Multifunctional composite mobile robot

Abstract

The invention relates to the technical field of robots, and provides a multifunctional combined type mobile robot which comprises a robot body (1). The driving walking wheels (2) are arranged on transmission shafts at four corners of two sides of the machine body (1); the stress deformation wheels (3) and the driving walking wheels (2) are coaxially arranged, and the stress deformation wheels (3) shrink and deform when subjected to external force; the crawler belt (4) is arranged on the driving walking wheel (2) and the stress deformation wheel (3); the obstacle crossing structure (5) is supported on the side, away from the driving walking wheel (2), of the stress deformation wheel (3) and located on the outer side of the crawler belt (4); when the crawler belt part located at the stress deformation wheel (3) and the stress deformation wheel (3) are extruded by an obstacle, the crawler belt part contracts along with the stress deformation wheel (3), and at the moment, the obstacle crossing structure (5) supports and rolls to climb over the obstacle. The advantages of different motion modes can be played, and the moving efficiency, universality and operation efficiency of the robot are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multifunctional composite mobile robot. Background Art

[0002] At present, the application of robots is becoming more and more extensive, and different operating scenarios have put forward diverse requirements for the robot motion chassis.

[0003] Existing robot motion chassis have limitations. For example, in the complex fire environment of a ship engine room, in the secondary fire detection scene, the traditional wheeled robot motion chassis has difficulty in passing through the complex internal structure and obstacles of the engine room. Although the single crawler motion chassis has a certain ability to overcome obstacles, it is not flexible enough when facing complex terrain such as partial collapse and distortion in the fire scene. At the same time, the traditional motion chassis cannot effectively adapt and continue to perform tasks in the scene where there is a risk of falling in the fire scene.

[0004] In border patrol scenarios, the terrain is complex and varied, including beaches, mountains, swamps, etc. Ordinary wheeled chassis are difficult to adapt to rugged mountain roads and beaches, and tracked chassis have poor maneuverability when facing obstacles such as stones and are easily blocked, affecting normal patrols. Currently, there is a lack of a universal robot motion chassis that can simultaneously adapt to the needs of these two very different scenarios. Summary of the invention

[0005] The purpose of the present invention is to solve at least one technical problem in the background technology and provide a multifunctional composite mobile robot.

[0006] To achieve the above object, the present invention provides a multifunctional composite mobile robot, comprising:

[0007] body;

[0008] Active running wheels are arranged on the transmission shafts at the four corners on both sides of the fuselage;

[0009] Force-bearing deformation wheels are coaxially arranged with each of the active running wheels and contract and deform when subjected to external force;

[0010] Tracks are arranged on the active walking wheels and the force-bearing deformation wheels;

[0011] The obstacle-crossing structure is supported on the side of the force-bearing deformation wheel away from the active walking wheel and is located on the outer side of the crawler track;

[0012] When the track portion located at the force-bearing deformation wheel and the force-bearing deformation wheel are squeezed by an obstacle, the track portion contracts along with the force-bearing deformation wheel. At this time, the obstacle is supported and rolled over by the obstacle-crossing structure.

[0013] According to one aspect of the present invention, it further comprises: a support rod and a shock-absorbing support wheel, wherein the support rod is supported at the middle of both sides of the fuselage;

[0014] The shock-absorbing support wheel comprises: a support spring and two support wheels;

[0015] The outer shells of the two support wheels are connected together by a connecting rod, and the two support wheels are rotatably supported on the inner wall of the track. One end of the two support springs is respectively supported on the outer shells of the two support wheels, and the other end is installed on the outer wall of the support rod.

[0016] According to one aspect of the present invention, the force-bearing deformation wheel comprises: four arc-shaped wheel assemblies and a bracket assembly;

[0017] The four arc wheel assemblies are sequentially mounted on the bracket assembly along the circumferential direction;

[0018] The arc wheel assembly cooperates with the bracket assembly to achieve contraction and deformation of one end thereof when subjected to external pressure.

[0019] According to one aspect of the present invention, the arc wheel assembly comprises: an arc wheel and a return spring;

[0020] The arc-shaped wheel is a quarter-circular wheel;

[0021] One end of the return spring is supported on the inner wall of one end of the arc wheel, and the other end of the return spring is supported on the bracket assembly.

[0022] According to one aspect of the present invention, the bracket assembly includes: a support seat, four first connecting rods and four second connecting rods;

[0023] The support seat is installed on the transmission shaft, and four limit pins are provided on the side of the support seat away from the active walking wheel;

[0024] One ends of the four first connecting rods are supported on the support seat at intervals along the circumferential direction of the support seat;

[0025] The other ends of the four first connecting rods are respectively rotatably connected to the side walls of the arc-shaped wheels away from one end of the return spring, and the other end of the return spring is supported on the first connecting rod;

[0026] One end of each of the four second connecting rods is rotatably connected to a side wall of each of the arc-shaped wheels close to one end of the return spring;

[0027] The other ends of the four second connecting rods are respectively movably connected with the limit pins;

[0028] When the arc wheel and the return spring are compressed and deformed, the end of the arc wheel drives the second connecting rod to move along an arc track on the limiting pin.

[0029] According to one aspect of the present invention, the second connecting rod is an arc-shaped plate bent toward the return spring;

[0030] The second connecting rod is provided with an arc-shaped sliding groove, and the limiting pin is located in the arc-shaped sliding groove and is slidably connected with the arc-shaped sliding groove.

[0031] According to one aspect of the present invention, the obstacle-spanning structure comprises: four legs;

[0032] One end of each of the supporting legs is connected to the other end of each of the second connecting rods, and the supporting legs are arranged at an angle of 90 degrees to the second connecting rods.

[0033] According to one aspect of the present invention, an electromagnet is disposed at the other end of each of the legs.

[0034] According to one aspect of the present invention, the outer diameter of the obstacle-spanning structure is greater than the maximum outer diameter of the force-bearing deformation wheel, and is less than or equal to the outer diameter of the track at the active walking wheel and the force-bearing deformation wheel.

[0035] According to one scheme of the present invention, a multifunctional composite mobile robot comprises: a body; active running wheels arranged on the transmission shafts at the four corners on both sides of the body; force-bearing deformation wheels arranged coaxially with each active running wheel and shrinking and deforming when subjected to external force; tracks arranged on the active running wheels and the force-bearing deformation wheels; an obstacle-crossing structure supported on the side of the force-bearing deformation wheel away from the active running wheel and located on the outside of the tracks; when the track portion and the force-bearing deformation wheel located at the force-bearing deformation wheel are squeezed by an obstacle, the track portion shrinks along with the force-bearing deformation wheel, and at this time, the obstacle is supported and rolled over by the obstacle-crossing structure. Such an arrangement enables the multifunctional composite mobile robot of the present invention to not only move quickly on normal terrain, but also to quickly and smoothly cross complex and changeable terrain with many obstacles. When encountering an obstacle, the force-bearing deformed wheel and a part of the track connected thereto will be squeezed and contracted. At this time, the obstacle-crossing structure will protrude from the track and contact the obstacle, so that the obstacle can be quickly crossed through the obstacle-crossing structure. After crossing the obstacle, the force-bearing deformed wheel and the track are no longer squeezed by the obstacle and will return to a normal state. At this time, the track continues to move quickly through the active walking wheel.

[0036] According to one solution of the present invention, the present invention further comprises: a support rod and a shock-absorbing support wheel, the support rod is supported at the middle of both sides of the fuselage; the shock-absorbing support wheel comprises: a support spring and two support wheels; the outer shells of the two support wheels are connected together by a connecting rod, and the two support wheels are rotatably supported on the inner wall of the track, one end of the two support springs is respectively supported on the outer shells of the two support wheels, and the other end is installed on the outer wall of the support rod. With such an arrangement, the track suspended between the two sets of active walking wheels and the force-bearing deformation wheels on the same side can be shock-absorbingly supported by the shock-absorbing support wheel, so that the track can be effectively supported during the walking process of the track, and the entire fuselage and track can be shock-absorbing, and when crossing obstacles through the obstacle-crossing structure, the posture of the middle track can be maintained by the shock-absorbing support wheel, ensuring that the moving process remains quite stable and the gripping ability is improved.

[0037] According to one solution of the present invention, the force-deformed wheel comprises: four arc wheel assemblies and a bracket assembly; the four arc wheel assemblies are sequentially mounted on the bracket assembly along the circumferential direction; each arc wheel assembly realizes contraction and deformation of one end thereof when subjected to external pressure by cooperating with the bracket assembly. Such arrangement enables that when encountering an obstacle, the force-deformed wheel can realize sequential deformation and contraction along its circumferential direction while rolling over the obstacle, effectively reducing rolling resistance and improving the ability to cross obstacles.

[0038] According to one solution of the present invention, the arc wheel assembly includes: an arc wheel and a return spring; the arc wheel is a quarter-circular wheel; one end of the return spring is supported on the inner wall of one end of the arc wheel, and the other end of the return spring is supported on the bracket assembly. In this way, the return spring can provide a pre-tightening force to the arc wheel, ensuring that each arc wheel can maintain a circular state in a flat area, can quickly return to its original position after crossing an obstacle to ensure movement efficiency, and can also play a certain buffering and shock-absorbing role.

[0039] According to one scheme of the present invention, the bracket assembly includes: a support seat, four first connecting rods and four second connecting rods; the support seat is installed on the transmission shaft, and four limit pins are provided on the side away from the active walking wheel; one end of the four first connecting rods is supported on the support seat at intervals along the circumferential direction of the support seat; the other ends of the four first connecting rods are respectively rotatably connected to the side wall of each arc wheel away from the end of the return spring, and the other end of the return spring is supported on the first connecting rod; one end of the four second connecting rods is respectively rotatably connected to the side wall of each arc wheel close to the end of the return spring; the other ends of the four second connecting rods are respectively movably connected with each limit pin; when the arc wheel and the return spring are compressed and contracted, the end of the arc wheel drives the second connecting rod to move along the arc trajectory on the limit pin. With such an arrangement, the support seat can be driven to rotate through the transmission shaft of the fuselage, and the rotation of the support seat drives the arc wheel to rotate through the first connecting rods and the return spring. When the arc wheel encounters an obstacle during rolling and the return spring is compressed, the compressed end of the arc wheel close to the return spring will drive the second connecting rod to slide along an arc trajectory on the corresponding limit pin toward the direction of the support seat.

[0040] According to one solution of the present invention, the second connecting rod is an arc-shaped plate bent in the direction of the return spring; the second connecting rod is provided with an arc-shaped slide groove, and the limit pin is located in the arc-shaped slide groove and is slidably connected to the arc-shaped slide groove. In this way, the second connecting rod can move along an arc track through the cooperation of the arc-shaped slide groove and the limit pin.

[0041] According to one solution of the present invention, the obstacle-crossing structure includes: four legs; one end of each leg is connected to the other end of each second connecting rod, and the legs and the second connecting rod are arranged at a 90-degree angle. In this way, each second connecting rod can drive the corresponding second connecting rod to move, and because the second connecting rod is an arc structure, and the second connecting rod and the legs are arranged at a 90-degree angle, when the arc wheel encounters an obstacle and is squeezed to drive the second connecting rod to move, the second connecting rod can quickly drive the legs to protrude from the side of the corresponding squeezed arc wheel, effectively reducing the transmission track of the legs and increasing the speed of the legs' reaction action, so that the legs protruding from the arc wheel can climb over the obstacles, effectively improving the moving speed and moving efficiency.

[0042] According to one solution of the present invention, an electromagnet is provided at the other end of each leg. With such a configuration, when the multifunctional composite mobile robot of the present invention encounters an iron obstacle that is difficult to climb over, the control system can control the electromagnet at the front end of the leg, and control the on-off frequency of the electromagnet in combination with the rotation speed of the obstacle-crossing structure, so that the robot can achieve the function of magnetic climbing and crossing the obstacle with the help of the magnetic force of the electromagnet, effectively improving the robot's ability to climb over obstacles, and having a wider range of applications.

[0043] According to one solution of the present invention, the outer diameter of the obstacle-spanning structure is greater than the maximum outer diameter of the force-bearing deformable wheel, and is less than or equal to the outer diameter of the track at the active walking wheel and the force-bearing deformable wheel. With such a configuration, when the force-bearing deformable wheel shrinks and deforms under force, each leg of the obstacle-spanning structure can preferentially support the ground or obstacle smoothly, ensuring that the obstacle can be smoothly climbed over, thereby improving the moving efficiency.

[0044] According to the above scheme of the present invention, the present invention can effectively improve the adaptability and passability of the robot in different terrains and working conditions by combining the rapid moving ability of the tracks, the obstacle crossing ability of the legs (i.e., the legs) and the special climbing ability of the claws (i.e., the electromagnets), and meet the operational needs of special scenarios such as secondary fire detection in ship engine rooms and border patrols.

[0045] According to the above scheme of the present invention, the present invention can give play to the advantages of different movement modes (track movement mode, outrigger obstacle crossing mode and claw crawling mode), and effectively improve the robot's mobility, versatility and operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A perspective view schematically showing a multifunctional composite mobile robot according to an embodiment of the present invention;

[0047] Figure 2 A schematic diagram showing a front view of a force-bearing deformation wheel according to an embodiment of the present invention;

[0048] Figure 3 A partial structure enlarged view schematically showing a force-bearing deformation wheel according to an embodiment of the present invention;

[0049] Figure 4 The figure schematically shows the stress deformation state of the stress-deformed wheel according to one embodiment of the present invention. DETAILED DESCRIPTION

[0050] The content of the present invention will now be discussed with reference to exemplary embodiments. It should be understood that the embodiments discussed are only to enable those skilled in the art to better understand and thus implement the content of the present invention, rather than implying any limitation on the scope of the present invention.

[0051] As used herein, the term “including” and variations thereof are to be interpreted as open-ended terms meaning “including, but not limited to.” The term “based on” is to be interpreted as “based, at least in part, on.” The terms “one embodiment” and “an embodiment” are to be interpreted as “at least one embodiment.”

[0052] Figure 1 A three-dimensional diagram schematically shows a multifunctional composite mobile robot according to an embodiment of the present invention. Figure 1 As shown, in this embodiment, the multifunctional composite mobile robot comprises:

[0053] Body 1;

[0054] Active running wheels 2 are arranged on the transmission shafts at the four corners on both sides of the fuselage 1;

[0055] The force-bearing deformation wheels 3 are coaxially arranged with each active running wheel 2, and shrink and deform when subjected to external force;

[0056] The crawler track 4 is arranged on the active walking wheel 2 and the force-bearing deformation wheel 3;

[0057] The obstacle-crossing structure 5 is supported on the side of the force-bearing deformation wheel 3 away from the active walking wheel 2 and is located on the outer side of the crawler track 4;

[0058] When the crawler part located at the force-bearing deformation wheel 3 and the force-bearing deformation wheel 3 are squeezed by an obstacle, the crawler part shrinks along with the force-bearing deformation wheel 3, and at this time, the obstacle is supported and rolled over by the obstacle-crossing structure 5. With such a configuration, the multifunctional composite mobile robot of the present invention can not only move quickly on normal terrain, but also quickly and smoothly cross over even on complex and changeable terrain with many obstacles. When encountering an obstacle, the force-bearing deformation wheel 3 and a part of the crawler 4 connected thereto will be squeezed and shrunk, and at this time the obstacle-crossing structure 5 will protrude from the crawler 4 to contact the obstacle, so that the obstacle can be quickly crossed through the obstacle-crossing structure 5, and after crossing the obstacle, the force-bearing deformation wheel 3 and the crawler 4 will return to a normal state when they are no longer squeezed by the obstacle, and at this time, the crawler 4 will continue to move quickly through the active walking wheel 2.

[0059] Furthermore, if Figure 1 As shown, in this embodiment, the present invention further includes: a support rod 6 and a shock-absorbing support wheel 7, the support rod 6 is supported at the middle of both sides of the fuselage 1;

[0060] The shock-absorbing support wheel 7 comprises: a support spring 8 and two support wheels 9;

[0061] The shells of the two support wheels 9 are connected together by a connecting rod, and the two support wheels 9 are rotatably supported on the inner wall of the crawler 4. One end of the two support springs 8 is respectively supported on the shells of the two support wheels 9, and the other end is installed on the outer wall of the support rod 6. In this way, the crawler 4 suspended between the two sets of active walking wheels 2 and the force-bearing deformation wheels 3 on the same side can be shock-absorbing and supported by the shock-absorbing support wheel 7, so that the crawler 4 can be effectively supported during the walking process, and the entire fuselage 1 and the crawler 4 can be shock-absorbing. Moreover, when crossing an obstacle through the obstacle-crossing structure 5, the posture of the middle crawler can be maintained by the shock-absorbing support wheel 7, ensuring that the moving process remains quite stable and the gripping ability is improved.

[0062] Further, Figure 2 A schematic diagram showing a front view of a force-bearing deformation wheel according to an embodiment of the present invention; Figure 3 A partial structural enlarged view of a force-bearing deformation wheel according to an embodiment of the present invention is schematically shown; Figure 2 and Figure 3 As shown, in this embodiment, the force-bearing deformation wheel 3 includes: four arc wheel assemblies and a bracket assembly;

[0063] Four arc wheel assemblies are sequentially mounted on the bracket assembly along the circumferential direction;

[0064] Each arc wheel assembly cooperates with the bracket assembly to realize that one end thereof contracts and deforms when subjected to external pressure. In this way, when encountering an obstacle, the force-deformed wheel 3 can successively deform and contract along its circumferential direction during the process of rolling over the obstacle, effectively reducing rolling resistance and improving the ability to cross obstacles.

[0065] Further, Figure 4 The diagram schematically shows the stress deformation state of the stress-deformed wheel according to one embodiment of the present invention. Figure 2 , Figure 3 and Figure 4 As shown, in this embodiment, the arc wheel assembly includes: an arc wheel 10 and a return spring 11;

[0066] The arc wheel 10 is a quarter-circular wheel;

[0067] One end of the return spring 11 is supported on the inner wall of one end of the arc wheel 10, and the other end of the return spring 11 is supported on the bracket assembly. In this way, the return spring 11 can provide a pre-tightening force to the arc wheel 10, ensuring that each arc wheel 10 can maintain a circular state in a flat area, and can quickly return to its original position after crossing an obstacle to ensure movement efficiency, while also playing a certain role in buffering and shock absorption.

[0068] Furthermore, if Figure 2 , Figure 3 and Figure 4 As shown, in this embodiment, the bracket assembly includes: a support seat 12, four first connecting rods 13 and four second connecting rods 14;

[0069] The support seat 12 is installed on the transmission shaft, and four limit pins 15 are provided on the side away from the active walking wheel 2;

[0070] One ends of four first connecting rods 13 are supported on the support base 12 at intervals along the circumferential direction of the support base 12;

[0071] The other ends of the four first connecting rods 13 are rotatably connected to the side walls of the arc wheels 10 away from the end of the return spring 11 through the pin shaft 19, and the other end of the return spring 11 is supported on the first connecting rod 13;

[0072] One end of the four second connecting rods 14 is rotatably connected to the side wall of each arc wheel 10 near one end of the return spring 11 through a pin shaft 19;

[0073] The other ends of the four second connecting rods 14 are movably connected to the limiting pins 15 respectively;

[0074] When the arc wheel 10 and the return spring 11 are compressed and deformed, the end of the arc wheel 10 drives the second connecting rod 14 to move along the arc track on the limit pin 15. In this way, the transmission shaft of the fuselage 1 can drive the support seat 12 to rotate, and the rotation of the support seat 12 drives the arc wheel 10 to rotate through the first connecting rods 13 and the return spring 11. When the arc wheel 10 encounters an obstacle during the rolling process and the return spring 11 is compressed, the compressed end of the arc wheel 10 close to the return spring 11 will drive the second connecting rod 14 to slide along the arc track on the corresponding limit pin 15 toward the direction of the support seat 12.

[0075] Furthermore, if Figure 2 , Figure 3 and Figure 4 As shown, in this embodiment, the second connecting rod 14 is an arc-shaped plate bent toward the direction of the return spring 11;

[0076] The second connecting rod 14 is provided with an arcuate slot 16, and the stop pin 15 is located in the arcuate slot 16 and is slidably connected to the arcuate slot 16. In this way, the second connecting rod 14 can move along an arcuate track through the cooperation of the arcuate slot 16 and the stop pin 15.

[0077] Furthermore, if Figure 2 , Figure 3 and Figure 4 As shown, in this embodiment, the obstacle-crossing structure 5 includes: four legs 17;

[0078] One end of each leg 17 is connected to the other end of each second link 14, and the leg 17 is arranged at a 90-degree angle with the second link 14. In this way, each second link can drive the corresponding second link 14 to move, and because the second link is an arc structure, and the second link 14 is arranged at a 90-degree angle with the leg 17, when the arc wheel 10 encounters an obstacle and is squeezed to drive the second link 14 to move, the second link 14 can quickly drive the leg 17 to protrude from the side of the corresponding squeezed arc wheel 10, effectively reducing the transmission track of the leg 17 and increasing the speed of the reaction action of the leg 17, so that the leg 17 protruding from the arc wheel 10 can climb over the obstacle, effectively improving the moving speed and moving efficiency.

[0079] Furthermore, if Figure 2 , Figure 3 and Figure 4 As shown, in this embodiment, an electromagnet 18 is provided at the other end of each leg 17. With such a configuration, when the multifunctional composite mobile robot of the present invention encounters an iron obstacle that is difficult to climb over, the control system can control the electromagnet 18 at the front end of the leg 17, and control the on-off frequency of the electromagnet 18 in combination with the rotation speed of the obstacle-crossing structure 5, so that the robot can achieve the function of magnetic climbing and crossing obstacles with the help of the magnetic force of the electromagnet 18, effectively improving the robot's ability to climb over obstacles, and having a wider range of applications.

[0080] Furthermore, in this embodiment, the outer diameter of the obstacle-crossing structure 5 is greater than the maximum outer diameter of the force-bearing deformable wheel 3, and is less than or equal to the outer diameter of the track at the active walking wheel 2 and the force-bearing deformable wheel 3. With such a configuration, when the force-bearing deformable wheel 3 contracts and deforms under force, each leg 17 of the obstacle-crossing structure 5 can preferentially and smoothly support the ground or obstacle, ensuring that the obstacle can be smoothly crossed, thereby improving the moving efficiency.

[0081] According to the above scheme of the present invention, the present invention can effectively improve the adaptability and passability of the robot in different terrains and working conditions by combining the rapid moving ability of the tracks, the obstacle crossing ability of the legs (i.e., the legs) and the special climbing ability of the claws (i.e., the electromagnets), and meet the operational needs of special scenarios such as secondary fire detection in ship engine rooms and border patrols.

[0082] According to the above scheme of the present invention, the present invention can give play to the advantages of different movement modes (track movement mode, outrigger obstacle crossing mode and claw crawling mode), and effectively improve the robot's mobility, versatility and operating efficiency.

[0083] Finally, it should be noted that the above preferred 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 through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A multifunctional composite mobile robot, characterized in that: include: Body (1); Active running wheels (2) are arranged on the transmission shafts at four corners on both sides of the machine body (1); The force-bearing deformation wheels (3) are coaxially arranged with each of the active running wheels (2) and contract and deform when subjected to external force; A crawler track (4) is arranged on the active walking wheel (2) and the force-bearing deformation wheel (3); An obstacle-crossing structure (5) is supported on a side of the force-bearing deformation wheel (3) away from the active walking wheel (2) and is located on the outer side of the crawler track (4); When the crawler track portion located at the force-bearing deformable wheel (3) and the force-bearing deformable wheel (3) are squeezed by an obstacle, the crawler track portion contracts along with the force-bearing deformable wheel (3), and at this time, the crawler track portion is supported by the obstacle-crossing structure (5) and rolls over the obstacle.

2. The multifunctional composite mobile robot according to claim 1, characterized in that: Also includes: Support rods (6) and shock-absorbing support wheels (7), wherein the support rods (6) are supported at the middle of both sides of the fuselage (1); The shock-absorbing support wheel (7) comprises: a support spring (8) and two support wheels (9); The outer shells of the two support wheels (9) are connected together by a connecting rod, and the two support wheels (9) are rotatably supported on the inner wall of the crawler (4); one end of the two support springs (8) is respectively supported on the outer shells of the two support wheels (9), and the other end is installed on the outer wall of the support rod (6).

3. The multifunctional composite mobile robot according to claim 1, characterized in that: The force-bearing deformation wheel (3) comprises: four arc-shaped wheel assemblies and a bracket assembly; The four arc wheel assemblies are sequentially mounted on the bracket assembly along the circumferential direction; The arc wheel assembly cooperates with the bracket assembly to achieve contraction and deformation of one end thereof when subjected to external pressure.

4. The multifunctional composite mobile robot according to claim 3, characterized in that: The arc wheel assembly comprises: an arc wheel (10) and a return spring (11); The arc-shaped wheel (10) is a quarter-circular wheel; One end of the return spring (11) is supported on the inner wall of one end of the arc wheel (10), and the other end of the return spring (11) is supported on the bracket assembly.

5. The multifunctional composite mobile robot according to claim 4, characterized in that: The support assembly comprises: a support seat (12), four first connecting rods (13) and four second connecting rods (14); The support seat (12) is mounted on the transmission shaft, and four limit pins (15) are provided on the side thereof facing away from the active walking wheel (2); One ends of the four first connecting rods (13) are supported on the support seat (12) at intervals along the circumferential direction of the support seat (12); The other ends of the four first connecting rods (13) are rotatably connected to the side walls of the arc-shaped wheels (10) away from one end of the return spring (11), and the other end of the return spring (11) is supported on the first connecting rod (13); One end of each of the four second connecting rods (14) is rotatably connected to a side wall of each of the arc-shaped wheels (10) close to one end of the return spring (11); The other ends of the four second connecting rods (14) are respectively movably connected to the respective limit pins (15); When the arc wheel (10) and the return spring (11) are compressed and deformed, the end of the arc wheel (10) drives the second connecting rod (14) to move along an arc track on the limiting pin (15).

6. The multifunctional composite mobile robot according to claim 5, characterized in that: The second connecting rod (14) is an arc-shaped plate bent in the direction of the return spring (11); The second connecting rod (14) is provided with an arc-shaped sliding groove (16), and the limiting pin (15) is located in the arc-shaped sliding groove (16) and is slidably connected to the arc-shaped sliding groove (16).

7. The multifunctional composite mobile robot according to claim 6, characterized in that: The obstacle-crossing structure (5) comprises: four supporting legs (17); One end of each of the supporting legs (17) is respectively connected to the other end of each of the second connecting rods (14), and the supporting legs (17) and the second connecting rods (14) are arranged at an angle of 90 degrees.

8. The multifunctional composite mobile robot according to claim 7, characterized in that: The other end of each support leg (17) is provided with an electromagnet (18).

9. The multifunctional composite mobile robot according to any one of claims 1 to 8, characterized in that: The outer diameter of the obstacle-spanning structure (5) is greater than the maximum outer diameter of the force-bearing deformation wheel (3), and is less than or equal to the outer diameter of the crawler track at the active walking wheel (2) and the force-bearing deformation wheel (3).

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