Single-powered multi-mode ground mobile robot

Abstract

The application provides a single-power multi-mode ground mobile robot, which comprises a driving motor, a first Bennett mechanism and a second Bennett mechanism which are symmetrically arranged at the center and are closed-loop hinged at the head and tail, each Bennett mechanism comprises symmetrically arranged and hinged first driving rods and second driving rods and first supporting rods and second supporting rods; 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; the open end of each driving rod and supporting rod is fixedly provided with a convex hemisphere, and the arc surface of the convex hemisphere is outwardly arranged; the outer side two ends of each driving rod and supporting rod are fixedly provided with two circular-arc supporting legs; in the embodiment, the continuous rotation movement mode, the straight movement and side roll movement mode, the steering straight movement or side roll movement mode, the continuous vertical obstacle crossing movement mode and the ground rolling brake movement mode of the robot are realized through the driving of the driving motor and the support of the convex hemisphere and the circular-arc supporting legs.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a single-powered, multi-mode ground mobile robot. Background Technology

[0002] Rolling robots are a type of mobile robot that can move across special terrains by deforming itself.

[0003] Rolling robots typically require multiple drive mechanisms to achieve deformation, resulting in a large number of drive devices. Furthermore, rolling robots generally can only transform into one or two shapes, making them unsuitable for handling more complex terrains.

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

[0005] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section that follows. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

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

[0007] This single-powered, multi-mode ground mobile robot includes a drive motor, a centrally symmetrical first Bennett mechanism, and a second Bennett mechanism with closed-loop hinges at both ends.

[0008] Each Bennett mechanism includes a first drive rod and a second drive rod that are symmetrically arranged and hinged together, as well as a first support rod and a second support rod. The two first drive rods and the two second drive rods are hinged in a closed loop. The open end of the first support rod is hinged to the open end sidewall of the first drive rod, and the open end of the second support rod is hinged to the open end sidewall of the second drive rod.

[0009] Each of the first drive rod, the second drive rod, the first support rod, and the second support rod has a protruding hemisphere fixed at its open end, with the arc-shaped surface of the protruding hemisphere facing outwards;

[0010] Two arc-shaped support legs are fixed at both ends of the outer side of each of the first drive rod, the second drive rod, the first support rod, and the second support rod, and multiple arc-shaped support legs constitute four sets of quasi-circular wheel assemblies;

[0011] The drive 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. With the support of the protruding hemisphere and the arc-shaped support legs, the robot can realize continuous rotation movement mode, straight and side roll movement mode, turning straight or side roll movement mode, crossing continuous vertical obstacles movement mode, and ground rolling braking movement mode.

[0012] Optionally, the cross-sections of the first drive rod, the second drive rod, the first support rod, and the second support rod in each Bennett mechanism are arranged in a fan shape; in the retracted state, the inner walls of the first drive rod, the second drive rod, the first support rod, and the second support rod are joined together to form a cylinder.

[0013] Optionally, the first drive rod of the first Bennett mechanism has two parallel rotating joints at both ends for hinged to the two second drive rods; each second drive rod has two parallel rotating joints at both ends for hinged to the two first drive rods.

[0014] Optionally, a rotary joint is provided on the side wall near the open end of each of the second drive rods and the first drive rods in the second Bennett mechanism;

[0015] Each of the first and second support rods has a rotary joint at its connecting end for hinged connection with the second and first support rods, respectively; and each of the first and second support rods has a rotary joint on its sidewall near its open end for hinged connection with the corresponding first and second drive rods, wherein...

[0016] The housing of the drive motor is fixed to the side wall of the open end of the first drive rod of the first Bennett mechanism, and the drive shaft of the drive motor is coaxially connected to the rotating joint of the open end of the first support rod in the first Bennett mechanism.

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

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

[0019] Optionally, in straight-line motion mode, any hinged drive rod and support rod contact the ground. As the drive motor adjusts the robot's center of gravity, adjacent drive rods and support rods contact the ground, achieving a flip.

[0020] In the side-rolling motion mode, the robot is fully folded. When the drive motor causes the robot to unfold slightly, the four sets of circular wheel assemblies roll on the ground.

[0021] Optionally, in the turning straight-line or side-rolling motion mode, the robot rolls in the straight-line motion mode, and the robot's center of gravity is adjusted by the drive motor so that the four protruding hemispheres on one side of the robot contact the ground. Then, it enters the continuous rotation motion mode to turn. When it rotates to the target angle, the drive motor adjusts the robot's center of gravity so that the robot enters the straight-line motion mode or the side-rolling motion mode.

[0022] Optionally, in the continuous vertical obstacle crossing movement mode, the robot moves into position using the straight-line movement mode, and folds the robot by driving the motor, so that the arc-shaped outriggers at the connecting ends of the first and second drive rods and the connecting ends of the first and second support rods on one side of the robot contact the ground and tilt towards the first-level vertical obstacle; then, the robot reaches its maximum unfolded state by driving the motor, and after the corresponding four protruding hemispheres contact the first-level vertical obstacle, it tilts towards the second-level vertical obstacle; thereafter, the arc-shaped outriggers at the corresponding connecting ends slide down to the first-level vertical obstacle, and the folding robot contacts the first-level vertical obstacle; 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 fully folded state, and unfolds the robot by driving the motor, so that the raised hemisphere and the arc-shaped support legs continuously contact the ground to achieve braking.

[0024] The above embodiments of the present invention have the following beneficial effects: First, the first Bennett mechanism and the second Bennett mechanism constitute a four-bar linkage structure. Driven by a single drive motor, the first Bennett mechanism and the second Bennett mechanism can fold and unfold synchronously, enabling the robot to be in a folded or unfolded state. This achieves the function of controlling the robot's deformation through a single drive motor.

[0025] Under the control of the drive motor, the robot can realize multiple motion modes, including a continuous rotation motion mode that can turn, a straight and side roll motion mode for traveling, a turning straight or turning side roll motion mode for turning while traveling, a motion mode for crossing continuous vertical obstacles, and a ground rolling braking motion mode. This allows the robot to switch between multiple modes to adapt to various terrains, realizing the robot's multi-functionality. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of an embodiment of the single-powered multi-mode ground mobile robot of the present invention in its deployed state.

[0028] Figure 2 This is a schematic diagram of the structure of an embodiment of the first drive rod of the first Bennett mechanism of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of an embodiment of the second drive rod of the first Bennett mechanism of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of one embodiment of the first support rod of the first Bennett mechanism of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the second support rod of the first Bennett mechanism of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of one embodiment of the first drive rod of the second Bennett mechanism of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of an embodiment of the second drive rod of the second Bennett mechanism of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the first support rod of the second Bennett mechanism of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the second support rod of the second Bennett mechanism of the present invention;

[0036] Figure 10 This is a schematic diagram of the structure of an embodiment of the single-powered multi-mode ground mobile robot of the present invention in a folded state;

[0037] Figures 11a to 11h This is a schematic diagram of an embodiment of the gait of the continuous rotational motion mode of the single-power multi-mode ground mobile robot of the present invention;

[0038] Figures 12a to 12iThis is a gait diagram illustrating the straight-line and side-roll motion modes of the single-powered multi-mode ground mobile robot of the present invention;

[0039] Figures 13a to 13d This is a gait diagram illustrating the trench-crossing movement mode of the single-powered multi-mode ground mobile robot of the present invention.

[0040] Figures 14a to 14d This is a gait diagram of the single-powered multi-mode ground mobile robot of the present invention, showing its movement mode through low-profile narrow slits.

[0041] Figures 15a to 15g This is a gait diagram of the turning and straight-line movement mode of the single-power multi-mode ground mobile robot of the present invention;

[0042] Figures 16a to 16b This is a gait diagram illustrating the turning and rolling motion mode of the single-power multi-mode ground mobile robot of the present invention.

[0043] Figures 17a to 17i This is a gait diagram illustrating the movement mode of the single-powered multi-mode ground mobile robot of the present invention when crossing continuous vertical obstacles.

[0044] Figures 18a to 18e This is a gait diagram of the ground rolling braking motion mode of the single-power multi-mode ground mobile robot of the present invention. Detailed Implementation

[0045] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. 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.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] Please refer to the following first. Figure 1 , Figure 1 This is a structural schematic diagram of one embodiment of the single-powered multi-mode ground mobile robot of the present invention. Figure 1 As shown, the single-powered multi-mode ground mobile robot includes a first Bennett mechanism 1 and a second Bennett mechanism 2 that are centrally symmetrical with closed-loop hinges at both ends.

[0050] Please refer to the following. Figure 2 and Figure 3 And continue to refer to Figure 1 , Figure 2 This is a schematic diagram of the structure of an embodiment of the first drive rod of the first Bennett mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of one embodiment of the second drive rod of the first Bennett mechanism of the present invention. Figures 1 to 3 As shown, the aforementioned first Bennett mechanism 1 includes a first drive rod 11 and a second drive rod 12 that are symmetrically arranged and hinged. The connecting end of the first drive rod 11 ( Figure 2 The connection end of the rotating joint 111 (shown on the left) and the second drive rod 12 (shown on the left) Figure 3 The rotating joint 121 (shown at the left end) is hinged. When the first drive rod 11 and the second drive rod 12 rotate inward, their inner walls engage, achieving a folded state. When the first drive rod 11 and the second drive rod 12 rotate outward, their inner walls separate, achieving an unfolded state.

[0051] Please see Figure 4 and Figure 5 , Figure 4This is a schematic diagram of the structure of one embodiment of the first support rod of the first Bennett mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the second support rod of an embodiment 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 that are hinged together. The connecting end of the first support rod 13 ( Figure 4 The connection end of the rotating joint 131 (shown at the upper end) and the second support rod 14 (shown at the upper end) Figure 5 The rotating joint 141 (shown on the left end) is hinged.

[0052] The open end of the first support rod 13 ( Figure 4 The rotating joint 133 on the side wall of the lower end (shown) is close to the open end of the first drive rod 11. Figure 2 The right end shown is hinged to the side wall. Specifically, a drive motor 113 is fixed on the side wall, and the drive shaft of the drive motor 113 is coaxially connected to the rotating joint 133.

[0053] The open end of the second support rod 14 ( Figure 5 The rotating joint 143 on the right end sidewall and the open end of the second drive rod (as described) Figure 3 The rotating joint 123 on the right end (shown) sidewall is hinged. This makes the first Bennett mechanism 1 a Bennett four-bar linkage. When the drive motor 113 drives the rotating joint 133 to rotate, the first support rod 13 rotates, enabling the first drive rod 11, the second drive rod 12, and the second support rod 14 to fold inward or unfold outward simultaneously. 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 fan-shaped, so that in the retracted 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 engage to form a cylinder.

[0054] Please see Figure 6 and Figure 7 And refer to again Figure 1 , Figure 6 This is a schematic diagram of the structure of one embodiment of the first drive rod of the second Bennett mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of one embodiment of the second drive 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 of the first drive rod 21 ( Figure 6 The connection end of the rotating joint 211 (shown on the right end) and the second drive rod (shown on the right end) Figure 7 The rotating joint 221 (shown on the right end) is hinged. When the first drive rod 21 and the second drive rod 22 rotate inward, their inner walls engage, achieving a folded state. When the first drive rod 21 and the second drive rod 22 rotate outward, their inner walls separate, achieving an unfolded state.

[0055] Please refer to the following. Figures 8 to 9 , Figure 8 This is a schematic diagram of the structure of the first support rod of the second Bennett mechanism of the present invention; Figure 9 This is a schematic diagram of the structure of one 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 together. The connecting end of the first support rod 23 ( Figure 8 The connection end of the rotating joint 231 (shown at the lower end) and the second support rod 24 (shown at the lower end) Figure 9 The rotating joint 241 (shown on the right end) is hinged.

[0056] The open end of the first support rod 23 ( Figure 9 The rotating joint 233 on the side wall of the upper end (as shown) is close to the open end of the first drive rod 21. Figure 6 The rotating joint 213 on the left end (shown) sidewall is hinged. The open end of the second support rod 24 ( Figure 9 The rotating joint 243 on the left side wall (shown) and the open end of the second drive rod 22 (shown) Figure 7 The rotating joint 223 on the left side wall (shown) is hinged. In this way, the second Bennett mechanism 2 forms another Bennett four-bar linkage.

[0057] Please refer to the following. Figure 10 , Figure 10 This is a structural schematic diagram of an embodiment of the single-powered, multi-mode ground mobile robot of the present invention in its folded state. Figure 1 and Figure 10 As shown, when the first drive rod 21 or the second drive rod 22 folds inward or unfolds outward, the first support rod 23 and the second support rod 24 fold and unfold synchronously. Furthermore, the cross-sections of the first drive rod 21, the second drive rod 22, the first support rod 23, and the second support rod 24 can be fan-shaped, so that in the folded state, the inner walls of the first drive rod 21, the second drive rod 22, the first support rod 23, and the second support rod 24 join together to form a cylinder.

[0058] Revisit Figures 1 to 10The first Bennett mechanism 1 and the second Bennett mechanism 2 can be arranged symmetrically, that is, the open end of the first drive rod 11 of the first Bennett mechanism 1 ( Figure 2 The rotating joint 112 (shown on the right end) and the open end of the second drive rod 22 of the second Bennett mechanism 2 (shown on the right end) Figure 7 The rotating joint 222 of the left end (shown) is hinged; the open end of the second drive rod 12 of the first Bennett mechanism 1 (shown) Figure 3 The rotating joint 122 (shown on the right end) and the open end of the first drive rod 21 of the second Bennett mechanism 2 (shown on the right end) Figure 6 The left end shown is rotatably connected.

[0059] In this way, when the aforementioned drive motor 113 drives the first support rod 13 of the first Bennett mechanism 1 to rotate, the first Bennett mechanism 1 and the second fold or unfold, causing the robot to enter the folded state and unfolded state.

[0060] As an example, the aforementioned drive motor 113 can be a servo motor. Of course, the drive motor 113 can 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 drive shaft of the drive motor 113 can be coaxially connected to the lateral rotation joint of the connected first support rod 13, 23 or second support rod 23, 24. Those skilled in the art can make adjustments according to the actual situation. However, such changes do not exceed the scope of protection of this disclosure.

[0061] In addition, to enable the robot to fold and unfold, the axes of the rotation joints at the ends of each of the first drive rods 11, 21 and the second drive rods 12, 22 are parallel and arranged in a parallelogram shape.

[0062] Continue reading Figures 1 to 9 A raised hemisphere is fixed on the open end of each of the first drive rods 11, 21, the second drive rods 12, 22, the first support rods 13, 23, and the second support rods 14, 24, with the arc-shaped surface of the raised hemisphere facing outward.

[0063] The first drive rods 11 and 21, the second drive rods 12 and 22, the first support rods 13 and 23, and the second support rods 14 and 24 are all fixed with arc-shaped legs at both ends of their outer walls. When the robot is in a folded state, the arc-shaped legs 115, 125, 135, and 145 in the first Bennett mechanism 1 and the arc-shaped legs 215, 225, 215, and 225 in the second Bennett mechanism 2 are assembled into four sets of quasi-circular wheel assemblies.

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

[0065] When the four raised hemispheres contact the ground, the robot can achieve a continuous rotational motion. Next, we will combine... Figures 11a to 11h The following explanation will be based on the example of the four protruding hemispheres of the first Bennett mechanism 1 in contact with the ground. Figures 11a to 11h This is a schematic diagram of an embodiment of the robot's continuous rotational motion gait mode according to the present invention. Figure 11a This is the initial state of the robot's continuous rotation mode. At this time, the arc-shaped support legs 215 and 235 on the first drive rod 21 and the first support rod 23 are in point contact with the ground. The drive motor 113 causes the robot to unfold to the position shown in the image. Figure 11b As shown, at this time, the four raised hemispheres 124, 144, 214, and 234 are always in contact with the ground. Then, the drive motor 113 reverses direction as follows. Figure 11c The robot achieves in-situ rotation by generating a steering torque through the torque difference at the contact points. This reciprocating motion changes the direction of drive motor 113, ensuring that the four raised hemispheres 124, 144, 214, and 234 remain in contact with the ground, resulting in the robot rotating as shown in the image. Figures 11d-11g The rotation process.

[0066] Of course, when the four raised spherical surfaces 124, 144, 214, and 234 on the opposite side are in contact with the ground, the drive motor 113 can rotate in the opposite direction by adopting the same driving law. This ensures that the robot can achieve clockwise and counterclockwise rotation under the drive of the same drive motor 113, relying on the rotational torque formed by the eight raised spherical surfaces 114, 134, 224, and 244 of the two Bennett mechanisms and 124, 144, 214, and 234. In the continuous rotation mode, the arc-shaped support 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 drive motor 113 causes the robot to reach such a position Figure 11h The robot is in its maximum deployed state, at which point it is in an unstable support state and tilts around the contact point, ending the continuous rotation mode.

[0068] The robot can enter a straight-line movement mode by unfolding, and achieve a side-rolling gait mode when fully folded. Next, we will combine... Figures 12a-12i Please provide an explanation. Figures 12a to 12i This is a schematic diagram of the straight-line and side-rolling motion modes of the single-powered multi-mode ground mobile robot of the present invention.

[0069] like Figures 12a-12g As shown, the arc-shaped support legs 225 and 245 of the second drive rod 22 and the second support rod 24 are in contact with the ground, in a position as shown. Figure 12a The robot is shown in its unfolded state. Next, driven by motor 113, the robot continues to unfold and enters... Figure 12b The state shown. Because the robot's center of gravity is to the right ( Figure 12b The robot deviates in the direction shown, rolls to the right, and causes the arc-shaped outriggers 215 and 235 of the first drive rod 21 and the first support rod 23 to contact the ground, thus entering the... Figure 12c The state shown. Next, driven by drive motor 113, the robot folds and enters... Figure 12d The state shown. Next, the robot continues to fold, entering... Figure 12e As shown, the robot continues to fold until it rolls to the right, causing the arc-shaped outriggers 125 and 245 of the second drive rod 12 and the second support rod 24 to contact the ground, thus entering the... Figure 12f The robot is shown in the following state. Next, the robot unfolds until it rolls to the right, causing the arc-shaped outriggers 115 and 135 of the first drive rod 11 and the first support rod 13 to contact the ground, thus entering the... Figure 12g The robot folds down until it rolls to the right, returning to its original position. Figure 12a The state shown is described above. Repeating the above process enables the robot to achieve a straight-line movement mode.

[0070] like Figure 12h As shown, when the robot is folded to its fully folded state, the drive motor 113 is no longer driven. The robot rolls using four sets of near-circular wheel assemblies, with its side-rolling trajectory forming a 90° angle with its straight-line rolling trajectory, thus adjusting its direction of travel. When the robot stops moving, it can... Figure 12i As shown, by slightly unfolding and then fully folding, the robot regains its driving force and achieves a short-distance side-rolling motion.

[0071] The above-mentioned straight-line movement mode can be applied to scenarios involving crossing trenches.

[0072] Next, combine Figures 12c to 12g as well as Figures 13a to 13d Please provide an explanation. Figures 13a to 13d This is a schematic diagram of the single-powered, multi-mode ground mobile robot of the present invention crossing a trench. Figure 13a The robot moves to the edge of the trench using a straight-line motion mode, and its state at this time is as follows. Figure 12c As shown. Next, drive motor 113 drives the robot to fold as shown. Figure 13b The figure shows a forward-leaning state, followed by a tilt, entering a state of... Figure 13c The state shown is Figures 12d to 12fThe flipping process. Next, drive motor 113 drives the robot to unfold until the robot rolls to the right, thus entering the... Figure 13d The state shown is Figures 12f to 12g The flipping process allows the robot to cross the trench.

[0073] The aforementioned side-roll motion pattern can be applied to scenarios involving passing through low, narrow gaps.

[0074] Next, combine Figures 12a to 12i as well as Figures 14a to 14d Please provide an explanation. Figures 14a to 14d This is a schematic diagram of the single-powered, multi-mode ground mobile robot of the present invention passing through a low-lying narrow gap. The aforementioned low-lying narrow gap can be a road traffic barrier, and the height of the barrier can be set to 180mm in accordance with the "Guidelines for the Installation of Traffic Barriers on Urban Roads" (GA / T1567-2019). Firstly, as... Figure 14a and 14b As shown, the robot employs the following... Figures 12a to 12g The robot rolls along the length of the barrier in a straight-line motion pattern. Upon reaching the target position, the robot folds up as... Figure 14c The fully folded state shown is... Figure 12g to Figure 12h The folding process is shown below. Finally, as shown... Figure 14d As shown, the robot rolls using inertia and its four sets of near-circular wheels. Of course, if the robot stops before completely passing through the barrier, it can also... Figure 12i As shown, by slightly unfolding and then fully folding, the robot regains its driving force to achieve a short-distance side-rolling motion, thus enabling the robot to pass through low, narrow slits.

[0075] The robot can also combine straight-line motion mode, side-roll motion mode and continuous rotation mode. By adjusting the robot's motion direction through continuous rotation mode, it can realize two steering strategies for multi-track motion of the robot in straight-line mode and side-roll mode.

[0076] By combining the straight-line motion mode with the continuous rotation mode, the robot's direction of movement is adjusted, and its rolling trajectory is changed, enabling the robot to switch to a straight-line gait mode. Next, we will combine... Figure 15a-15g Please provide an explanation. Figures 15a to 15g This is a gait diagram of the turning and straight-line movement mode of the single-powered multi-mode ground mobile robot of the present invention. Figure 15a This is the initial state of the robot's turning and straight-line movement mode. At this time, the arc-shaped support legs 225 and 245 on the second drive rod 22 and second support rod 24 are in contact with the ground for support. Driven by the drive motor 113, the robot unfolds and performs a straight-line rolling motion into the... Figure 15bAt this moment, the arc-shaped support legs 215 and 235 on the first drive rod 21 and the first support rod 23 make point contact with the ground. The drive motor 113 reverses, causing the robot to fold forward and move to a position where... Figure 15c The drive motor 113 stops at the critical position where the robot is about to tip over. Due to inertia, the robot will pass through the right side of the first drive rod 21 and the first support rod 23 (…). Figure 15c The arc-shaped outriggers 215 and 235 (in the direction shown) tilt to the side as indicated. Figure 15d The state shown makes the arc-shaped support legs 215 and 235 on the right side of the first drive rod 21 and the first support rod 23, and the left side of the second drive rod 12 and the second support rod 14 ( Figure 15c The arc-shaped outriggers 125 and 145 (in the direction shown) contact the ground, thus entering... Figure 11a The initial state of the continuous rotation mode is shown. Then, the drive motor 113 reciprocates, repeating the rotation motion as described in the continuous rotation mode until the desired state is reached. Figure 15e The desired angle is shown. Drive motor 113 causes the robot to unfold until it reaches the continuous rotation mode as shown. Figure 15f The robot is in its maximum unfolded state, i.e., in an unstable supported state. Therefore, it will then tilt around the contact point as shown. Figure 15g As shown, the arc-shaped outriggers 125 and 145 on the second drive rod 12 and the second support rod 14 make contact with the ground for support. The robot can then continue moving using the aforementioned straight-line motion mode. This achieves the robot's turning and straight-line motion mode.

[0077] Furthermore, by combining the side-roll motion mode with the continuous rotation mode, the robot's side-roll direction can be adjusted, achieving a turning side-roll gait motion mode. Next, we will combine... Figure 15a-15g as well as Figures 16a to 16b Please provide an explanation. Figures 16a to 16b This is a gait diagram illustrating the turning and rolling motion mode of the single-powered, multi-mode ground mobile robot of the present invention. First, the robot... Figures 15a-15e As shown, continuous rotation is performed to enter... Figure 16a The state shown. The drive motor 113 rotates again, causing the robot to enter the state shown. Figure 16b In the fully folded state shown, after stopping the drive motor 113, the robot can roll by relying on the four sets of quasi-circular wheel assemblies formed by the arc-shaped support legs through inertia, thereby realizing the robot's turning and rolling motion mode.

[0078] The robot also has the ability to traverse continuous vertical obstacles. Next, we will combine... Figures 17a-17i Let's take climbing continuous steps as an example to illustrate. Figures 17a to 17iThis is a gait diagram illustrating the movement mode of the single-powered multi-mode ground mobile robot of the present invention when traversing continuous vertical obstacles. The aforementioned continuous steps are set to an indoor step width of 320mm × 140mm, conforming to the "General Code for Civil Building Construction" (GB55031-2022). The robot is at the bottom of the steps, in the initial state as follows. Figure 17a As shown, at this time, the arc-shaped support legs 225 and 245 of the second drive rod 22 and the second support rod 24 are in contact with the ground. Figure 15a The state shown is the same. Next, drive motor 113 unfolds the robot, entering... Figure 17b The robot is tilted forward, causing the first drive rod 21 and the first support rod 23 to contact the edge of the first step. The drive motor 113 folds the robot, allowing it to enter... Figure 17c The robot is in the state shown. At this time, the arc-shaped support legs 215 and 225 at the connecting ends of the first drive rod 21 and the second drive rod 22, and the arc-shaped support legs 235 and 245 at the connecting ends of the first support rod 23 and the second support rod 24 are in contact with the ground, thus being in an unstable support state, causing the robot to tip over around the contact point. Figure 17d The state shown. At this time, the first drive rod 21 and the first support rod 23 are above ( Figure 15a The arc-shaped outriggers 215 and 235 (in the direction shown) contact the first step; the second drive rod 12 and the second support rod 14 contact the second step. Next, the drive motor 113 deploys the robot until it enters... Figure 17e In the state shown, that is, the protruding hemispheres 124, 144, 214, and 234 of the second drive rod 12, the second support rod 14, the first drive rod 21, and the first support rod 23 are in contact with the first step, and the robot reaches the state shown. Figure 15f The near-maximum expansion state is shown. Next, as... Figure 17f As shown, the robot tilts around the contact point, causing the arc-shaped legs 125 and 145 of the second drive rod 12 and the second support rod 14 to contact the second step.

[0079] After the aforementioned arc-shaped support legs 125 and 145 slide down from the second step to the first step, the robot is folded by the drive motor 113 and enters the... Figure 17g The state shown. Repeat this process. Figure 17c-17g The same movement and control strategies are used until the robot... Figure 17h As shown, it tipped over on the last step. Drive motor 113 continued to operate, adjusting the robot's overall center of gravity so that the robot reached the top of the step. Figure 17i As shown, this enables the robot to climb continuous stairs.

[0080] The robot also has the ability to brake on slopes, which will be combined with... Figures 18a-18e Please provide an explanation. Figures 18a to 18eThis is a gait diagram illustrating the ground rolling braking motion mode of the single-powered multi-mode ground mobile robot of the present invention. Figure 18(a) shows the initial state of the robot, which can also be referred to... Figure 12g At this point, the arc-shaped support legs 115 and 135 of the first drive rod 11 and the first support rod 13 are in contact with the ground. Next, the drive motor 113 drives the robot to enter... Figure 18b The fully folded state shown, due to inertia and the robot's four sets of quasi-circular wheel assemblies, such as Figure 18c As shown, the robot enters the ramp to achieve rapid rolling. Upon reaching the target position, drive motor 113 drives the robot to unfold and enter... Figure 18d In the scenario depicted, the robot possesses a certain speed due to the slope, causing it to roll over. For example... Figure 18e As shown, during the tumbling process, the raised hemisphere and the arc-shaped support legs contact the ground, which can prevent further tumbling. Once the robot stabilizes, it 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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-power multi-mode ground moving robot, characterized by, The robot comprises a driving motor, a first Bennett mechanism and a second Bennett mechanism which are symmetrically arranged and closed-loop hinged, 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, the two first driving rods and the two second driving rods being closed-loop hinged; 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; The open end of each of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod is fixed with a convex hemisphere, and the arc surface of the convex hemisphere is outwardly arranged; The outer side of each of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod is fixed with two circular arc legs, and the plurality of circular arc legs form four groups of circular wheel assemblies; The driving motor is used to drive one of the first supporting rod or the second supporting rod to rotate, so that the robot is in a folded state or an unfolded state, and under the support of the convex hemispheres and the circular arc legs, the continuous rotation movement mode, the straight movement mode, the side roll movement mode, the turning straight movement or the turning side roll movement mode, the continuous vertical obstacle crossing movement mode and the ground rolling brake movement mode of the robot are realized; The cross section of each of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod in each Bennett mechanism is 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, forming a cylindrical body; The two ends of the first driving rod of the first Bennett mechanism are provided with rotating joints in parallel for being hinged with the two second driving rods; the two ends of each second driving rod are provided with rotating joints in parallel for being hinged with the two first driving rods; The side wall close to the open end of each of the second driving rod and the first driving rod in the second Bennett mechanism is provided with a rotating joint; The connecting end of each of the first supporting rod and the second supporting rod is respectively provided with a rotating joint for being hinged with the second supporting rod and the first supporting rod; the side wall close to the open end of each of the first supporting rod and the second supporting rod is respectively provided with a rotating joint for being hinged with the corresponding first driving rod and second driving rod, wherein, The shell 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 with the rotating joint of the open end of the first supporting rod in the first Bennett mechanism; The axes of the rotating joints at the ends of each first driving rod and second driving rod are parallel, and are arranged in a parallelogram.

2. The single-power multi-mode ground moving robot according to claim 1, wherein, In the continuous rotation movement mode, the four convex hemispheres on one side of the robot are in contact with the ground, and the robot continuously rotates as the driving motor drives the robot to reciprocatingly fold and unfold.

3. The single-power multi-mode ground moving robot of claim 1, wherein, In the straight movement mode, any hinged driving rod and supporting rod are in contact with the ground, and the adjacent driving rod and supporting rod are brought into contact with the ground by adjusting the gravity center of the robot by the driving motor, so that the robot is turned over. In the side-rolling motion mode, the robot is completely folded, and when the driving motor drives the robot to fold or unfold slightly, the four groups of circular wheel assemblies roll on the ground.

4. The single-power multi-mode ground moving robot of claim 1, wherein, In the turning and straight-line motion mode or the turning and side-rolling motion mode, the robot rolls in the straight-line motion mode, the driving motor adjusts the center of gravity of the robot, so that the four convex hemispheres on one side of the robot are in contact with the ground, and then enters the continuous rotation motion mode for turning, when the rotation reaches the target angle, the driving motor adjusts the center of gravity of the robot, so that the robot enters the straight-line motion mode or the side-rolling motion mode.

5. The single-power multi-mode ground moving robot of claim 1, wherein, In the continuous vertical obstacle crossing motion mode, the robot moves to the position in the straight-line motion mode, the driving motor folds the robot, so that the circular arc legs of the connecting ends of the first driving rod and the second driving rod and the connecting ends of the first supporting rod and the second supporting rod on one side of the robot are in contact with the ground and are tilted towards the first level vertical obstacle; then the driving motor makes the robot reach the maximum unfolded state and the corresponding four convex hemispheres are in contact with the first level vertical obstacle, and then the robot is tilted towards the second level vertical obstacle; thereafter, the corresponding connecting end circular arc legs slide to the first level vertical obstacle, and the robot is folded in contact with the first level vertical obstacle; and so on, until the highest vertical obstacle is crossed.

6. The single-power multi-mode ground moving robot of claim 1, wherein, In the ground rolling brake motion mode, the robot rolls in the completely folded state, and the driving motor unfolds the robot, so that the convex hemispheres and the circular arc legs are in constant contact with the ground to achieve braking.

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