Wheel-crawler transformation five-foot robot and control method thereof

Abstract

The invention discloses a wheel-track transformation five-foot robot and a control method thereof, and relates to the technical field of robots. The wheel-track transformation five-foot robot comprises a vehicle body, a front walking unit, a middle walking unit and a rear walking unit. A front walking unit is arranged at the front end of the vehicle body, and two rear walking units are symmetrically arranged on the two sides, close to the rear end, of the vehicle body. The front walking unit and the rear walking unit each comprise a wheel-track deformation assembly, the middle walking unit comprises walking wheels, and the wheel-track deformation assemblies can be switched between a circular wheel type structure and a triangular track structure. In the first mode, the wheel-track deformation assemblies are of a circular wheel type structure, and all the wheel-track deformation assemblies and the walking wheels make contact with the ground. And in the second mode, the wheel-track deformation assemblies are of a triangular track structure, all the wheel-track deformation assemblies make contact with the ground, and the walking wheels do not make contact with the ground. All-terrain efficient passing can be achieved, and the device is suitable for hilly and mountain environments.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a wheeled and tracked deformable pentapod robot and its control method. Background Technology

[0002] Hilly and mountainous environments pose significant challenges to robot locomotion systems due to their varied slopes and highly heterogeneous surfaces. While current quadruped robot technology performs exceptionally well in flat terrain, it faces the core bottleneck of insufficient adaptability to mountainous terrain.

[0003] In view of the problems existing in the prior art, those skilled in the art urgently need a wheeled and tracked deformable pentapod robot and its control method. Summary of the Invention

[0004] The purpose of this invention is to provide a wheeled and tracked deformable pentapod robot and its control method to solve the problems existing in the prior art, enabling efficient travel in all terrains and making it suitable for hilly and mountainous environments.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a wheel-track morphing pentapod robot, comprising a vehicle body, a front walking unit, a middle walking unit, and a rear walking unit. The front walking unit is located at the front end of the vehicle body, two sets of the middle walking units are symmetrically arranged on both sides of the vehicle body near the front end, and two sets of the rear walking units are symmetrically arranged on both sides of the vehicle body near the rear end. Both the front and rear walking units include wheel-track morphing components, and the middle walking unit includes walking wheels. The wheel-track morphing components can switch between a circular wheel structure and a triangular track structure. In a first mode, the wheel-track morphing components have a circular wheel structure, and all wheel-track morphing components and walking wheels are in contact with the ground. In a second mode, the wheel-track morphing components have a triangular track structure, and all wheel-track morphing components are in contact with the ground, while the walking wheels are out of contact with the ground.

[0007] In some embodiments, the wheel-track deformable assembly includes a main shaft, a deformable tire, a deformable drive assembly, and a gearbox assembly. The gearbox assembly includes a gearbox housing mounted on the main shaft. The deformable drive assembly includes three sets of telescopic devices evenly distributed circumferentially. Each set of telescopic devices includes two arc-shaped support plates, a telescopic device, and two chain rods. One end of each of the two arc-shaped support plates is hinged to the telescopic end of the telescopic device via a pin. Multiple support guide wheels are provided on the side of the arc-shaped support plate near the deformable tire, and a hinge portion is provided on the other side. One end of each of the two chain rods is hinged to the corresponding hinge portion via a pin, and the other end of each chain rod and the fixed end of the telescopic device are hinged to the gearbox housing via pins. Multiple grooves are provided circumferentially on the inner wall of the deformable tire. In the first mode, all the telescopic devices are in a retracted state, and the multiple arc-shaped support plates can press against the inner wall of the deformable tire, making the deformable tire circular. Rotation of the main shaft can drive the deformable tire to rotate.

[0008] In some embodiments, the gearbox assembly further includes a sun gear, planet gears, a drive gear, and a driven gear; the sun gear, planet gears, and drive gear are all disposed within the gearbox housing, the central hole of the sun gear is sleeved outside the main shaft, and the outer periphery of the sun gear meshes with three planet gears evenly distributed circumferentially, each planet gear meshes with a corresponding drive gear, and each drive gear can drive the corresponding driven gear to rotate; in the second mode, all the telescopic devices are in the extended state, making the deformable tire have a triangular structure, the driven gear meshes with the groove of the deformable tire, and the rotation of the main shaft can drive the deformable tire to rotate relative to the plurality of arc-shaped support plates.

[0009] In some embodiments, both the rear walking unit and the middle walking unit include a first leg drive assembly, and the front walking unit includes a second leg drive assembly. The first leg drive assembly includes a first drive rod and a second drive rod. One end of the first drive rod is rotatably connected to the vehicle body, and the other end is rotatably connected to one end of the second drive rod. The other end of the second drive rod is rotatably connected to the main shaft of the corresponding wheel-track deformation assembly or the walking wheel. The second leg drive assembly includes a third drive rod and a fourth drive rod. The two third drive rods are arranged in a triangular shape, and both ends of the third drive rod are rotatably connected to the vehicle body and one end of the fourth drive rod, respectively. The other end of the fourth drive rod is rotatably connected to the main shaft of the corresponding wheel-track deformation assembly.

[0010] In some embodiments, the wheel-track deformable assembly includes two sets of symmetrically arranged deformable drive assemblies; each drive wheel drives two driven wheels to rotate via a drive shaft; in the second mode, the driven wheels are located between two adjacent sets of telescopic devices in the same set of deformable drive assemblies.

[0011] In some embodiments, the wheel track deformation assembly further includes a drive motor, which is drively connected to the main shaft to drive the main shaft to rotate.

[0012] In some embodiments, a first sensor, a second sensor, and a third sensor are also included; the first sensor is provided at the front end of the vehicle body and is used to monitor road conditions; the second sensor is provided at the bottom of the vehicle body and is used to identify the material of the road surface; the third sensor is provided on both the wheel deformation assembly and the traveling wheel and is used to monitor ground pressure.

[0013] In some embodiments, the pin is made of shape memory alloy.

[0014] In some embodiments, the telescopic device is an electric actuator assembly or a hydraulic actuator assembly.

[0015] The present invention also provides a control method for the above-mentioned wheeled deformable pentapod robot, comprising the following steps: controlling the wheeled deformable pentapod robot to switch between a first mode and a second mode according to the road surface conditions; when the wheeled deformable pentapod robot is in the first mode, the wheeled deformable components of the front walking unit and the rear walking unit are switched to a circular wheel structure, and the wheeled deformable components of the front walking unit and the rear walking unit, as well as the walking wheels of the middle walking unit, are in contact with the ground; when the wheeled deformable pentapod robot is in the second mode, the wheeled deformable components of the front walking unit and the rear walking unit are switched to a triangular track structure, the wheeled deformable components of the front walking unit and the rear walking unit are in contact with the ground, and the walking wheels of the middle walking unit are controlled to disengage from the ground.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] This invention discloses a wheel-track morphing pentapod robot and its control method. The pentapod design includes one front walking unit, two middle walking units, and two rear walking units. The front walking unit features a biomimetic elephant trunk design for support, while the middle and rear walking units adopt a biomimetic animal leg structure. Furthermore, it employs a wheel-track-foot fusion design. In the first mode, the wheel-track morphing component transforms into a circular wheel structure, with the circular wheels of the front and rear walking units and the wheels of the middle walking units all in contact with the ground. This mode is suitable for flat surfaces and allows for high-speed movement. In the second mode, the wheel-track morphing component transforms into a triangular track structure, with the triangular tracks of the front and rear walking units in contact with the ground, while the wheels of the middle walking units are lifted a certain distance from the ground. The triangular track structure increases the contact area with the ground, making this mode suitable for muddy, loose, or sloping surfaces. Therefore, this invention enables efficient all-terrain travel and is suitable for hilly and mountainous environments. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of the wheeled and tracked transforming pentapod robot in the first mode according to some embodiments of the present invention;

[0020] Figure 2 This is a top view of the wheeled and tracked pentagonal robot in a first mode according to some embodiments of the present invention;

[0021] Figure 3 This is a three-dimensional structural diagram of the wheeled and tracked morphing pentapod robot in a second mode according to some embodiments of the present invention;

[0022] Figure 4 This is one of the three-dimensional structural schematic diagrams of the wheel track deformation assembly in the first mode in some embodiments of the present invention;

[0023] Figure 5 This is a second three-dimensional structural schematic diagram of the wheel track deformation assembly in the first mode according to some embodiments of the present invention;

[0024] Figure 6 This is a front view of the wheel track deformation assembly in a first mode according to some embodiments of the present invention;

[0025] Figure 7This is a three-dimensional structural diagram of the wheel track deformation assembly without the deformable tire in a first mode, according to some embodiments of the present invention.

[0026] Figure 8 This is a front view of the wheel-track deformation assembly in a first mode in some embodiments of the present invention, with the deformable tire removed;

[0027] Figure 9 This is a schematic diagram of the gearbox assembly in some embodiments of the present invention;

[0028] Figure 10 This is a three-dimensional structural diagram of the wheel track deformation assembly in the second mode in some embodiments of the present invention;

[0029] Figure 11 This is a schematic diagram of the wheel track deformation assembly without the deformable tire in the second mode in some embodiments of the present invention;

[0030] Figure 12 This is a schematic diagram of the internal structure of the gearbox assembly in one of the embodiments of the present invention.

[0031] In the diagram: 1-Vehicle body; 2-Front walking unit; 3-Middle walking unit; 4-Rear walking unit; 5-Wheel track deformable assembly; 6-Walking wheel; 7-First leg drive assembly; 8-Second leg drive assembly; 9-First sensor; 10-Clutch device; 51-Main shaft; 52-Deformable tire; 53-Deformable drive assembly; 54-Gearbox assembly; 55-Drive motor; 56-Cover plate; 71-First drive rod; 72-Second drive rod; 81-Third drive rod; 82-Fourth drive rod; 521-Groove; 531-Arc-shaped support plate; 532-Telescopic device; 533-Chain rod; 534-Pin shaft; 535-Support guide wheel; 541-Sun gear; 542-Planet gear; 543-Drive wheel; 544-Driven wheel; 545-Drive shaft; 546-Gearbox housing. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The purpose of this invention is to provide a wheeled and tracked deformable five-legged robot and its control method to solve the problems existing in the prior art, enabling efficient travel in all terrains and making it suitable for hilly and mountainous environments.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] This invention provides a wheeled, tracked, transformable pentapod robot, such as... Figures 1 to 12 As shown, the vehicle includes a vehicle body 1, a front walking unit 2, a middle walking unit 3, and a rear walking unit 4. The front walking unit 2 is located at the front end of the vehicle body 1, two sets of middle walking units 3 are symmetrically arranged on both sides of the vehicle body 1 near the front end, and two sets of rear walking units 4 are symmetrically arranged on both sides of the vehicle body 1 near the rear end. This invention adds a set of front walking units 2, which together with the two sets of middle walking units 3 and the two sets of rear walking units 4 form a five-legged structure to better adapt to various terrain environments.

[0036] like Figures 1 to 3 As shown, both the front walking unit 2 and the rear walking unit 4 include a wheel-track deformation assembly 5, the middle walking unit 3 includes a walking wheel 6, and the wheel-track deformation assembly 5 can switch between a circular wheel structure and a triangular track structure. Figure 1 In the middle, the wheel-track deformation component 5 has a circular wheel structure. Figure 3 In the middle, the wheel track deformation component 5 has a triangular track structure.

[0037] The wheel-track deformable pentapod robot of the present invention has two working modes. In the first mode, the wheel-track deformable component 5 has a circular wheel structure, and the wheel-track deformable components 5 of the front walking unit 2 and the rear walking unit 4 as well as the walking wheels 6 of the middle walking unit 3 are in contact with the ground. This situation is suitable for flat ground, and the wheel-track deformable pentapod robot is in a five-wheel high-speed mode.

[0038] In the second mode, the wheel-track morphing component 5 has a triangular track structure, and the wheel-track morphing components 5 of the front walking unit 2 and the rear walking unit 4 are in contact with the ground, while the walking wheels 6 of the middle walking unit 3 are out of contact with the ground. Switching the wheel-track morphing component 5 to a triangular track structure can increase the contact area with the ground. This is suitable for muddy / loose ground or ground with a certain slope. The wheel-track morphing pentapod robot is in a three-track off-road mode.

[0039] In some embodiments, the wheel-track deformable assembly 5 includes a main shaft 51, a deformable tire 52, a deformable drive assembly 53, and a gearbox assembly 54; wherein, the gearbox assembly 54 includes a gearbox housing 546, the central hole of which is fitted onto the main shaft 51; the deformable drive assembly 53 includes three sets of telescopic devices evenly distributed in the circumferential direction, each set of telescopic devices including two arc-shaped support plates 531, a telescopic device 532, and two chain rods 533, one end of each of the two arc-shaped support plates 531 is hinged to the telescopic end of the telescopic device 532 via a pin 534, a plurality of support guide wheels 535 are provided on the side of the arc-shaped support plate 531 near the deformable tire 52, and a hinge portion is provided on the other side, one end of each of the two chain rods 533 is hinged to the corresponding hinge portion via a pin 534, and the other end of each of the two chain rods 533 and the fixed end of the telescopic device 532 are both hinged to the gearbox housing 546 via a pin 534. Figure 4 As shown, the inner wall of the deformable tire 52 has multiple grooves 521 arranged circumferentially.

[0040] In the first mode, all telescopic devices 532 are in a retracted state, and multiple arc-shaped support plates 531 are arc-shaped and can press against the inner wall of the deformable tire 52, making the deformable tire 52 circular. The rotation of the main shaft 51 can drive the gearbox housing 546, multiple arc-shaped support plates 531 and deformable tire 52 to rotate together.

[0041] It should be noted that the wheel track deformation assembly 5 of the present invention includes two sets of symmetrically arranged deformation drive assemblies 53. In the first mode, the arc-shaped support plates 531 of the two sets of deformation drive assemblies 53 are pressed against the inner wall of the deformable tire 52. One end of the telescopic device 532 and the chain rod 533 of the two sets of deformation drive assemblies 53 are respectively hinged to the gearbox housing 546. Furthermore, the multiple grooves 521 on the inner wall of the deformable tire 52 of the present invention are in contact with and pressed against the multiple support guide wheels 535 on the arc-shaped support plate 531. The arc-shaped support plate 531 and the deformable tire 52 rotate synchronously under the action of the pressing force.

[0042] In some embodiments, such as Figure 12 As shown, the gearbox assembly 54 also includes a sun gear 541, planet gears 542, a drive gear 543, and a driven gear 544. The sun gear 541, planet gears 542, and drive gear 543 are all disposed inside the gearbox housing 546. The central hole of the sun gear 541 is sleeved outside the main shaft 51, and the outer periphery of the sun gear 541 meshes with three planet gears 542 evenly distributed in the circumferential direction. Each planet gear 542 meshes with the corresponding drive gear 543, and each drive gear 543 can drive the corresponding driven gear 544 to rotate.

[0043] In the second mode, all telescopic devices 532 are in the extended state, making the deformable tire 52 triangular in shape. The driven wheel 544 engages with the groove 521 of the deformable tire 52 for transmission, and the rotation of the main shaft 51 can drive the deformable tire 52 to rotate relative to the multiple arc-shaped support plates 531 through multiple driven wheels 544.

[0044] like Figures 10 to 12 As shown, in the second mode, the driven wheel 544 is located between two adjacent telescopic devices in the same set of deformation drive components 53; that is, in the second mode, the driven wheel 544 is located between the arc-shaped support plates 531 of two adjacent telescopic devices.

[0045] It should be noted that in the second mode, the wheel-track deformable assembly 5 of the present invention has the main shaft 51 driving the sun gear 541 to rotate. The sun gear 541 drives three drive wheels 543 to rotate via three planetary gears 542. Each drive wheel 543 drives two driven wheels 544 to rotate via a transmission shaft 545. The multiple driven wheels 544 drive the triangular deformable tire 52 to rotate. Furthermore, in the second mode, the main shaft 51 no longer drives the gearbox housing 546 to rotate. The inner wall of the deformable tire 52 rolls in contact with the support guide wheel 535 of the arc-shaped support plate 531. The telescopic end of the telescopic device 532 has an arc-shaped structure to slide relative to the inner wall of the deformable tire 52. And, as... Figure 5 As shown, the present invention can be equipped with a clutch device 10 on the main shaft 51. In the first mode, the clutch device 10 can contact and abut against the inner wall of the gearbox housing 546, so that the main shaft 51 can drive the gearbox housing 546 to rotate. In the second mode, the clutch device 10 disengages from the inner wall of the center hole of the gearbox housing 546. At this time, during the rotation of the main shaft 51, the gearbox housing 546 no longer rotates with the rotation of the main shaft 51. That is, the main shaft 51 drives the sun gear 541 to rotate and the gearbox housing 546 does not rotate. The clutch device 10 of the present invention can be a hydraulic drive mechanism. The telescopic rod of the hydraulic drive mechanism can extend to abut against the inner wall of the center hole of the gearbox housing 546 and can also retract to disengage from the inner wall of the center hole of the gearbox housing 546.

[0046] In some embodiments, each planetary gear 542 is rotatably connected to the inner wall of the gearbox housing 546 via a pivot.

[0047] In some embodiments, such as Figure 11 As shown, the wheel track deformation assembly 5 also includes a drive motor 55, which is connected to one end of the main shaft 51 to drive the main shaft 51 to rotate; the other end of the main shaft 51 is provided with a cover plate 56.

[0048] In some embodiments, the rear walking unit 4 and the middle walking unit 3 both include a first leg drive assembly 7, and the front walking unit 2 includes a second leg drive assembly 8. The first leg drive assembly 7 includes a first drive rod 71 and a second drive rod 72. One end of the first drive rod 71 is rotatably connected to the vehicle body 1, and the other end is rotatably connected to one end of the second drive rod 72. The other end of the second drive rod 72 is rotatably connected to the main shaft of the corresponding wheel deformation assembly 5 or the walking wheel 6. The second leg drive assembly 8 includes a third drive rod 81 and a fourth drive rod 82. The two third drive rods 81 are arranged in a triangular shape, and the two ends of the third drive rod 81 are rotatably connected to the vehicle body 1 and one end of the fourth drive rod 82, respectively. The other end of the fourth drive rod 82 is rotatably connected to the main shaft of the corresponding wheel deformation assembly 5.

[0049] It should be noted that the first drive rod 71, the second drive rod 72, the third drive rod 81, and the fourth drive rod 82 of the present invention are all driven by corresponding drive mechanisms, and can be equipped with magnetorheological fluid dampers to achieve dynamic damping adjustment, enabling automatic adjustment of stiffness according to ground impact force. For example, a first drive motor is provided on the vehicle body 1, and the output shaft of the drive motor is connected to one end of the first drive rod 71 and can drive the first drive rod 71 to rotate relative to the vehicle body 1; similarly, a second drive motor is provided on the first drive rod 71, and the output shaft of the second drive motor is connected to one end of the second drive rod 72 and can drive the second drive rod 72 to rotate relative to the first drive rod 71; those skilled in the art can refer to the relevant structures of the prior art to specifically set the drive structure and damping adjustment structure of the first drive rod 71, the second drive rod 72, the third drive rod 81, and the fourth drive rod 82, and the present invention does not specifically limit this.

[0050] In some embodiments, such as Figures 1 to 3 As shown, it also includes a first sensor 9, a second sensor, and a third sensor; the first sensor 9 is provided at the front end of the vehicle body 1, and the first sensor is used to monitor the road surface condition; the second sensor is provided at the bottom of the vehicle body 1, and the second sensor is used to identify the material of the road surface; the third sensor is provided on both the wheel and track deformation assembly 5 and the traveling wheel 6, and the third sensor is used to monitor the ground pressure.

[0051] It should be noted that the first sensor 9 of the present invention can be an infrared sensor or a lidar sensor, the second sensor can be a millimeter-wave radar sensor, and the third sensor can be a tactile sensor, which includes an array of pressure-type thin films.

[0052] In some embodiments, the pin 534 is made of shape memory alloy material, which may be Ni-Ti shape memory alloy material, to quickly fix the changed shape.

[0053] In some embodiments, the telescopic device 532 is an electric actuator assembly or a hydraulic actuator assembly.

[0054] The present invention also provides a control method for a wheeled, tracked, deformable pentapod robot, comprising the following steps:

[0055] Step S1: Based on the road conditions, switch the wheeled and tracked deformable pentapod robot between the first mode and the second mode.

[0056] Step S2: When the wheel-track deformable pentapod robot is in the first mode, the wheel-track deformable components 5 of the front walking unit 2 and the rear walking unit 4 are all switched to a circular wheel structure, and the wheel-track deformable components 5 of the front walking unit 2 and the rear walking unit 4 as well as the walking wheels 6 of the middle walking unit 3 are in contact with the ground.

[0057] Step S3: When the wheel-track deformable pentapod robot is in the second mode, the wheel-track deformable components 5 of the front walking unit 2 and the rear walking unit 4 are switched to triangular track structures. The wheel-track deformable components of the front walking unit 2 and the rear walking unit 4 are in contact with the ground, and the walking wheels 6 of the middle walking unit 3 are disengaged from the ground.

[0058] This invention addresses the shortcomings of existing robots designed for complex hilly and mountainous terrains, where improved stability often requires sacrificing speed or increasing mechanical redundancy. It employs a five-legged biomimetic multimodal system. Specifically, the wheel-tracking deformable five-legged robot utilizes a distributed five-wheel layout in its vehicle architecture: one wheel-tracking composite wheel at the front, two lightweight tires with a low aspect ratio design in the middle to reduce rolling resistance, and two wheel-tracking composite wheels at the rear.

[0059] The wheeled and tracked deformable five-legged robot of the present invention adopts a biomimetic suspension system. Each wheel set is connected to the vehicle body 1 through a three-degree-of-freedom biomimetic joint, that is, it is connected to the vehicle body through the first leg drive component 7 and the second leg drive component 8.

[0060] The core deformation actuator of the wheeled and tracked morphing pentapod robot of the present invention includes a deformation drive component 53 and a gearbox component 54, the gearbox component 54 being a planetary gear linkage system; it also includes a dual-mode morphing tire 52, which can be switched between a circular wheel structure and a triangular track structure; and it adopts a quick-locking structure, namely a pin 534 made of shape memory alloy.

[0061] This invention presents a wheeled and tracked deformable pentapod robot capable of efficient all-terrain travel. The synergy between the rapid switching of the wheeled and tracked composite mechanism and the dynamic adjustment of the biomimetic suspension system increases speed on muddy surfaces and improves the success rate of climbing steep slopes, overcoming the inherent trade-off between passability and speed in traditional solutions. Furthermore, it achieves energy optimization through seamless planetary gear transmission, significantly reducing drive energy consumption.

[0062] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A wheeled, tracked, transformable pentapod robot, characterized in that, It includes the vehicle body, the front traveling unit, the middle traveling unit, and the rear traveling unit; The front of the vehicle body is provided with the front travel unit, and two sets of the middle travel units are symmetrically arranged on both sides of the vehicle body near the front position. Two sets of the rear travel units are symmetrically arranged on both sides of the vehicle body near the rear position. Both the front walking unit and the rear walking unit include a wheel-track deformation assembly, the middle walking unit includes a walking wheel, and the wheel-track deformation assembly can switch between a circular wheel structure and a triangular track structure; In the first mode, the wheel-track deformable assembly has a circular wheel structure, and all the wheel-track deformable assemblies and the walking wheels are in contact with the ground; In the second mode, the wheel-track deformation assembly has a triangular track structure, and all of the wheel-track deformation assemblies are in contact with the ground, while the walking wheels are out of contact with the ground.

2. The wheeled and tracked transforming pentapod robot according to claim 1, characterized in that, The wheel track deformation assembly includes a main shaft, deformable tires, a deformation drive assembly, and a gearbox assembly; The gearbox assembly includes a gearbox housing mounted on the main shaft, and the deformation drive assembly includes three sets of telescopic devices evenly distributed along the circumferential direction. Each set of telescopic devices includes two arc-shaped support plates, a telescopic device, and two chain rods. One end of each of the two arc-shaped support plates is hinged to the telescopic end of the telescopic device via a pin. Multiple support guide wheels are provided on the side of the arc-shaped support plate closest to the deformable tire, and a hinge portion is provided on the other side. One end of each of the two chain rods is hinged to the corresponding hinge portion via a pin. The other end of each of the two chain rods and the fixed end of the telescopic device are both hinged to the gearbox housing via pins. Multiple grooves are provided circumferentially on the inner wall of the deformable tire. In the first mode, all the telescopic devices are in a retracted state, and the multiple arc-shaped support plates can press against the inner wall of the deformable tire to make the deformable tire have a circular structure. The rotation of the main shaft can drive the deformable tire to rotate.

3. The wheeled and tracked transforming pentapod robot according to claim 2, characterized in that, The gearbox assembly also includes a sun gear, planet gears, a drive gear, and a driven gear; The sun gear, planet gears, and drive gears are all housed within the gearbox housing. The central hole of the sun gear is fitted outside the main shaft, and the outer periphery of the sun gear meshes with three planet gears evenly distributed circumferentially. Each planet gear meshes with a corresponding drive gear, and each drive gear can drive the corresponding driven gear to rotate. In the second mode, all the telescopic devices are in the extended state, making the deformable tire have a triangular structure. The driven wheel engages with the groove of the deformable tire for transmission, and the rotation of the main shaft can drive the deformable tire to rotate relative to the plurality of arc-shaped support plates.

4. The wheeled and tracked transforming pentapod robot according to claim 1, characterized in that, The rear walking unit and the middle walking unit each include a first leg drive assembly, and the front walking unit includes a second leg drive assembly. The first leg drive assembly includes a first drive rod and a second drive rod. One end of the first drive rod is rotatably connected to the vehicle body, and the other end is rotatably connected to one end of the second drive rod. The other end of the second drive rod is rotatably connected to the main shaft of the corresponding wheel track deformation assembly or the walking wheel. The second leg drive assembly includes a third drive rod and a fourth drive rod. The two third drive rods are arranged in a triangular shape, and the two ends of the third drive rod are respectively rotatably connected to the vehicle body and one end of the fourth drive rod. The other end of the fourth drive rod is rotatably connected to the main shaft of the corresponding wheel track deformation assembly.

5. The wheeled and tracked transforming pentapod robot according to claim 3, characterized in that, The wheel track deformation assembly includes two sets of symmetrically arranged deformation drive assemblies; Each of the drive wheels drives two driven wheels to rotate via a drive shaft; in the second mode, the driven wheels are located between two adjacent sets of telescopic devices in the same set of deformation drive components.

6. The wheeled and tracked transforming pentapod robot according to claim 2, characterized in that, The wheel track deformation assembly also includes a drive motor, which is connected to the main shaft for driving the main shaft to rotate.

7. The wheeled and tracked transforming pentapod robot according to claim 1, characterized in that, It also includes a first sensor, a second sensor, and a third sensor; The first sensor is installed at the front end of the vehicle body and is used to monitor road conditions; the second sensor is installed at the bottom of the vehicle body and is used to identify the material of the road surface; the third sensor is installed on both the wheel deformation assembly and the walking wheel and is used to monitor ground pressure.

8. The wheeled and tracked transforming pentapod robot according to claim 2, characterized in that, The pin is made of shape memory alloy.

9. The wheeled and tracked transforming pentapod robot according to claim 2, characterized in that, The telescopic device is an electric push rod assembly or a hydraulic push rod assembly.

10. A control method for a wheeled, tracked, deformable pentapod robot according to any one of claims 1-9, characterized in that, Includes the following steps: The wheeled and tracked five-legged robot switches between the first and second modes based on road conditions; When the wheeled deformable pentapod robot is in the first mode, the wheeled deformable components of the front walking unit and the rear walking unit are switched to a circular wheel structure, and the wheeled deformable components of the front walking unit and the rear walking unit as well as the walking wheels of the middle walking unit are in contact with the ground. When the wheeled and tracked deformable pentapod robot is in the second mode, the wheeled and tracked deformable components of the front walking unit and the rear walking unit are switched to triangular track structures, the wheeled and tracked deformable components of the front walking unit and the rear walking unit are in contact with the ground, and the walking wheels of the middle walking unit are controlled to disengage from the ground.

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