Single-power multi-mode ground mobile robot

Abstract

The invention provides a single-power multi-mode ground mobile robot which comprises a driving motor, a first Bennett mechanism and a second Bennett mechanism, the first Bennett mechanism and the second Bennett mechanism are in central symmetry and are hinged end to end in a closed loop mode, and each Bennett mechanism comprises a first driving rod, a second driving rod, a first supporting rod and a second supporting rod, the open end of the first supporting rod is hinged to the side wall of the open end of the first driving rod, and the open end of the second supporting rod is hinged to the side wall of the open end of the second driving rod. A raised hemisphere is fixedly arranged at the open end of each driving rod and the open end of each supporting rod, and the arc-shaped surface of each raised hemisphere is arranged outwards; two arc supporting legs are fixedly arranged at the two ends of the outer side of each driving rod and the two ends of the outer side of each supporting rod; according to the implementation mode, through driving of the driving motors and supporting of the protruding hemispheres and the arc supporting legs, the continuous rotating motion mode, the straight-going and side-rolling motion mode, the steering straight-going or side-rolling motion mode, the continuous vertical obstacle crossing motion mode and the ground rolling braking motion mode of the robot are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a single-power multi-mode ground mobile robot. Background Art

[0002] A rolling robot is a type of mobile robot that can move on special terrains by relying on its own deformation.

[0003] The related rolling robots are usually able to achieve deformation through multiple driving devices when deforming, so there are many driving devices. In addition, the rolling robots can generally only change one or two forms and cannot meet more complex terrains.

[0004] Therefore, a new type of robot is needed to solve the above problems. Summary of the invention

[0005] The content of the present invention is used to introduce the concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of the present disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0006] Some embodiments of the present invention provide a single-powered multi-mode ground mobile robot to solve the technical problems mentioned in the above background technology section.

[0007] The single-power multi-mode ground mobile robot comprises a driving motor, a first Bennett mechanism and a second Bennett mechanism which are centrally symmetrical and articulated in a closed loop from head to tail, wherein:

[0008] Each Bennett mechanism comprises a first driving rod and a second driving rod which are symmetrically arranged and hinged, and a first supporting rod and a second supporting rod, wherein the two first driving rods and the two second driving rods are hinged in a closed loop; the open end of the first supporting rod is hinged to the open end side wall of the first driving rod, and the open end of the second supporting rod is hinged to the open end side wall of the second driving rod;

[0009] A protruding hemisphere is fixedly disposed at the open end of each of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod, and the arc-shaped surface of the protruding hemisphere faces outward;

[0010] Two arc legs are fixedly provided at both ends of the outer sides of each of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod, and the plurality of arc legs constitute four groups of quasi-circular wheel assemblies;

[0011] The driving motor is used to drive a first support rod or a second support rod to rotate, so that the robot is in a folded state or an unfolded state. Under the support of the raised hemisphere and the arc legs, the robot can realize a continuous rotation motion mode, a straight and side rolling motion mode, a turning straight or side rolling motion mode, a continuous vertical obstacle crossing motion mode, and a ground rolling braking motion mode.

[0012] Optionally, the cross-sections of the first driving rod, the second driving rod, the first support rod and the second support rod in each Bennett mechanism are fan-shaped; in the contracted state, the inner walls of the first driving rod, the second driving rod, the first support rod and the second support rod are connected to form a cylinder.

[0013] Optionally, both ends of the first driving rod of the first Bennett mechanism are provided in parallel with rotation joints for being hinged to the two second driving rods; and both ends of each second driving rod are provided in parallel with rotation joints for being hinged to the two first driving rods.

[0014] Optionally, a rotation joint is provided on a side wall close to the open end of each of the second driving rods and the first driving rod in the second Bennett mechanism;

[0015] The connecting end of each of the first support rod and the second support rod is respectively provided with a rotating joint for being hinged with the second support rod and the first support rod; the side wall of each of the first support rod and the second support rod close to the open end is respectively provided with a rotating joint for being hinged with the corresponding first driving rod and the second driving rod, wherein,

[0016] The housing of the driving motor is fixed to the side wall of the open end of the first driving rod of the first Bennett mechanism, and the transmission shaft of the driving motor is coaxially connected to the rotation joint of the open end of the first supporting rod in the first Bennett mechanism.

[0017] Optionally, the axes of the rotation joints at the ends of each first driving rod and the second driving rod are parallel and arranged in a parallelogram.

[0018] Optionally, in the continuous rotation motion mode, the four raised hemispheres on one side of the robot are in contact with the ground, and as the driving motor drives the robot to fold and unfold back and forth, the robot rotates continuously.

[0019] Optionally, in the straight motion mode, any one of the articulated driving rods and support rods contacts the ground, and as the driving motor adjusts the center of gravity of the robot, adjacent driving rods and support rods contact the ground, thereby achieving flipping;

[0020] In the side-rolling motion mode, the robot is completely folded, and when the driving motor drives the robot to fold and unfold slightly, the four sets of circular wheel assemblies roll on the ground.

[0021] Optionally, in the turning straight-ahead or side-rolling motion mode, the robot rolls in the straight-ahead motion mode, and the center of gravity of the robot is adjusted by the driving motor so that the four raised hemispheres on one side of the robot contact the ground, and then enters the continuous rotation motion mode for turning. After rotating to the target angle, the driving motor adjusts the center of gravity of the robot so that the robot enters the straight-ahead motion mode or the side-rolling motion mode.

[0022] Optionally, in the movement mode of crossing continuous vertical obstacles, the robot is moved into position in the straight movement mode, and the robot is folded by driving a motor so that the connecting ends of the first driving rod and the second driving rod on one side of the robot and the arc legs of the connecting ends of the first support rod and the second support rod are in contact with the ground, and the robot tilts toward the first-level vertical obstacle; the robot is then driven by a motor to reach the maximum expanded state and the corresponding four raised hemispheres are in contact with the first-level vertical obstacle, and then the robot tilts toward the second-level vertical obstacle; thereafter, the arc legs of the corresponding connecting ends slide to the first-level vertical obstacle, and the robot is folded to contact the first-level vertical obstacle; and this process is repeated until the highest vertical obstacle is crossed.

[0023] Optionally, in the ground rolling braking motion mode, the robot rolls in a completely folded state, and the robot is unfolded by driving a motor so that the raised hemisphere and the arc legs are in continuous contact with the ground to achieve braking.

[0024] The above-mentioned embodiment of the present invention has the following beneficial effects: firstly, the first Bennett mechanism and the second Bennett mechanism constitute a four-bar linkage structure, and under the drive of a driving motor, the first Bennett mechanism and the second Bennett mechanism can be folded and unfolded synchronously, so that the robot can be in a folded state or an unfolded state. The function of controlling the deformation of the robot by a driving motor is realized.

[0025] Under the control of the drive motor, the robot can realize multiple motion modes, including a continuous rotation motion mode capable of turning, a straight and rolling motion mode for moving, a turning straight or turning rolling motion mode for turning while moving, a continuous vertical obstacle crossing motion mode and a ground rolling and braking motion mode, so that the robot can switch between multiple modes to adapt to various terrains, realizing the versatility of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a structural schematic diagram of an embodiment of the single-powered multi-mode ground mobile robot of the present invention in an unfolded state;

[0028] Figure 2 A schematic structural diagram of an embodiment of a first driving rod of a first Bennett mechanism of the present invention;

[0029] Figure 3 A schematic structural diagram of an embodiment of a second driving rod of the first Bennett mechanism of the present invention;

[0030] Figure 4 It is a structural schematic diagram of an embodiment of a first support rod of a first Bennett mechanism of the present invention;

[0031] Figure 5 A schematic structural diagram of an embodiment of a second support rod of the first Bennett mechanism of the present invention;

[0032] Figure 6 A schematic structural diagram of an embodiment of a first driving rod of a second Bennett mechanism of the present invention;

[0033] Figure 7 A schematic structural diagram of an embodiment of a second driving rod of a second Bennett mechanism of the present invention;

[0034] Figure 8 A schematic structural diagram of an embodiment of a first support rod of a second Bennett mechanism of the present invention;

[0035] Fig. 9 A schematic structural diagram of an embodiment of a second support rod of a second Bennett mechanism of the present invention;

[0036] Fig.10 A schematic structural diagram of an embodiment of a single-powered multi-mode ground mobile robot of the present invention in a folded state;

[0037] Figures 11a to 11h A schematic diagram of an embodiment of a gait of a single-powered multi-mode ground mobile robot of the present invention in a continuous rotation motion mode;

[0038] Figures 12a to 12iSchematic diagram of the gait of the single-powered multi-mode ground mobile robot in the straight-moving and side-rolling motion modes of the present invention;

[0039] Figures 13a to 13d A schematic diagram of the gait of the single-powered multi-mode ground mobile robot of the present invention in a trench crossing motion mode;

[0040] Figures 14a to 14d A schematic diagram of the gait of the single-powered multi-mode ground mobile robot of the present invention in a motion mode of passing through a low narrow gap;

[0041] Figures 15a to 15g A schematic diagram of the gait of the single-powered multi-mode ground mobile robot of the present invention in a turning and straight-moving motion mode;

[0042] Figure 16a to Figure 16b A schematic diagram of the gait of the single-powered multi-mode ground mobile robot of the present invention in a turning and rolling motion mode;

[0043] Figures 17a to 17i A schematic diagram of the gait of the single-powered multi-mode ground mobile robot of the present invention in a movement mode of crossing continuous vertical obstacles;

[0044] Figures 18a to 18e The figure is a schematic diagram of the gait of the single-powered multi-mode ground mobile robot of the present invention in the ground rolling braking motion mode. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0049] First see Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the structure of an embodiment of a single-power multi-mode ground mobile robot of the present invention. Figure 1 As shown, the single-power multi-mode ground mobile robot includes a first Bennett mechanism 1 and a second Bennett mechanism 2 which are articulated in a closed loop at the head and tail and are centrally symmetrical.

[0050] See next Figure 2 and Figure 3 And continue to read Figure 1 , Figure 2 A schematic structural diagram of an embodiment of a first driving rod of a first Bennett mechanism of the present invention; Figure 3 FIG. 1 is a schematic structural diagram of an embodiment of the second driving rod of the first Bennett mechanism of the present invention. Figures 1 to 3 As shown, the first Bennett mechanism 1 comprises a first drive rod 11 and a second drive rod 12 which are symmetrically arranged and hinged. Figure 2 The left end of the rotating joint 111 shown in FIG. 1 and the connecting end of the second driving rod 12 ( Figure 3 When the first drive rod 11 and the second drive rod 12 are rotated inward, the inner walls of the first drive rod 11 and the second drive rod 12 can be engaged to reach a folded state. When the first drive rod 11 and the second drive rod 12 are rotated outward, the inner walls of the first drive rod 11 and the second drive rod 12 can be separated to reach an unfolded state.

[0051] See also Figure 4 and Figure 5 , Figure 4It is a structural schematic diagram of an embodiment of a first support rod of a first Bennett mechanism of the present invention; Figure 5 FIG. 1 is a schematic structural diagram of an embodiment of the second support rod of the first Bennett mechanism of the present invention. Figures 1 to 5 As shown, the first Bennett mechanism 1 also includes a first support rod 13 and a second support rod 14 which are hinged to each other. The connecting end ( Figure 4 The upper end shown in FIG. 1 is connected to the rotation joint 131 of the second support rod 14 ( Figure 5 The left end shown) is hingedly connected by a rotating joint 141.

[0052] The open end of the first support rod 13 ( Figure 4 The rotation joint 133 on the side wall of the first driving rod 11 is connected to the first driving rod 11 near the open end ( Figure 2 Specifically, a drive motor 113 is fixedly arranged on the side wall, and a transmission shaft of the drive motor 113 is coaxially connected with the rotary joint 133.

[0053] The open end of the second support rod 14 ( Figure 5 The rotating joint 143 on the side wall of the right end) and the open end of the second driving rod ( Figure 3 The first Bennett mechanism 1 is hinged to the rotating joint 123 of the side wall of the right end (as shown). In this way, the first Bennett mechanism 1 forms a Bennett four-bar mechanism. When the driving motor 113 drives the rotating joint 133 to rotate, the first support rod 13 rotates, which can make the first drive rod 11, the second drive rod 12 and the second support rod 14 fold inward or unfold outward synchronously. Furthermore, the cross-sections of the first drive rod 11, the second drive rod 12, the first support rod 13 and the second support rod 14 can be arranged in a fan shape, and then in the contracted state, the inner walls of the first drive rod 11, the second drive rod 12, the first support rod 13 and the second support rod 14 are connected to form a cylinder.

[0054] See also Figure 6 and Figure 7 And re-read Figure 1 , Figure 6 A schematic structural diagram of an embodiment of a first driving rod of a second Bennett mechanism of the present invention; Figure 7 FIG. 2 is a schematic structural diagram of an embodiment of the second driving rod of the second Bennett mechanism of the present invention. Figure 1 , Figure 6 and Figure 7 As shown, the second Bennett mechanism 2 includes a first drive rod 21 and a second drive rod 22 that are symmetrically arranged and hinged. The connecting end ( Figure 6 The right end shown in FIG. 2 is a rotation joint 211 and a connection end ( Figure 7 The first drive rod 21 and the second drive rod 22 are hingedly connected to a rotating joint 221 at the right end (shown in FIG. 1 ). When the first drive rod 21 and the second drive rod 22 rotate inward, the inner walls of the first drive rod 21 and the second drive rod 22 can be engaged to reach a folded state. When the first drive rod 21 and the second drive rod 22 rotate outward, the inner walls of the first drive rod 21 and the second drive rod 22 can be separated to reach an unfolded state.

[0055] See next Figures 8 to 9 , Figure 8 A schematic structural diagram of an embodiment of a first support rod of a second Bennett mechanism of the present invention; Fig. 9 FIG. 2 is a schematic structural diagram of an embodiment of the second support rod of the second Bennett mechanism of the present invention. Figures 1 to 9 As shown, the second Bennett mechanism 2 also includes a first support rod 23 and a second support rod 24 that are hinged to each other. The connecting end ( Figure 8 The lower end shown in FIG. 2 is connected to the rotation joint 231 of the second support rod 24 ( Fig. 9 The rotating joint 241 of the right end (as shown) is hinged.

[0056] The open end of the first support rod 23 ( Fig. 9 The rotation joint 233 on the side wall of the upper end (shown) is connected to the first driving rod 21 near the open end ( Figure 6 The open end of the second support rod 24 ( Fig. 9 The rotation joint 243 on the side wall of the second drive rod 22 (left end shown) is connected to the open end of the second drive rod 22 ( Figure 7 The left end (shown) of the side wall is hingedly connected to the rotating joint 223. In this way, the second Bennett mechanism 2 forms another Bennett four-bar mechanism.

[0057] See next Fig.10 , Fig.10 FIG. 1 is a schematic structural diagram of an embodiment of a single-power multi-mode ground mobile robot in a folded state according to the present invention. Figure 1 and Fig.10 As shown, when the first driving rod 21 or the second driving rod 22 is folded inward or unfolded outward, the first support rod 23 and the second support rod 24 are folded and unfolded synchronously. Further, the cross-sections of the first driving rod 21, the second driving rod 22, the first support rod 23 and the second support rod 24 can be arranged in a fan shape, and then in the folded state, the inner walls of the first driving rod 21, the second driving rod 22, the first support rod 23 and the second support rod 24 are connected to form a cylinder.

[0058] Re-read Figures 1 to 10The first Bennett mechanism 1 and the second Bennett mechanism 2 can be arranged symmetrically with respect to the center, that is, the open end ( Figure 2 The rotary joint 112 of the second Bennett mechanism 2 (right end) is connected to the open end ( Figure 7 The left end shown) is hinged at the rotating joint 222; the open end of the second drive rod 12 of the first Bennett mechanism 1 ( Figure 3 The rotating joint 122 of the second Bennett mechanism 2 (right end) is connected to the open end ( Figure 6 The left end shown) is rotatably connected.

[0059] In this way, when the driving motor 113 drives the first support rod 13 of the first Bennett mechanism 1 to rotate, the first Bennett mechanism 1 and the second Bennett mechanism 1 are folded or unfolded, so that the robot enters a folded state and an unfolded state.

[0060] As an example, the drive motor 113 may be a steering gear. Of course, the drive motor 113 may be fixed to the open end of one of the two first drive rods 11, 21 or the two second drive rods 12, 22, and the transmission shaft of the drive motor 113 may be coaxially connected to the lateral rotation joint of the connected first support rod 13, 23 or the second support rod 23, 24. Those skilled in the art may make adjustments according to actual conditions. However, such changes do not exceed the protection scope of the present disclosure.

[0061] In addition, in order to realize the folding and unfolding of the robot, the axes of the rotation joints at the ends of each first driving rod 11, 21 and the second driving rod 12, 22 are parallel and arranged in a parallelogram.

[0062] Continue reading Figures 1 to 9 A protruding hemisphere is fixedly provided on the open end of each of the first driving rods 11, 21, the second driving rods 12, 22, the first supporting rods 13, 23 and the second supporting rods 14, 24, and the arc surface of the protruding hemisphere is arranged outward.

[0063] Arc legs are fixedly provided at both ends of the outer walls of the first driving rods 11, 21, the second driving rods 12, 22, the first supporting rods 13, 23 and the second supporting rods 14, 24. When the robot is in the folded state, the arc legs 115, 125, 135 and 145 in the first Bennett mechanism 1 and the arc legs 215, 225, 215 and 225 in the second Bennett mechanism 2 are spliced ​​into four groups of quasi-circular wheel assemblies.

[0064] Furthermore, in order to reduce the overall weight of the robot, the first driving rods 11, 21, the second driving rods 12, 22, the first support rods 13, 23 and the second support rods 14, 24 are each provided with two concave weight-reducing grooves. Of course, those skilled in the art may also adjust the number of the concave weight-reducing grooves according to actual conditions, but such changes do not exceed the protection scope of the present application.

[0065] When the four raised hemispheres are in contact with the ground, the robot can achieve a continuous rotation motion mode. Figures 11a to 11h The following description will be made by taking the four raised hemispheres of the first Bennett mechanism 1 in contact with the ground as an example. Figures 11a to 11h It is a schematic diagram of an embodiment of the robot continuous rotation motion mode gait of the present invention. Fig.11a The initial state of the robot continuous rotation mode. At this time, the arc legs 215 and 235 on the first driving rod 21 and the first supporting rod 23 are in point contact with the ground. The driving motor 113 causes the robot to unfold to the position as shown in FIG. Fig.11b As shown, at this time, the four raised hemispheres 124, 144, 214, 234 are always in contact with the ground. Then the drive motor 113 is reversed as shown in FIG. Fig.11c The torque difference at the contact point forms a steering torque to realize the robot's rotation in place. In this way, the reciprocating drive changes the direction of the drive motor 113, and the four raised hemispheres 124, 144, 214, and 234 are always in contact with the ground, so that the robot is obtained as shown in FIG. Figure 11d-11g The rotation process.

[0066] Of course, when the four convex spherical surfaces 124, 144, 214, 234 on the opposite side are in contact with the ground, the drive motor 113 can achieve reverse rotation by adopting the same driving rule, thereby ensuring that the robot can achieve clockwise and counterclockwise rotational motion by relying on the rotational torque formed by the eight convex spherical surfaces 114, 134, 224, 244 and 124, 144, 214, 234 of the two Bennett mechanisms under the drive of the same drive motor 113. In the continuous rotation mode, the arc legs will not interfere with the ground, and only play a supporting role at the beginning and end of the continuous rotation mode.

[0067] When the driving motor 113 makes the robot reach Fig.11h The maximum unfolded state is shown, at which the robot is in an unstable support state and ends the continuous rotation mode by tipping over around the contact point.

[0068] The robot can enter a straight-ahead motion mode by folding and unfolding, and can also achieve a side-rolling motion gait mode when fully folded. Figure 12a-12i Provide explanation. Figures 12a to 12i The figure is a schematic diagram of the gait of the straight-moving and side-rolling motion modes of the single-powered multi-mode ground mobile robot of the present invention.

[0069] like Figure 12a-12g As shown, the arc legs 225 and 245 of the second driving rod 22 and the second supporting rod 24 are in contact with the ground, and are in a state as shown in FIG. Fig.12a Next, driven by the drive motor 113, the robot continues to unfold and enters the Figure 12b As the robot's center of gravity is to the right ( Figure 12b The robot rolls to the right, so that the arc legs 215 and 235 of the first driving rod 21 and the first supporting rod 23 contact the ground, thereby entering the Fig.12c Next, driven by the drive motor 113, the robot folds and enters the Fig.12d Next, the robot continues to fold and enters the Fig.12e The robot continues to fold until it rolls to the right, so that the arc legs 125 and 245 of the second driving rod 12 and the second supporting rod 24 contact the ground, and enters the state shown in FIG. Fig.12f Next, the robot unfolds until it rolls to the right, so that the arc legs 115 and 135 of the first driving rod 11 and the first supporting rod 13 contact the ground, thereby entering the Figure 12g Finally, the robot folds until it rolls to the right, returning to Fig.12a Repeating the above process can enable the robot to achieve straight-line motion mode.

[0070] like Figure 12h As shown, the robot is folded to a fully folded state, after which the drive motor 113 is no longer driven, and the robot rolls by means of four sets of quasi-circular wheel assemblies, and the side rolling track and the straight rolling track form an angle of 90° to adjust the direction of travel. Fig.12i As shown, after a small expansion and then a complete folding, the robot regains driving force to achieve a short-distance rolling motion mode.

[0071] The above straight-line motion mode can be applied to the scene of crossing the trench.

[0072] Next, combine Figure 12c to Figure 12g as well as Figures 13a to 13d Provide explanation. Figures 13a to 13d It is a schematic diagram of the single-powered multi-mode ground mobile robot of the present invention crossing a trench. Fig.13a The robot moves to the edge of the trench in a straight-line motion mode. Fig.12c Next, the driving motor 113 drives the robot to fold to the position shown in FIG. Fig.13b The forward tilted state shown in the figure then falls over and enters the Fig.13c The status shown is Figure 12d to Figure 12fNext, the driving motor 113 drives the robot to unfold until the robot rolls to the right, thereby entering the Fig.13d The state shown is Figure 12f to Figure 12g In this way, the robot completes the work of crossing the trench.

[0073] The above-mentioned rolling motion mode can be applied to the scene of passing through a low narrow gap.

[0074] Next, combine Figures 12a to 12i as well as Figures 14a to 14d Provide explanation. Figures 14a to 14d Schematic diagram of the single-powered multi-mode ground mobile robot of the present invention passing through a low narrow gap. The low narrow gap may be a road traffic barrier, and the height of the barrier may be set to 180 mm in accordance with the "Guidelines for Setting Urban Road Traffic Barriers" (GA / T1567-2019). First, Fig.14a and 14b As shown, the robot adopts Figures 12a to 12g The robot moves in a straight motion mode and rolls along the length of the fence. When it reaches the target position, it folds into the following Fig.14c The fully folded state shown, i.e. Figure 12g to Figure 12h The folding process is shown. Fig.14d As shown in FIG. 1 , the robot uses inertia and the robot's four sets of circular wheel components to roll. Of course, when the robot stops moving and has not completely passed through the isolation fence, it can also be rolled by Fig.12i As shown, the robot is slightly unfolded and then completely folded, so that it can obtain driving force again to achieve a short-distance rolling motion mode, thereby completing the task of the robot passing through a low narrow gap.

[0075] The robot can also combine the straight motion mode, the side rolling motion mode and the continuous rotation mode, adjust the robot's motion direction through the continuous rotation mode, and realize two steering strategies of the robot's multi-track motion in the straight motion mode and the side rolling mode.

[0076] By combining the straight-ahead motion mode with the continuous rotation mode, the robot's motion direction is adjusted, the robot's rolling trajectory is changed, and the robot's steering straight-ahead gait motion mode is realized. Figures 15a-15g Provide explanation. Figures 15a to 15g The figure is a schematic diagram of the gait of the single-powered multi-mode ground mobile robot in the turning and straight-moving motion mode of the present invention. Fig.15a This is the initial state of the robot's steering and straight-moving motion mode. At this time, the arc legs 225 and 245 on the second driving rod 22 and the second supporting rod 24 are in point contact with the ground for support. Driven by the driving motor 113, the robot unfolds and rolls straight into the Fig.15bAt this time, the arc legs 215 and 235 on the first driving rod 21 and the first supporting rod 23 make point contact with the ground. The driving motor 113 is reversed to make the robot fold forward and move to the position as shown in FIG. Fig.15c The robot will stop the driving motor 113 at the critical position where tipping is about to occur. Under the action of inertia, the robot will pass through the first driving rod 21 and the right side of the first supporting rod 23 ( Fig.15c The arc legs 215, 235 are tilted to the direction shown in FIG. Fig.15d As shown in the state, the arc legs 215 and 235 on the right side of the first driving rod 21 and the first supporting rod 23 and the left side of the second driving rod 12 and the second supporting rod 14 ( Fig.15c The arc legs 125, 145 of the embodiment shown in the figure are in contact with the ground, thereby entering the Fig.11a The motor 113 is then driven to reciprocate, as described in the above continuous rotation mode, and the rotation action is repeated until it rotates to the initial state of the continuous rotation mode. Fig.15e The driving motor 113 causes the robot to unfold until the robot reaches the desired angle in the continuous rotation mode. Fig.15f The maximum unfolded state shown is in an unstable support state, so the robot then falls around the contact point to Figure 15g As shown, the arc legs 125, 145 on the second driving rod 12 and the second supporting rod 14 are in point contact with the ground for support. Next, the robot can continue to move in the above straight motion mode. In this way, the robot's steering straight motion mode is realized.

[0077] In addition, by combining the rolling motion mode with the continuous rotation mode, the rolling direction of the robot can be adjusted to achieve the robot's turning rolling gait motion mode. Figures 15a-15g as well as Figures 16a to 16b Provide explanation. Figure 16a to Figure 16b FIG. 1 is a schematic diagram of the gait of the single-power multi-mode ground mobile robot of the present invention in the turning and rolling motion mode. First, the robot Figure 15a-Figure 15e As shown, the continuous rotation is performed to enter the Fig.16a The driving motor 113 rotates again so that the robot enters the state shown in FIG. Fig.16b The robot is in the fully folded state shown, and then the driving motor 113 is stopped. The robot can roll by relying on the four sets of circular wheel assemblies formed by the arc legs through inertia, thereby realizing the steering and rolling motion mode of the robot.

[0078] The robot also has the ability to cross continuous vertical obstacles. Figures 17a-17i The following is explained by taking the climbing of continuous steps as an example. Figures 17a to 17iThe figure is a schematic diagram of the gait of the single-powered multi-mode ground mobile robot of the present invention in the motion mode of crossing continuous vertical obstacles. The above continuous steps are set to the indoor step width of 320mm×140mm in accordance with the "General Code for Civil Buildings" (GB55031-2022). The robot is at the bottom of the steps, and the initial state is as follows Fig.17a As shown, at this time, the arc legs 225 and 245 of the second driving rod 22 and the second supporting rod 24 are in point contact with the ground. Fig.15a Next, the driving motor 113 unfolds the robot and enters Fig.17b The robot is in the forward tilted state shown in FIG. 1 , so that the first driving rod 21 and the first supporting rod 23 are in contact with the edge of the first step. The driving motor 113 folds the robot so as to enter the Fig.17c At this time, the arc legs 215, 225 at the connecting ends of the first driving rod 21 and the second driving rod 22 and the arc legs 235, 245 at the connecting ends of the first supporting rod 23 and the second supporting rod 24 are in contact with the ground, and are therefore in an unstable supporting state, causing the robot to fall around the contact point to the position shown in FIG. Fig.17d At this time, the first driving rod 21 and the first supporting rod 23 ( Fig.15a The arc legs 215 and 235 of the robot are in contact with the first step; the second driving rod 12 and the second supporting rod 14 are in contact with the second step. Next, the driving motor 113 unfolds the robot until it enters the Fig.17e The state shown is that the second driving rod 12, the second supporting rod 14, the first driving rod 21 and the raised hemispheres 124, 144, 214, 234 of the first supporting rod 23 are in contact with the first step, and the robot reaches the state shown in FIG. Fig.15f The nearly maximally expanded state shown in Fig.17f As shown, the robot tilts around the contact point so that the arc legs 125 and 145 of the second driving rod 12 and the second supporting rod 14 are in contact with the second step.

[0079] After the arc legs 125, 145 slide down from the second step to the first step, the robot is folded by driving the motor 113 to enter the Figure 17g The status shown. Repeat this Figure 17c-17g The same movement strategy and control strategy until the robot Figure 17h The driving motor 113 continues to drive and adjusts the overall center of gravity of the robot so that the robot reaches the top of the step. Fig.17i As shown, the robot can climb continuous steps.

[0080] The robot also has the ability to brake on slopes. Figures 18a-18e Provide explanation. Figures 18a to 18e18(a) is a schematic diagram of the gait of the single-power multi-mode ground mobile robot of the present invention in the ground rolling braking motion mode. Figure 12g At this time, the arc legs 115 and 135 of the first driving rod 11 and the first supporting rod 13 are in point contact with the ground. Next, the driving motor 113 drives the robot to enter the Fig.18b In the fully folded state shown, due to inertia and the robot's four sets of circular wheel components, Fig.18c As shown, the robot enters the slope to achieve rapid rolling. After reaching the target position, the drive motor 113 drives the robot to unfold and enter the Fig.18d In the state shown in the figure, the robot itself has a certain speed under the action of the slope, so the robot rolls on the slope. Fig.18e As shown, during the rolling process, the raised hemisphere and the arc legs touch the ground, which can prevent further rolling. The robot slowly stabilizes and completes the braking action.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A single-powered multi-mode ground mobile robot, characterized in that: It includes a driving motor, a first Bennett mechanism and a second Bennett mechanism which are centrally symmetrical and articulated in a closed loop from end to end, wherein: Each Bennett mechanism comprises a first driving rod and a second driving rod which are symmetrically arranged and hinged, and a first supporting rod and a second supporting rod, wherein the two first driving rods and the two second driving rods are hinged in a closed loop; the open end of the first supporting rod is hinged to the open end side wall of the first driving rod, and the open end of the second supporting rod is hinged to the open end side wall of the second driving rod; A protruding hemisphere is fixedly disposed at the open end of each of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod, and the arc-shaped surface of the protruding hemisphere faces outward; Two arc legs are fixedly provided at both ends of the outer sides of each of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod, and the plurality of arc legs constitute four groups of quasi-circular wheel assemblies; The driving motor is used to drive a first support rod or a second support rod to rotate, so that the robot is in a folded state or an unfolded state. Under the support of the raised hemisphere and the arc legs, the robot can realize a continuous rotation motion mode, a straight and side rolling motion mode, a turning straight or side rolling motion mode, a continuous vertical obstacle crossing motion mode, and a ground rolling braking motion mode.

2. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: The cross-sections of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod in each Bennett mechanism are arranged in a fan shape; in the contracted state, the inner walls of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod are connected to form a cylinder.

3. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: The first driving rod of the first Bennett mechanism is provided with rotating joints for being hinged to the two second driving rods in parallel at both ends; and each second driving rod is provided with rotating joints for being hinged to the two first driving rods in parallel at both ends.

4. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: A rotation joint is provided on the side wall close to the open end of each of the second driving rods and the first driving rod in the second Bennett mechanism; The connecting end of each of the first support rod and the second support rod is respectively provided with a rotating joint for being hinged with the second support rod and the first support rod; the side wall of each of the first support rod and the second support rod close to the open end is respectively provided with a rotating joint for being hinged with the corresponding first driving rod and the second driving rod, wherein, The housing of the driving motor is fixed to the side wall of the open end of the first driving rod of the first Bennett mechanism, and the transmission shaft of the driving motor is coaxially connected to the rotation joint of the open end of the first supporting rod in the first Bennett mechanism.

5. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: The axes of the rotation joints at the ends of each first driving rod and the second driving rod are parallel and arranged in a parallelogram.

6. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: In the continuous rotation motion mode, the four raised hemispheres on one side of the robot are in contact with the ground, and as the driving motor drives the robot to fold and unfold back and forth, the robot rotates continuously.

7. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: In the straight motion mode, any one of the articulated driving rods and support rods contacts the ground, and as the driving motor adjusts the center of gravity of the robot, the adjacent driving rods and support rods contact the ground, thereby achieving flipping; In the side-rolling motion mode, the robot is completely folded, and when the driving motor drives the robot to fold and unfold slightly, the four sets of circular wheel assemblies roll on the ground.

8. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: In the turning straight or side rolling motion mode, the robot rolls in the straight motion mode, and the center of gravity of the robot is adjusted by the driving motor so that the four raised hemispheres on one side of the robot contact the ground, and then enters the continuous rotation motion mode for turning. After rotating to the target angle, the driving motor adjusts the center of gravity of the robot so that the robot enters the straight motion mode or the side rolling motion mode.

9. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: In the movement mode of crossing continuous vertical obstacles, the robot is moved to a position in the straight movement mode, and the robot is folded by driving a motor so that the connecting end of the first driving rod and the second driving rod on one side of the robot and the arc legs of the connecting end of the first support rod and the second support rod are in contact with the ground, and the robot is tilted toward the first-level vertical obstacle; the robot is then driven by a motor to reach the maximum expansion state and the corresponding four raised hemispheres are in contact with the first-level vertical obstacle, and then the robot is tilted toward the second-level vertical obstacle; thereafter, the arc legs of the corresponding connecting ends slide to the first-level vertical obstacle, and the robot is folded to contact the first-level vertical obstacle; and this process is repeated until the highest vertical obstacle is crossed.

10. The single-powered multi-mode ground mobile robot according to claim 1, characterized in that: In the ground rolling braking motion mode, the robot rolls in a completely folded state, and the robot is unfolded by driving a motor so that the raised hemisphere and the arc legs are in continuous contact with the ground to achieve braking.

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