite mobile robot of the present invention;

[0024] Figure 3 for Figure 1 and Figure 2 The diagram shows the bottom three-dimensional structure of the deformable composite mobile robot.

[0025] Figure 4 for Figure 1 The diagram shows the structure of the transmission sleeve.

[0026] Figure 5 for Figure 1 The diagram shows the structure of the guide rail disk;

[0027] Figure 6 This is a schematic diagram of the top three-dimensional structure of the deformable composite mobile robot of the present invention;

[0028] Figure 7 This is a schematic diagram of the front clutch mechanism and the rear clutch mechanism of a deformable composite mobile robot.

[0029] Figure 8 This is a schematic diagram of the disconnection structure of the front clutch mechanism of the present invention;

[0030] Figure 9 This is a schematic diagram of the closed structure of the rear clutch mechanism of the present invention;

[0031] Figure 10 This is a schematic diagram of the forward and reverse rotation mechanism of the present invention;

[0032] Figure 11 This is a schematic diagram of the support hub of the present invention.

[0033] In the picture:

[0034] 1. External gear; 2. Support hub; 3. Transmission sleeve; 4. Power spindle; 5. Triangular plate; 6. Front clutch mechanism; 7. Rear clutch mechanism; 8. Forward and reverse mechanism; 9. Bottom disc; 10. Guide rail disc; 11. Linkage mechanism; 12. Wheel and axle; 21. Arc-shaped hub; 22. Connecting rod; 31. First protruding rod; 32. Second protruding rod; 33. Groove; 51. Slide groove; 61. Clutch spindle; 62. Spindle gear; 63. Transmission gear; 6 4. First gear; 65. Second gear; 66. Second spline; 67. Clutch sleeve; 71. Transmission main shaft; 72. Third gear; 73. Fourth gear; 74. Clutch gear; 75. Drive gear; 76. Third spline; 77. Spline sleeve; 81. Forward gear; 82. Reverse gear; 83. Guide rail gear; 84. Forward pin; 85. Reverse pin; 86. Spline; 100. High limit switch; 101. Low limit switch. Detailed Implementation

[0035] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example: Figures 1 to 10The deformable composite mobile robot shown includes: a deformable hub and outer tracks. The deformable hub includes three external gears 1, three support hubs 2, a transmission sleeve 3, a power spindle 4, a triangular plate 5, a front clutch mechanism 6, a rear clutch mechanism 7, a forward / reverse mechanism 8, a bottom disc 9, and a guide rail disc 10. The triangular plate 5 is connected to the power spindle 4 via bearings. The transmission sleeve 3 is fitted onto the outside of the power spindle 4 and fixed to the bottom end of the triangular plate 5. The three external gears 1 and the three support hubs 2 are evenly distributed and connected to the transmission sleeve 3 via a linkage mechanism 11, and are limited on the guide rail disc 10. The triangular plate 5 is provided with three sliding grooves 51. The axles of the three external gears 1 are respectively locked in the three sliding grooves by pins and can slide within them. The forward / reverse mechanism 8 is located between the bottom disc 9 and the guide rail disc 10. The front clutch mechanism 6 enables the power spindle 4 to rotate. The transmission between the shaft and the triangular plate is disconnected or closed. The rear clutch mechanism 7 disconnects or closes the transmission between the power main shaft and the forward and reverse mechanism. The outer track meshes with the three external gears. The front clutch mechanism 6 is closed and the rear clutch mechanism 7 is open. The power main shaft 4 drives the triangular plate to rotate, which in turn drives the three external gears to rotate. The three external gears drive the outer track to rotate. The front clutch mechanism 6 is open and the rear clutch mechanism 7 is closed. The power main shaft drives the forward and reverse mechanism to rotate, which in turn drives the guide rail disc to rotate. When the three external gears rotate, they slide inward along the slots and the three support hubs extend outward into a circular state. Alternatively, when the three external gears rotate, they extend outward along the slots and the three support hubs extend inward into a triangular state. After the deformation is completed, the front clutch mechanism is closed and the rear clutch mechanism is open. The power main shaft drives the triangular plate to rotate, which in turn drives the three external gears to rotate.

[0037] Three external gears are engaged in a triangular-like structure and rotate forward as the triangular plate rotates; the three external gears themselves do not rotate. In the initial state, with the front clutch closed and the rear clutch open, the three external gears extend outwards and the three support hubs retract inwards, forming a triangular-like structure, or the three external gears retract inwards and the three support hubs extend outwards, forming a circular structure. Deformation occurs when the front clutch is open and the rear clutch is closed. The forward / reverse mechanism allows for both forward and reverse rotation, achieving the deformation of the deformable hub. The synchronized setup of the front and rear clutch mechanisms enables the power conversion for the deformation of the hub. During the deformation of the hub, the rotation direction of the main power shaft does not change, improving the stability of the deformation.

[0038] like Figure 4 As shown, the transmission sleeve 3 includes a cylinder and three sets of protrusions. The three sets of protrusions are evenly distributed on the outer periphery of the cylinder and have the same height. Each set of protrusions includes two first protrusions 31 distributed vertically and one second protrusion 32 distributed offset from the two first protrusions. The outer ends of the first and second protrusions are set as grooves 33 with three openings on each side for hinged linkage mechanism.

[0039] like Figure 5As shown, the guide rail disk 10 has three sets of limit cards on its disk body. Each set of limit cards includes a high limit card 100 and a low limit card 101. The high limit card is used to limit the rotation of the support hub, and the low limit card is used to limit the rotation of the external gear.

[0040] like Figure 6 As shown, any external gear 1 includes a gear body and a gear axle 12 fixed at the center of the gear body. The two ends of the gear axle extend out of the gear body. Any support hub 2 includes an arc-shaped hub 21 and a connecting rod 22 connected to the inner side of the arc-shaped hub and perpendicular to it. The two ends of each gear axle 12 are respectively fixed with transverse support rods 13. The two support rods 13 are respectively hinged to the first connecting rod of the linkage mechanism 11. The two adjacent first connecting rods are hinged to the two first protrusions 31 of the corresponding set of protrusions. The connecting rod of each support hub 2 is hinged to the second connecting rod of the linkage mechanism 11. The second connecting rod is hinged to the second protrusion 32 of the corresponding set of protrusions. The three external gears and the three support hubs are respectively connected to the three sets of protrusions of the transmission sleeve 3 through the linkage mechanism.

[0041] A limiting block is connected below the support rod at the bottom of each external gear 1, and one limiting block is locked within a lower limiting block. For example... Figure 11 As shown, the outer side of the arc-shaped hub of the support hub is set as an arc-shaped groove, and several support wheels are evenly arranged in the arc-shaped groove. The outer side of the support wheels extends beyond the arc-shaped groove.

[0042] like Figure 7 and Figure 8 As shown, the front clutch mechanism 6 includes a clutch spindle 61, a spindle gear 62, a transmission gear 63, a first gear 64, a second gear 65, a first spline, a second spline 66, a clutch sleeve 67, and a clutch drive. The clutch spindle 61 is fixed to the outside of the transmission sleeve by a bracket and is parallel to the power spindle. The spindle gear 62 is fixed to the power spindle. The transmission gear 63 is fixed to the bottom end of the triangular plate and is coaxial with the drive gear. The first gear 64 is fixed to the clutch spindle by the first spline. The second gear 65 is fixed to the second spline and is also set on the clutch spindle with clearance fit. The first spline and the second spline 66 are located between the first gear and the second gear. It also has a gap, with the first gear 64 meshing with the main shaft gear 62, and the second gear meshing with the transmission gear. The clutch sleeve 67 is fitted on the first spline, and the clutch drive is connected to the outside of the clutch sleeve and fixed on the bracket. The clutch drive causes the clutch sleeve 67 to be fitted on the first spline and the second spline, connecting the first spline and the second spline so that they rotate synchronously. The main shaft gear drives the first gear and then transmits the power through the first spline and the clutch sleeve to the second spline. The second spline drives the second gear to drive the transmission gear to drive the triangular plate to rotate, so that the transmission between the power main shaft and the triangular plate is closed. The clutch sleeve is only fitted on the first spline, so that the transmission between the power main shaft and the triangular plate is disconnected.

[0043] like Figure 7 and Figure 10 As shown, the rear clutch mechanism and the front clutch mechanism have the same structure but different connection positions. The rear clutch mechanism 7 includes a transmission main shaft 71, a third gear 72, a fourth gear 73, a clutch gear 74, a drive gear 75, a third spline, a fourth spline 76, a spline sleeve 77, and a sleeve drive. The transmission main shaft 71 is connected to the bottom disk 9 via bearings and is parallel to the power main shaft 4. The drive gear 75 is fixed to the bottom end of the power main shaft. The gear shaft 78 is fixed in the middle of the clutch gear 74 and is connected to the bottom disk via bearings. The forward and reverse mechanism 8 is connected to the gear shaft located on the other side of the bottom disk. The third gear 72 is fixed to the transmission main shaft via a third spline. The fourth gear 73 is fixed to a fourth spline and is also set on the transmission main shaft with clearance fit. The third spline and the fourth spline are positioned... Between the third gear and the fourth gear, with a gap, the third gear 72 meshes with the drive gear 75, and the fourth gear 73 meshes with the clutch gear 74. A spline sleeve is fitted onto the third spline. The sleeve drive connects to the outside of the spline sleeve and is fixed on the bottom disc. The sleeve drive causes the spline sleeve to fit onto the third spline and the fourth spline. The third spline and the fourth spline rotate synchronously. The drive gear drives the third gear and then transmits power to the fourth spline through the third spline and the spline sleeve. The fourth spline drives the fourth gear to drive the clutch gear to rotate. The clutch gear drives the forward and reverse mechanism to rotate through the gear shaft, thus closing the transmission between the power shaft and the forward and reverse mechanism. The spline sleeve is only fitted onto the third spline. The connection between the third spline and the fourth spline is broken, thus disconnecting the transmission between the power shaft and the forward and reverse mechanism.

[0044] like Figure 7 As shown, the power spindle 4 is equipped with three power shafts of different diameters. The two adjacent power shafts are convex in shape. The drive gear is fixed on the last power shaft, and the spindle gear is fixed on the top power shaft.

[0045] like Figure 7 and Figure 9As shown, the forward and reverse mechanism 8 includes a forward gear 81, a reverse gear 82, and a guide gear 83. The forward gear 81 is fixed to the other end of the gear shaft 78. Several arc-shaped forward pins 84 are fixed on the forward gear and are coaxial with it. The reverse gear is connected to the bottom disk via a reverse wheel shaft and meshes with the forward gear. Several arc-shaped reverse pins 85 are fixed on the reverse gear and are coaxial with it. The guide gear is connected to the bottom disk via a guide wheel shaft, which is fixed to the guide disk via a spline 86. The guide gear is higher than the forward and reverse gears. The shift pin and the reverse pin can be located in the tooth groove of the guide gear; the rotation of the forward gear drives the rotation of the reverse gear. The forward gear rotates clockwise by a certain angle, and the forward pin located in the tooth groove of the guide gear moves the guide gear to rotate in reverse. The guide gear drives the guide disk to rotate in reverse. When the forward gear rotates until the forward pin is completely away from the guide gear, the reverse pin on the reverse gear is located in the tooth groove of the guide gear and moves the guide gear to rotate in the forward direction. The guide gear drives the guide disk to rotate in the forward direction. The angle at which the forward pin moves and the angle at which the reverse pin moves are consistent with the angle required for the guide disk to rotate in the forward and reverse directions.

[0046] The deformable composite mobile robot of the present invention retracts its external gear and extends its support hub when moving on a flat road. The deformable hub is circular and can support the shape of the entire hub. The circular shape of the deformable hub helps to reduce frictional resistance when traveling on flat ground, thereby improving driving efficiency and saving energy. When moving on soft terrain, the deformable wheel hub changes from a circular state to a triangular state under the action of the sleeve drive. During deformation, the front clutch mechanism disconnects the triangular plate from the power spindle, the transmission sleeve remains stationary, and the external gear is not driven by the triangular plate. The rear clutch mechanism closes the power spindle and the forward and reverse mechanism. The power spindle drives the forward and reverse mechanism to rotate, which in turn drives the guide rail disk to rotate. The external gear and the support hub rotate under the action of the guide rail disk. When the external gear rotates, it is restricted by the slots of the triangular plate. The three external gears extend outward along the three slots of the triangular plate. When the three support hubs rotate, they retract inward due to the restriction of the transmission sleeve and the linkage mechanism, forming a triangular state. Then the rear clutch mechanism is disengaged and the front clutch mechanism is closed. The external gear of the deformable wheel hub rotates under the action of the power spindle via the triangular plate, increasing the contact area between the outer track and the soft terrain and reducing the pressure. When the triangular-like state transforms into a circular state, the front clutch mechanism is disengaged and the rear clutch mechanism is activated. The transformation process is the same as above, but the rotation direction of the guide rail disk is opposite to that of the aforementioned guide rail disk. The external gear retracts inward as the guide rail disk rotates, and the support hub extends outward as the guide rail disk rotates, forming a circular state. The rear clutch mechanism is disengaged and the front clutch mechanism is closed. The external gear of the deformed hub is driven to rotate by the triangular-like plate under the action of the power main shaft.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A deformable composite mobile robot, characterized in that, include: The deformable wheel hub and outer track are described. The deformable wheel hub includes three external gears, three support hubs, a transmission sleeve, a power spindle, a triangular plate, a front clutch mechanism, a rear clutch mechanism, a forward and reverse rotation mechanism, a bottom disc, and a guide rail disc. The triangular plate is connected to the power spindle via bearings. The transmission sleeve is fitted on the outside of the power spindle and fixed to the bottom end of the triangular plate. The three external gears and three support hubs are evenly distributed and connected to the transmission sleeve via a linkage mechanism, and are limited on the guide rail disc. The triangular plate is provided with three sliding grooves. The axles of the three external gears are respectively locked in the three sliding grooves by pins and can slide within them. The forward and reverse rotation mechanism is located between the bottom disc and the guide rail disc. The front clutch mechanism disconnects or closes the transmission between the power spindle and the triangular plate, and the rear clutch mechanism disconnects or closes the transmission between the power spindle and the forward and reverse rotation mechanism. The outer track meshes with the three external gears. When the front clutch is closed and the rear clutch is open, the power spindle drives the triangular plate to rotate, which in turn drives the three external gears to rotate, and the three external gears drive the outer track to rotate; when the front clutch is open and the rear clutch is closed, the power spindle drives the forward and reverse mechanism to rotate, which in turn drives the guide rail to rotate. When the three external gears rotate, they slide inward along the slots and the three support hubs extend outward into a circular state, or when the three external gears rotate, they extend outward along the slots and the three support hubs extend inward into a triangular state. After the deformation is completed, the front clutch is closed and the rear clutch is open, and the power spindle drives the triangular plate to rotate, which in turn drives the three external gears to rotate. The transmission sleeve includes a cylinder and three sets of protruding rods. The three sets of protruding rods are evenly distributed on the outer periphery of the cylinder and have the same height. Each set of protruding rods includes two first protruding rods distributed vertically and vertically and a second protruding rod distributed offset from the two first protruding rods. The outer ends of the first protruding rods and the second protruding rods are set as grooves with three openings on each side for hinged linkage mechanism. The front clutch mechanism includes a clutch main shaft, a main shaft gear, a transmission gear, a first gear, a second gear, a first spline, a second spline, a clutch sleeve, and a clutch drive. The clutch main shaft is fixed to the outside of the transmission sleeve by a bracket and is parallel to the power main shaft. The main shaft gear is fixed on the power main shaft. The transmission gear is fixed to the bottom end of the triangular plate and is coaxial with the drive gear. The first gear is fixed to the clutch main shaft by a first spline. The second gear is fixed to the second spline and is also set on the clutch main shaft with clearance fit. The first spline and the second spline are located between the first gear and the second gear and have a gap. The first gear meshes with the main shaft gear, and the second gear meshes with the transmission gear. The clutch sleeve is sleeved on the first spline. The clutch drive is connected to the outside of the clutch sleeve and fixed on the bracket. The clutch drive causes the clutch sleeve to be fitted onto the first spline and the second spline. The main shaft gear drives the first gear and then transmits power to the second spline through the first spline and the clutch sleeve. The second spline drives the second gear to drive the transmission gear to rotate the triangular plate, thereby closing the transmission between the power main shaft and the triangular plate. The clutch sleeve is only fitted onto the first spline, thereby disengaging the transmission between the power main shaft and the triangular plate. The rear clutch mechanism includes a transmission main shaft, a third gear, a fourth gear, a clutch gear, a drive gear, a third spline, a fourth spline, a spline sleeve, and a sleeve drive. The transmission main shaft is connected to the bottom disk via bearings and is parallel to the power main shaft. The drive gear is fixed to the bottom end of the power main shaft. The gear shaft is fixed in the middle of the clutch gear and is connected to the bottom disk via bearings. A forward and reverse mechanism is connected to the gear shaft on the other side of the bottom disk. The third gear is fixed to the transmission main shaft via a third spline. The fourth gear is fixed to a fourth spline and is also set on the transmission main shaft with clearance fit. The third spline and the fourth spline are located between the third gear and the fourth gear and have a gap. The third gear meshes with the drive gear, and the fourth gear meshes with the clutch gear. The spline sleeve is sleeved on the third spline. The sleeve drive is connected to the outside of the spline sleeve and fixed to the bottom disk. The sleeve drive causes the spline sleeve to be fitted onto the third and fourth splines. The drive gear drives the third gear, which in turn transmits power to the fourth spline through the third spline and the spline sleeve. The fourth spline drives the fourth gear, which in turn drives the clutch gear to rotate. The clutch gear drives the forward and reverse mechanism to rotate through the gear shaft, thus closing the transmission between the power shaft and the forward and reverse mechanism. The spline sleeve is only fitted onto the third spline, thus disconnecting the transmission between the power shaft and the forward and reverse mechanism. The forward and reverse mechanism includes a forward gear, a reverse gear, and a guide gear. The forward gear is fixed to the other end of the gear shaft. Several arc-shaped forward pins are fixed on the forward gear and are coaxial with it. The reverse gear is connected to the bottom disk through a reverse wheel shaft and meshes with the forward gear. Several arc-shaped reverse pins are fixed on the reverse gear and are coaxial with it. The guide gear is connected to the bottom disk through a guide wheel shaft. The guide wheel shaft is fixed to the guide disk through a spline. The guide gear is higher than the forward gear and the reverse gear. The forward pins and the reverse pins can be located in the tooth grooves of the guide gear. The forward gear rotates, driving the reverse gear to rotate. The forward gear rotates clockwise by a certain angle, and the forward pin is located in the tooth groove of the guide gear, causing the guide gear to rotate in reverse. The guide gear drives the guide disk to rotate in reverse. When the forward gear rotates until the forward pin is completely away from the guide gear, the reverse pin on the reverse gear is located in the tooth groove of the guide gear, causing the guide gear to rotate in the forward direction. The guide gear drives the guide disk to rotate in the forward direction. The angles of the forward and reverse pins are consistent with the angles required for the guide rail to rotate in both directions.

2. The deformable composite mobile robot according to claim 1, characterized in that, The guide rail disc is equipped with three sets of limit clips. Each set of limit clips includes a high limit clip and a low limit clip. The high limit clip is used to limit the rotation of the support hub, and the low limit clip is used to limit the rotation of the external gear.

3. The deformable composite mobile robot according to claim 2, characterized in that, Each external gear includes a gear body and an axle fixed at the center of the gear body. Both ends of the axle extend out of the gear body. Each support hub includes an arc-shaped hub and a connecting rod connected to the inner side of the arc-shaped hub perpendicular to it. Both ends of each axle are fixed with transverse support rods. The two support rods are respectively hinged to the first link of the linkage mechanism. The two adjacent first links are hinged to the two first protrusions of the corresponding set of protrusions. The connecting rod of each support hub is hinged to the second link of the linkage mechanism. The second link is hinged to the second protrusion of the corresponding set of protrusions. The three external gears and the three support hubs are respectively connected to the three sets of protrusions of the transmission sleeve through the linkage mechanism.

4. The deformable composite mobile robot according to claim 3, characterized in that, Each external gear has a limit block connected to the bottom of the support rod, and one limit block is locked in a lower limit card.

5. The deformable composite mobile robot according to claim 3, characterized in that, The outer side of the arc-shaped hub of the support hub is provided with an arc-shaped groove, and a number of support wheels are evenly arranged in the arc-shaped groove, with the outer side of the support wheels extending beyond the arc-shaped groove.

6. The deformable composite mobile robot according to claim 1, characterized in that, The power spindle is provided with three power shafts of different diameters. The two adjacent power shafts are convex in shape. The drive gear is fixed on the last power shaft and the main shaft gear is fixed on the top power shaft.

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