A multi-mode mobile robot with jumping, climbing and rolling functions

Abstract

A multi-mode mobile robot with jumping, climbing and rolling functions belongs to the technical field of space exploration robots. Existing robots are limited to a single motion mode, and it is difficult to achieve long-term and high-precision exploration tasks on the lunar surface. The present application comprises a launching mechanism, a variable-diameter wheel mechanism and an auxiliary support wheel; the variable-diameter wheel mechanism and the auxiliary support wheel are respectively installed at both ends of the launching direction of the launching mechanism, and can support the launching mechanism off the ground; the variable-diameter wheel mechanism can be deformed into a wheel type attitude and a wheel spoke type attitude; when the variable-diameter wheel mechanism is deformed into a wheel type attitude, the robot can be in a wheel mode; when the variable-diameter wheel mechanism is deformed into a wheel spoke type attitude, the robot can be in an obstacle crossing mode; when the launching mechanism performs a bouncing action, the robot can be in a bouncing mode. The present application is mainly used for space exploration.

Description

Technical Field

[0001] This invention relates to the field of space exploration robot technology, and in particular to a multi-mode mobile robot with jumping, climbing and rolling functions. Background Technology

[0002] The unique topography of the lunar surface, including lava tube caves and deep impact craters, is of great significance for establishing long-term, stable lunar bases and developing resources. These natural structures can provide natural shelter for base construction, effectively avoiding threats such as extreme lunar radiation, large temperature differences, and micrometeorite impacts. However, such terrain is often rugged, narrow, and has significant elevation differences. Currently, robots can be mainly classified into wheeled, legged, and tracked types according to their mode of movement, each with its own characteristics and limitations. Wheeled robots have high mobility but weak obstacle-crossing ability; legged robots are highly adaptable to complex terrain but suffer from complex control and high energy consumption; tracked robots have the advantages of low ground pressure and good traction, but are prone to sinking in rugged terrain and have relatively insufficient mobility. Therefore, existing robots are limited to a single mode of movement, making it difficult to achieve long-term, high-precision exploration missions on the lunar surface. In addition, current lunar exploration robots still lack adaptability to microgravity environments, energy efficiency, and terrain traversal capabilities, which greatly limits their exploration performance in extreme terrain areas. Summary of the Invention

[0003] In view of this, the present invention provides a multi-mode mobile robot with jumping, climbing and rolling functions, which can switch between the three modes to adapt to the travel needs of diverse terrains.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A multi-mode mobile robot with jumping, climbing, and rolling functions includes a launch mechanism, a variable-diameter wheel mechanism, and auxiliary support wheels. The variable-diameter wheel mechanism and the auxiliary support wheels are respectively installed at both ends of the launch mechanism in the launch direction, which can support the launch mechanism to lift off the ground. The variable-diameter wheel mechanism can be transformed into a wheel posture and a spoke posture. When the variable-diameter wheel mechanism is transformed into a wheel posture, the robot can be in wheel mode. When the variable-diameter wheel mechanism is transformed into a spoke posture, the robot can be in climbing mode. When the launch mechanism performs a jumping action, the robot can be in jumping mode.

[0006] Furthermore, the ejection mechanism includes a frame and a power output unit, a winding unit, a triggering unit, and an energy storage unit, which are sequentially assembled on the frame from front to back. The power output unit and the winding unit adopt a clutch design. When the power output unit and the winding unit are engaged, the winding unit can control the energy storage unit to complete energy storage and power accumulation. When the energy stored in the energy storage unit reaches a predetermined threshold, the triggering unit controls the power output unit to separate from the winding unit, releasing the constraint of the winding unit on the energy storage unit, so that the energy storage unit stops accumulating power and releases the stored energy, driving the robot to perform a jumping action.

[0007] Furthermore, the winding unit includes a winding roller, a rope, and a return spring; the winding roller is rotatably mounted on the frame and can move up and down, and the return spring is installed between the winding roller and the frame to support the winding roller's return; one end of the rope is wound around the winding roller, and the other end is connected to the energy storage unit for energy storage.

[0008] Furthermore, the triggering unit includes a trigger block, a rocker arm, and a tension spring. The trigger block is fixed to the rope and can move with the rope. The rocker arm is rotatably mounted on the frame, and the tension spring connects the rocker arm and the frame. When the winding roller is winding the rope, the trigger block moves toward the rocker arm with the rope until the trigger block presses against the rocker arm, causing the rocker arm to rotate and press the winding roller down, thereby triggering the winding roller to separate from the power output unit.

[0009] Furthermore, the energy storage unit includes a slide bar, a support base, and an energy storage spring. The slide bar is slidably engaged with the frame. There are two support bases, which are respectively installed at the tail ends of the frame and the slide bar. There are at least two energy storage springs, and each energy storage spring is connected to two support bases at both ends. The cord extends along the length of the frame and the slide bar and is connected to the support base at the tail end of the slide bar so that the energy storage spring can bend and store energy when the winding roller winds the cord.

[0010] Furthermore, the energy storage spring is connected to the support base via a limiting connector, which includes an inner clamp, an outer clamp, a left clamp, and a right clamp. The support base is provided with a rotating shaft and a first limiting block. The inner and outer clamps are arranged vertically opposite each other and are rotatably connected to the rotating shaft. Both the inner and outer clamps are provided with a second limiting block that cooperates with the first limiting block to limit the bending angle of the energy storage spring. The left and right clamps are arranged horizontally opposite each other, and one end of the left and right clamps is clamped between the inner and outer clamps. After the end of the energy storage spring passes through the gap between the left and right clamps, it is inserted into the gap between the inner and outer clamps and clamped and fixed.

[0011] Furthermore, the power output unit includes a drive motor, a first gear, a second gear, a first drive shaft, and a spline. The drive motor is fixedly connected to the frame. The first gear is connected to the motor shaft of the drive motor and can rotate with it. The second gear, the first drive shaft, and the spline are arranged coaxially in sequence, and the first drive shaft is rotatably mounted on the frame. The first gear and the second gear mesh with each other. The winding roller is provided with a spline groove, and the spline is inserted into the spline groove of the winding roller.

[0012] Furthermore, the variable diameter wheel mechanism is rotatably connected to the frame via a steering support frame; the power output unit also includes a third gear fixed to the steering support frame, which meshes with the first gear. The first gear is an incomplete gear so that it will not drive the winding roller to wind or release the rope when the variable diameter wheel mechanism is turned.

[0013] Furthermore, the variable diameter wheel mechanism includes a drive unit and variable diameter wheels arranged on the left and right sides of the drive unit. Each variable diameter wheel can be deformed and roll under the drive unit's influence. Each variable diameter wheel includes a driving gear, a driven gear, a cage, an arc-shaped rack, an arc-shaped rim, and a limiting rod. The driving gear and the cage are coaxially arranged with the drive unit. The drive unit can control the rotation of the driving gears of the two variable diameter wheels, and the cage can rotate freely around the axis of the drive unit. At least three arc-shaped rims are provided and arranged along the circumferential direction of the driving gear. The arc-shaped rims are rotatably mounted on the cage, and each arc-shaped rim corresponds to an arc-shaped rack and a driven gear. The arc-shaped rim is fixedly connected to the corresponding arc-shaped rack. The driven gear is rotatably mounted on the cage and meshes with the driving gear and the corresponding arc-shaped rack. The cage has a first limiting surface and a second limiting surface. The limiting rod is mounted on the driving gear and can abut against the two limiting surfaces of the cage.

[0014] When the drive unit drives the active gear to rotate, the active gear drives the cage and the corresponding arc-shaped rim to rotate through the driven gear and the arc-shaped rack. Under ground resistance, the speed of the active gear is greater than that of the cage. As the variable-diameter wheel rolls, it gradually transforms from a wheel-like posture to a spoke-like posture until the limit rod abuts against the first limit surface of the cage. The active gear and the cage rotate at the same speed, and the robot is in obstacle-crossing mode. When the drive unit drives the active gear to rotate in the opposite direction, the active gear drives the cage and the corresponding arc-shaped rim to rotate in the opposite direction through the driven gear and the arc-shaped rack. Under ground resistance, the speed of the active gear is greater than that of the cage. As the variable-diameter wheel rolls, it transforms from a spoke-like posture to a wheel-like posture until the limit rod abuts against the second limit surface of the cage. The active gear and the cage rotate at the same speed, and the robot is in wheel mode.

[0015] Furthermore, the drive unit includes a brushless DC motor, a hollow wheel shaft, a gear connecting shaft, and a wheel connecting frame. The brushless DC motor and the wheel connecting frame are both mounted on the outside of the hollow shaft. Two drive gears and a retainer are rotatably mounted at both ends of the axial direction of the hollow shaft. The gear connecting shaft is coaxially inserted into the hollow wheel shaft and fixedly connected to the drive gears at both ends. One end of the wheel connecting frame is connected to the rotor of the brushless DC motor, and the other end is connected to one of the drive gears.

[0016] The beneficial effects of this invention compared to the prior art are:

[0017] 1. This invention incorporates a variable-diameter wheel mechanism and a catapult mechanism. The variable-diameter wheel mechanism allows for rapid switching between wheeled and obstacle-crossing modes through posture deformation. In wheeled mode, the mobile robot is suitable for rapid movement on flat ground; in obstacle-crossing mode, it is suitable for rapid movement on rough terrain and slopes. The catapult mechanism enables the robot to perform a jumping motion, placing it in jumping mode, suitable for movement on rough terrain. Furthermore, the variable-diameter wheel changes its outer diameter when switching modes, thus adjusting the robot's pitch angle. This allows the catapult mechanism to adjust the jumping height and distance based on the robot's pitch angle, achieving flexible control. The catapult mechanism not only functions as the execution component in jumping mode but also serves as the main body for both wheeled and obstacle-crossing modes, achieving a multi-purpose integrated design.

[0018] 2. The power output unit of this invention, through an incomplete gear structure design, utilizes the meshing and switching between the incomplete gear (first gear) and the second or third gear to achieve both energy storage control of the launch mechanism and flexible adjustment of the launch direction, truly realizing the multi-functional integration of a single drive unit. This design eliminates the need for an additional power output unit, effectively simplifying the overall structure and improving the integration level and operational reliability of the device.

[0019] 3. The triggering unit of this invention fixes the trigger block to the rope, allowing it to move with the rope. When the energy storage unit reaches the set bounce requirement, the trigger block drives the swing arm, causing the swing arm to directly trigger the separation of the winding roller and the spline. That is, the triggering purpose is achieved through the coordinated action of the rope, the trigger block, and the swing arm. This design employs a completely mechanical triggering mechanism, requiring no electronic components, resulting in a simple and reliable structure. Furthermore, by adjusting the winding length of the rope, the energy storage threshold of the energy storage unit can be set accordingly, enabling precise control of the release timing.

[0020] 4. The present invention, through the design of the limiting connector, can prevent the energy storage spring from detaching from the support base during the robot's jumping process.

[0021] 5. The variable-diameter wheel of this invention achieves dynamic coupling through the coordinated operation of the driving gear, driven gear, arc-shaped rack, arc-shaped rim, and cage, and through synchronous power transmission under ground resistance. This allows the forward movement and deformation of the variable-diameter wheel to occur simultaneously. When the drive unit is activated, the variable-diameter wheel rolls forward while the arc-shaped rim gradually changes its posture through the coordination of its rotation and revolution. This does not affect travel efficiency and allows for the transition between wheel-type and spoke-type configurations according to road conditions. Simultaneously, the precise engagement of the limiting rod and the limiting surface terminates the deformation. When the variable-diameter wheel deforms to a preset posture, the limiting rod promptly abuts against the corresponding limiting surface, precisely locking the shape of the variable-diameter wheel through mechanical limiting, preventing excessive deformation or posture deviation, and ensuring the robot's stable travel mode. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are provided to give a further understanding of the invention.

[0023] Figure 1 This is a state diagram of the multi-mode mobile robot of the present invention in wheeled mode.

[0024] Figure 2 This is a diagram showing the state of the multi-mode mobile robot of the present invention in bouncing mode.

[0025] Figure 3 This is a state diagram of the multi-mode mobile robot of the present invention in obstacle-crossing mode.

[0026] Figure 4 This is a side view of the multi-mode mobile robot of the present invention.

[0027] Figure 5 This is a top view of the multi-mode mobile robot of the present invention.

[0028] Figure 6 This is a state diagram of the winding roller before it separates from the spline, triggered by the trigger unit.

[0029] Figure 7 This is a diagram showing the state after the trigger unit triggers the separation of the winding roller from the spline.

[0030] Figure 8 This is a cross-sectional view of the winding unit and the trigger unit.

[0031] Figure 9 This is a structural schematic diagram of the limiting connector.

[0032] Figure 10 for Figure 4 A magnified view of a portion of point A in the middle.

[0033] Figure 11 This is a schematic diagram of the variable diameter wheel mechanism.

[0034] Figure 12 This is a schematic diagram showing the state of a variable diameter wheel switching to a spoke-type posture.

[0035] Figure 13 This is a schematic diagram showing the state of a variable diameter wheel switching to a wheel-like posture.

[0036] Figure 14 This is a top view of the variable diameter wheel mechanism.

[0037] Figure 15 for Figure 14 Cross-sectional view at point AA.

[0038] Explanation of reference numerals in the attached figures:

[0039] Ejection mechanism 100; Variable diameter wheel mechanism 200; Auxiliary support wheel 300;

[0040] 1. Frame; 11. Support column; 2. Power output unit; 21. Drive motor; 22. First gear; 23. Second gear; 24. First drive shaft; 25. Spline; 26. Second drive shaft; 27. Third gear; 28. Torsion spring; 3. Winding unit; 31. Winding roller; 32. Wire rope; 33. Ball bearing; 34. Bearing mounting seat; 35. Support plate; 36. Return spring; 37. Spring plunger; 4. Trigger unit; 41. Trigger block; 42. Swing rod; 43. Tension spring; 5. Energy storage unit; 51. Slide rod; 52. Support base; 521. Rotating shaft; 522. First limit block; 523. Second limit block; 53. Limiting block; 53. Limiting connector; 531. Inner clamping piece; 532. Outer clamping piece; 533. Left clamping piece; 534. Right clamping piece; 54. Energy storage spring; 6. Drive unit; 61. Brushless DC motor; 62. Hollow wheel shaft; 63. Gear connecting shaft; 64. Wheel connecting frame; 641. Sleeve; 642. Claw; 7. Variable diameter wheel; 71. Driving gear; 72. Driven gear; 73. Cage; 731. Support rod; 732. First limiting surface; 733. Second limiting surface; 74. Arc-shaped rack; 75. Arc-shaped wheel rim; 76. First limiting rod; 77. Second limiting rod; 78. Connecting rod; 8. Steering support frame. Detailed Implementation

[0041] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] See Figure 1 , Figure 2 and Figure 3This embodiment proposes a multi-mode mobile robot with jumping, climbing, and rolling functions, adaptable to diverse terrain travel needs, especially suitable for the special topography of the lunar surface, enabling it to complete long-term, high-precision exploration missions. The robot mainly consists of a launch mechanism 100, a variable-diameter wheel mechanism 200, and an auxiliary support wheel 300. The launch mechanism 100 adopts a long, horizontal layout, with its length direction aligned with the launch force direction. The variable-diameter wheel mechanism 200 is rotatably connected to the front end of the launch mechanism 100, allowing adjustment of the launch direction and angle. The auxiliary support wheel 300 is mounted at the rear end of the launch mechanism 100, and the coordinated support of the variable-diameter wheel mechanism 200 and the auxiliary support wheel 300 enables the launch mechanism 100 to be lifted off the ground. The variable-diameter wheel mechanism 200 possesses bidirectional deformation capabilities, allowing it to flexibly switch between wheel-like and spoke-like postures (e.g., wheel-like posture). Figure 1 , Figure 2 , Figure 3 (As shown); when the variable diameter wheel mechanism 200 switches to wheeled posture, the robot enters wheeled travel mode (as shown). Figure 1 (As shown in the image), suitable for rapid movement on flat ground; when the variable diameter wheel mechanism 200 switches to the spoke-type posture, the robot switches to obstacle-crossing or climbing mode (e.g., ...). Figure 3 (As shown in the diagram), suitable for rapid movement on rough terrain and slopes. Furthermore, when the ejection mechanism 100 performs a bouncing action, the robot can further activate a bouncing mode (such as...). Figure 2 (As shown in the image), suitable for travel on rough terrain.

[0043] As can be seen, this embodiment designs a variable diameter wheel mechanism 200 and a catapult mechanism 100. The rapid switching between wheel mode and obstacle crossing mode can be achieved by changing the shape of the variable diameter wheel mechanism 200. At the same time, the catapult mechanism 100 not only serves as the execution unit of the bouncing mode, but also acts as the main body of the fuselage in both wheel mode and obstacle crossing mode, realizing a multi-functional integrated design of a single mechanism in multiple modes.

[0044] See Figure 1 , Figure 2 and Figure 3 The ejection mechanism 100 of this embodiment includes a frame 1 and a power output unit 2, a winding unit 3, a triggering unit 4, and an energy storage unit 5, which are sequentially mounted on the frame 1 from front to back. The power output unit 2 and the winding unit 3 employ a clutch-type design. When the power output unit 2 and the winding unit 3 are engaged, the winding unit 3 can control the energy storage unit 5 to complete energy storage. When the stored energy in the energy storage unit 5 reaches a predetermined threshold, the triggering unit 4 controls the power output unit 2 to separate from the winding unit 3, releasing the constraint of the winding unit 3 on the energy storage unit 5, thereby causing the energy storage unit 5 to stop storing energy and release the stored energy, thus driving the robot to perform a jumping action.

[0045] To achieve a clutch-type design between the power output unit 2 and the winding unit 3, combined with Figures 6 to 8 As shown, the winding unit 3 in this embodiment mainly consists of a winding roller 31, a rope 32, a ball bearing 33, a bearing mounting base 34, a support plate 35, a return spring 36, and a spring plunger 37. A support column 11 is fixed on the frame 1. The support plate 35 has a circular structure and is sleeved on the support column 11, forming an annular slot between the support plate 35 and the support column 11. There are three return springs 36, which are evenly distributed around the circumference of the support column 11. One end of each return spring 36 is connected to the frame 1, and the other end is connected to the bottom of the support plate 35 for supporting the support plate 35 and for resetting the winding roller 31. A bearing mounting seat 34 is fitted onto a support column 11 and inserted into the annular slot, forming a sliding pair with the support column 11. A threaded hole is provided on the bearing mounting seat 34, and a spring plunger 37 is screwed into this hole. The tip of the spring plunger 37 contacts and presses against the outer wall of the support column 11 to increase the friction between the bearing mounting seat 34 and the support column 11, thus slowing down the upward movement of the bearing mounting seat 34. A winding roller 31 is rotatably mounted on the bearing mounting seat 34 via a ball bearing 33, giving the winding roller 31 both rotational and vertical movement freedom. One end of a rope 32 is wound around the winding roller 31, and the other end is connected to the energy storage unit 5, providing power transmission for the energy storage unit 5.

[0046] Combination Figures 6 to 8 As shown, the power output unit 2 mainly consists of a drive motor 21, a first gear 22, a second gear 23, a first drive shaft 24, and a spline 25. The housing of the drive motor 21 is fixedly connected to the frame 1. The first gear 22 is connected to the motor shaft of the drive motor 21 and can rotate synchronously with it. The second gear 23, the first drive shaft 24, and the spline 25 are arranged coaxially from top to bottom. The first drive shaft 24 is rotatably mounted on the frame 1 through bearings. The first gear 22 and the second gear 23 mesh with each other. The winding roller 31 is provided with a corresponding spline groove, and the spline 25 is inserted into the spline groove, thereby realizing the power transmission and clutch design.

[0047] When the drive motor 21 starts working, its motor shaft drives the first gear 22 to rotate synchronously. Since the first gear 22 and the second gear 23 are in a meshing state, the second gear 23 rotates synchronously with the first gear 22 under the meshing transmission action, and drives the spline 25 to rotate synchronously through the coaxially connected first drive shaft 24. At this time, the spline 25 and the spline groove of the winding roller 31 are in a tight fit. The rotating spline 25 directly drives the winding roller 31 to rotate along its own axis, thereby realizing the winding operation of the rope 32. Under the winding action of the winding roller 31, the rope 32 gradually tightens, and the tension drives the energy storage unit 5 to deform, thereby continuously completing the process of storing and accumulating elastic potential energy. When the deformation of the energy storage unit 5 reaches a preset threshold, i.e., when the stored energy meets the bouncing requirement, the trigger unit 4 executes a trigger action, driving the winding roller 31 to move downward along the support column 11, so that the spline 25 and the spline groove of the winding roller 31 are completely disengaged. At this time, the power transmission path between the drive motor 21 and the winding roller 31 is cut off. The winding roller 31 stops winding the rope 32, and the originally taut rope 32 instantly relaxes, and the elastic potential energy stored in the energy storage unit 5 is rapidly released, causing the robot to perform a bouncing action.

[0048] To achieve adjustment of the ejection direction of the ejection mechanism 100, combined with Figure 4 and Figure 5 As shown in the structure, the variable diameter wheel mechanism 200 of this embodiment is rotatably connected to the front end of the frame 1 via the steering support frame 8; the power output unit 2 further includes a second drive shaft 26, a third gear 27 and a torsion spring 28, wherein the second drive shaft 26 is fixedly connected to the steering support frame 8 and maintains a rotatable engagement with the frame 1, the torsion spring 28 is sleeved on the second drive shaft 26, and one end of the torsion spring 28 is connected to the second drive shaft 26 and the other end is connected to the frame 1; the third gear 27 is fixedly connected to the second drive shaft 26 and meshes with the first gear 22. The first gear 22 adopts an incomplete gear design, which ensures that when the variable diameter wheel mechanism 200 turns, the winding roller 31 will not synchronously perform the winding or unwinding action of the rope 32.

[0049] When the launch direction needs to be adjusted, the drive motor 21 starts and drives the first gear 22 to rotate, so that its toothed part meshes with the third gear 27 (at this time, the missing tooth part of the first gear 22 faces the second gear 23 to prevent the winding roller 31 from winding the rope 32 through the second gear 23), thereby driving the third gear 27 to rotate synchronously with the second drive shaft 26; the second drive shaft 26 then drives the variable diameter wheel mechanism 200 to swing left or right, realizing the deflection of the robot's head. At the same time, the variable diameter wheel mechanism 200 pulls the launch mechanism 100 and the auxiliary support wheel 300 to move forward, and under the rebound force of the torsion spring 28, the orientation of the two is adjusted synchronously to ensure that the variable diameter wheel mechanism 200, the launch mechanism 100 and the auxiliary support wheel 300 maintain a symmetrical state, thus completing the adjustment of the robot's overall orientation. Under the adjusted target direction, the drive motor 21 drives the toothed part of the first gear 22 to mesh with the second gear 23, thereby controlling the energy storage unit 5 to complete energy storage, and finally the launch mechanism 100 performs the jumping action.

[0050] In this embodiment, the power output unit 2, through an incomplete gear structure design, utilizes the meshing and switching between the incomplete gear (first gear 22) and the second gear 23 or the third gear 27 to achieve both energy storage control of the launch mechanism 100 and flexible adjustment of the launch direction, truly realizing the multi-functional integration of a single drive unit 6. This design eliminates the need for an additional power output unit 2, effectively simplifying the overall structure and improving the integration level and operational reliability of the device.

[0051] To achieve the trigger separation of the winding roller 31 and spline 25, and to ensure that the energy stored in the energy storage unit 5 reaches a preset threshold. See also Figures 6 to 8 In this embodiment, the triggering unit 4 mainly consists of a trigger block 41, a swing rod 42, and a tension spring 43. The trigger block 41 has a spindle-shaped structure, i.e., it has a wedge-shaped surface, and it is fitted onto the rope 32 and can move synchronously with the rope 32. The swing rod 42 has an L-shaped structure, and its bent part is rotatably mounted on the frame 1 via a pin, and is located above the winding roller 31. One end of the swing rod 42 extends to the vicinity of the surface of the rope 32, and the other end extends towards the upper surface of the winding roller 31. One end of the tension spring 43 is connected to the swing rod 42, and the other end is connected to the frame 1, providing a restoring force for the swing rod 42.

[0052] During the winding process of the winding roller 31, the trigger block 41, fixed to the winding roller 32, moves towards the swing arm 42 along the winding direction. As the winding process progresses, the energy of the energy storage unit 5 gradually accumulates. When the stored energy value reaches the preset bounce requirement threshold, the wedge-shaped surface of the trigger block 41 applies a squeezing force to the corresponding end of the swing arm 42, causing the swing arm 42 to overcome the elastic force of the tension spring 43 and rotate around the pin. As the swing arm 42 rotates, its other end presses downward against the winding roller 31, thereby triggering the winding roller 31 to disengage from the spline 25 and releasing the constraint of the spline 25 on the winding roller 31. When the energy storage unit 5 exerts force, the winding roller 32 gradually elongates under its pulling action, and the trigger block 41 moves synchronously with the winding roller 32 and separates from the swing arm 42; the swing arm 42 completes its reset under the rebound action of the tension spring 43. Meanwhile, the winding roller 31 slowly moves upward under the rebound driving force of the return spring 36, re-engaging with the spline 25 so that it can rewind the rope 32 in the next bounce phase, thus realizing the energy storage unit's energy storage. It should be noted that in order to ensure that the energy storage unit can fully release the stored energy, the winding roller 31 needs to delay its reset. Therefore, this embodiment uses a return spring 36 with relatively low stiffness, and also designs a spring plunger 37. Through the friction between the spring plunger 37 and the support column 11, the friction between the bearing mounting seat 34 and the support column 11 is increased, slowing down the upward movement speed of the winding roller 31, thus realizing the delayed reset function to meet this technical requirement.

[0053] In this embodiment, the trigger block 41 is fixed to the cord 32, allowing it to move with the cord 32. When the energy storage unit 5 reaches the set bounce requirement, the trigger block 41 drives the swing arm 42, causing the swing arm 42 to directly trigger the separation of the winding roller 31 from the spline 25. That is, the triggering purpose is achieved through the coordinated action of the cord 32, the trigger block 41, and the swing arm 42. This design employs a completely mechanical triggering mechanism, requiring no electronic components, resulting in a simple and reliable structure. Furthermore, by adjusting the winding length of the cord 32, the energy storage threshold of the energy storage unit 5 can be set accordingly, enabling precise control of the release timing.

[0054] See Figure 4 and Figure 5The energy storage unit 5 in this embodiment includes a slide rod 51, a support base 52, a limiting connector 53, and energy storage springs 54. Both the frame 1 and the slide rod 51 are square tubular structures. The first end of the slide rod 51 is inserted into the frame 1 through an opening at the rear of the frame 1 and slides in a sliding fit with the frame 1, forming a telescopic rod with a guiding function between the frame 1 and the slide rod 51. Two support bases 52 are provided; one support base 52 is fitted onto the frame 1 and fixedly connected to it, while the other support base 52 is fixed to the rear end of the slide rod 51. Four energy storage springs 54 are provided, evenly distributed circumferentially along the slide rod 51. The two ends of each energy storage spring 54 are connected to the corresponding support base 52 via a limiting connector 53. A rope 32 passes sequentially through the tube holes of the frame 1 and the slide rod 51, and finally connects to the support base 52 at the rear end of the slide rod 51.

[0055] During the winding process of the winding roller 31, the rope 32 tightens, and the support base 52 at the end of the slide bar 51 moves linearly to the other support base 52 under the guidance of the frame 1 and the slide bar 51. At the same time, the energy storage spring 54 gradually bends and stores energy. When the trigger block 41 triggers the winding roller 31 to separate from the spline 25, the constraint of the winding roller 31 and the rope 32 on the energy storage spring 54 is released, and the energy storage spring 54 can release elastic potential energy. The energy storage spring 54 gradually unfolds from the bent state and generates a pushing force on the ground through the auxiliary support wheel 300. At the same time, the frame 1 moves outward along the slide bar 51 under the elastic force of the energy storage spring 54, driving the variable diameter wheel mechanism 200 to leave the ground and jump in a predetermined direction, thereby realizing the robot's jumping action. When the robot jumps to a high place, the winding roller 31 winds up the rope 32 again, causing the energy storage spring 54 to recharge. When the robot lands, the triggering unit 4 triggers the winding roller 31 to separate from the spline 25 again, and the robot jumps again, thus realizing the continuous jumping of the robot. This jumping method is similar to the frog jump.

[0056] Among them, the energy storage spring 54 is a lightweight, high-energy elastic material, specifically referring to an elastic composite material with high energy density compression energy storage function, preferably a carbon fiber composite material.

[0057] Specifically, to prevent the energy storage spring 54 from detaching from the support base 52 during the robot's jumping process, [further details are needed]. Figure 9 and Figure 10In this embodiment, the limiting connector 53 consists of an inner clamping piece 531, an outer clamping piece 532, a left clamping piece 533, and a right clamping piece 534. A rotating shaft 521 and a first limiting block 522 are provided on the inner side of the support base 52. The inner clamping piece 531 and the outer clamping piece 532 are arranged vertically opposite each other and fixedly connected by screws. Each of their opposite ends is provided with a half-shaft sleeve and a second limiting block 523, with the two half-shaft sleeves forming a complete bushing. The inner clamping piece 531 and the outer clamping piece 532 are sleeved on the rotating shaft 521 of the support base 52 through this bushing, forming a rotating pair. During the bending and energy storage process of the energy storage spring 54, the bushing formed by the inner clamping piece 531 and the outer clamping piece 532 rotates around the rotating shaft 521 until the second limiting block 523 abuts against the first limiting block 522, thereby limiting the rotation angle of the limiting connector 53. Furthermore, a limiting groove is provided at the other end of the outer clamping piece 532. The left clamping plate 533 and the right clamping plate 534 are arranged opposite each other and are fastened together by bolts. Both have a plug at the same end. The two plugs are inserted into the limiting groove of the outer clamping plate 532 and are clamped and fixed by the inner clamping plate 531 and the outer clamping plate 532. The end of the energy storage spring 54 passes through the gap between the left clamping plate 533 and the right clamping plate 534 and is further inserted into the gap between the inner clamping plate 531 and the outer clamping plate 532 and clamped and fixed. This achieves comprehensive fixation of the energy storage spring 54 in four directions (up, down, left, and right), effectively preventing it from separating from the support base 52 when releasing elastic potential energy, and thus preventing the ejection mechanism 100 from failing.

[0058] See Figures 11 to 15 The variable diameter wheel mechanism 200 of this embodiment includes a drive unit 6 and two variable diameter wheels 7 symmetrically arranged on the left and right sides of the drive unit 6 along its axial direction. Each variable diameter wheel 7 can be deformed and roll under the drive unit 6. Figure 11 and Figure 12As shown, each variable diameter wheel 7 includes a driving gear 71, a driven gear 72, a retainer 73, an arc-shaped rack 74, an arc-shaped rim 75, and a limiting rod. The driving gear 71 and the retainer 73 are arranged coaxially with the drive unit 6. The drive unit 6 can control the rotation of the driving gear 71 of the two variable diameter wheels 7. The retainer 73 includes a bushing (not shown in the figure) and three support rods 731. The three support rods 731 are evenly distributed around the bushing. One end of each support rod 731 is connected to the bushing and integrally formed, and the other end extends radially outward. The retainer 73 is rotatably mounted on the drive unit 6 via a bushing and can rotate freely around the axis of the drive unit 6; three arc-shaped rims 75 are provided and arranged along the circumference of the drive gear 71. Each arc-shaped rim 75 corresponds to a support rod 731. Each arc-shaped rim 75 is rotatably mounted on the end of the extension of the corresponding support rod 731 via a pin and touches the ground. Each arc-shaped rim 75 corresponds to an arc-shaped rack 74 and a driven gear 72. The concave surface of the arc-shaped rim 75 is opposite to the concave surface of the arc-shaped rack 74. The arc-shaped rim 75 and the corresponding arc-shaped rack 74 are fixedly connected by two connecting rods 78. Driven gear 72 is rotatably mounted on corresponding support rod 731 via a pin, and meshes with driving gear 71 and corresponding arc-shaped rack 74 respectively. The opposing surfaces of adjacent support rods 731 on the cage 73 are respectively designated as first limiting surface 732 and second limiting surface 733, and two limiting rods are provided between adjacent support rods 731, resulting in a total of six limiting rods. These six limiting rods are mounted on the end face of driving gear 71 on the side of cage 73. Let the two limiting rods between adjacent support rods 731 be the first limiting rod 76 and the second limiting rod 77. The first limiting rod 76 corresponds to the first limiting surface 732 and is used to maintain the driving gear 71 and cage 73 rotating at the same speed in the forward direction. The second limiting rod 77 corresponds to the second limiting surface 733 and is used to maintain the driving gear 71 and cage 73 rotating at the same speed in the reverse direction.

[0059] In this embodiment, there are two variable diameter wheels 7 arranged symmetrically on the left and right. In order to clearly explain the rotational relationship between the gears, the following description will take the right variable diameter wheel 7 as an example, and the observation direction from right to left is set as positive.

[0060] When the drive unit 6 drives the driving gear 71 to rotate clockwise, the power is transmitted to the driven gear 72, causing the driven gear 72 to rotate counterclockwise. The driven gear 72 further drives the corresponding arc-shaped rim 75 to rotate clockwise around its axis via the arc-shaped rack 74. At the same time, the cage 73 contacts the ground through the arc-shaped rim 75 and is subjected to ground resistance. Under this resistance, the driven gear 72 transmits part of the power transmitted by the driving gear 71 to the cage 73, causing the cage 73 to rotate clockwise around the axis of the drive unit 6, and its rotational speed is lower than that of the driving gear 71. At this time, while the arc-shaped rim 75 rotates clockwise, it also revolves clockwise around the axis of the drive unit 6, causing the variable diameter wheel 7 to roll and gradually deform from a wheel-like posture to a spoke-like posture (i.e., it deforms while moving forward). Until the first limiting rod 76 abuts against the first limiting surface 732 of the retainer 73, the rotational power of the drive gear 71 will be directly transmitted to the retainer 73 through the first limiting rod 76, so that the drive gear 71 and the retainer 73 rotate at the same speed; at this time, the driven gear 72 stops rotating and is relatively stationary with the drive gear 71, the variable diameter wheel 7 is fixed in the shape of spokes, and the robot enters the obstacle crossing mode.

[0061] Similarly, when the drive unit 6 drives the driving gear 71 to rotate counterclockwise, power is transmitted to the driven gear 72, causing the driven gear 72 to rotate clockwise, and then driving the arc-shaped rim 75 to rotate counterclockwise around the axis via the arc-shaped rack 74. Because the arc-shaped rim 75 is in contact with the ground, the cage 73 experiences ground resistance, and the driven gear 72 further transmits some power to the cage 73, causing the cage 73 to rotate counterclockwise around the axis of the drive unit 6, at a speed lower than that of the driving gear 71. At this time, while the arc-shaped rim 75 rotates counterclockwise, it also revolves counterclockwise around the axis of the drive unit 6, causing the variable-diameter wheel 7 to roll forward and gradually transform from a spoke-like posture to a wheel-like posture. Until the second limiting rod 77 abuts against the second limiting surface 733 of the cage 73, the driving gear 71 transmits rotational power directly to the cage 73 through the second limiting rod 77, and the two rotate at the same speed; the driven gear 72 stops rotating and remains stationary relative to the driving gear 71, the variable diameter wheel 7 is fixed in wheel form, and the robot switches to wheel mode. It should be noted that when the variable diameter wheel 7 switches from wheel mode to spoke mode, it rotates forward, at which time the variable diameter wheel 7 is the head of the robot, and the auxiliary support wheel 300 is the tail; while when switching back from spoke mode to wheel mode, the variable diameter wheel 7 rotates backward, the auxiliary support wheel 300 becomes the head of the robot in the forward direction, and the variable diameter wheel 7 becomes the tail.

[0062] Therefore, this embodiment achieves dynamic coupling through the coordinated operation of the driving gear 71, driven gear 72, arc-shaped rack 74, arc-shaped rim 75, and cage 73, and through the synchronous transmission of power under ground resistance. This allows the forward movement and deformation of the variable-diameter wheel 7 to occur simultaneously. When the drive unit 6 is activated, the variable-diameter wheel 7 rolls forward while the arc-shaped rim 75 gradually switches its posture through the coordination of its rotation and revolution. This does not affect the travel efficiency and allows for the transition between wheel-type and spoke-type configurations according to road conditions. Simultaneously, the precise engagement of the limiting rod and the limiting surface terminates the deformation. When the variable-diameter wheel 7 deforms to a preset posture, the limiting rod promptly abuts against the corresponding limiting surface, precisely locking the shape of the variable-diameter wheel 7 through mechanical limiting, preventing excessive deformation or posture deviation, and ensuring the robot's stable travel mode.

[0063] It should also be noted that since the outer diameter of the variable diameter wheel 7 changes when switching modes, the robot's pitch angle can be adjusted. Thus, when the ejection mechanism 100 performs the jumping action, it can change the jumping height and jumping distance according to the robot's pitch angle, thereby achieving flexible control.

[0064] In addition, to reduce the number of motors used, see [link / reference]. Figure 11 , Figure 14 and Figure 15 The drive unit 6 in this embodiment includes a brushless DC motor 61, a hollow wheel shaft 62, a gear connecting shaft 63, and a wheel connecting frame 64. Two drive gears 71 and a retainer 73 are rotatably mounted on both ends of the hollow wheel shaft 62 via bearings. The gear connecting shaft 63 is coaxially inserted into the hollow wheel shaft 62 and fixedly connected to the drive gears 71 at both ends, thereby realizing the transmission of power. The brushless DC motor 61 is fitted outside the hollow wheel shaft 62. The wheel connecting frame 64 includes a sleeve 641 and three claws 642. The sleeve 641 is fitted outside the hollow wheel shaft 62 and fixedly connected to the motor rotor of the brushless DC motor 61. The three claws 642 are evenly arranged circumferentially outside the hollow wheel shaft 62. One end of each claw 642 is connected to the sleeve 641, and the other end passes through the gap between two adjacent support rods 731 of the retainer 73 and is connected to the drive gear 71. It should be noted that the three jaws 642 on the gear connecting frame and the three support rods 731 on the retainer 73 are arranged in a cross pattern. Each jaw 642 can be located at the center position between two adjacent support rods 731 or near the center position, ensuring that the rotation angle of the jaw 642 is less than the angle formed by it and the support rods 731 on both sides. This can effectively avoid interference between the jaw 642 and the support rods 731 during movement, ensuring that the variable diameter wheel 7 can smoothly complete the shape change.

[0065] The brushless DC motor 61 drives the motor rotor to rotate, which in turn drives the wheel connecting frame 64 connected to it to rotate. The drive gear 71 on the wheel connecting frame 64 rotates accordingly, and transmits power synchronously to another drive gear 71 through the gear connecting shaft 63, thereby realizing the synchronous operation of two drive gears 71 driven by a single motor.

[0066] See Figure 1 , Figure 2 and Figure 3 In this embodiment, there are two auxiliary support wheels 300, which are installed on the left and right sides of the tail end of the slide bar 51 to support the catapult mechanism 100 off the ground and to provide auxiliary support for the robot's wheeled mode.

[0067] The following is in conjunction with the appendix Figure 1 , Figure 2 and Figure 3 The working principle and workflow of a multi-mode mobile robot with jumping, climbing and rolling functions according to the present invention are described in detail.

[0068] Bouncing mode:

[0069] Adjustment of bouncing direction and pitch angle: The drive motor 21 starts and drives the first gear 22 to rotate, so that its toothed part meshes with the third gear 27, thereby driving the third gear 27 to rotate synchronously with the second drive shaft 26; the second drive shaft 26 then drives the variable diameter wheel mechanism 200 to swing left or right, realizing the deflection of the robot's head. At the same time, the motor rotor of the brushless DC motor 61 rotates, thereby driving the wheel connecting frame 64 connected to it to rotate. The driving gear 71 on the wheel connecting frame 64 rotates accordingly, and transmits power synchronously to another driving gear 71 through the gear connecting shaft 63. The power is transmitted to the driven gear 72, causing the driven gear 72 to rotate counterclockwise; the driven gear 72 further drives the corresponding arc-shaped wheel rim 75 to rotate clockwise around the axis through the arc rack 74. Meanwhile, the cage 73 contacts the ground via the arc-shaped rim 75 and experiences ground resistance. Under this resistance, the driven gear 72 transmits part of the power from the driving gear 71 to the cage 73, causing the cage 73 to rotate clockwise around the axis of the drive unit 6, at a speed lower than that of the driving gear 71. At this time, the arc-shaped rim 75 rotates clockwise on its own axis and also revolves clockwise around the axis of the drive unit 6. The variable diameter wheel 7 then rolls and gradually transforms from a wheel-like posture to a spoke-like posture, thereby changing the robot's pitch angle. The variable diameter wheel mechanism 200 pulls the ejection mechanism 100 and the auxiliary support wheel 300 forward, simultaneously adjusting their orientation to ensure that the variable diameter wheel mechanism 200, the ejection mechanism 100, and the auxiliary support wheel 300 maintain a symmetrical state. This completes the adjustment of the robot's overall orientation and pitch angle.

[0070] Performing the bouncing action: The drive motor 21 is started, and its motor shaft drives the first gear 22 to rotate synchronously. Since the first gear 22 and the second gear 23 are in a meshing state, the second gear 23 rotates synchronously with the first gear 22 under the meshing transmission action, and drives the spline 25 to rotate synchronously through the coaxially connected first drive shaft 24. At this time, the spline 25 and the spline groove of the winding roller 31 are in a tight fit state, and the rotating spline 25 will directly drive the winding roller 31 to rotate along its own axis, thereby realizing the winding operation of the rope 32. The rope 32 gradually tightens under the winding action of the winding roller 31, and the trigger block 41 fixed to the rope 32 moves towards the swing arm 42 along the winding direction of the rope 32. As the winding process progresses, the support base 52 at the tail end of the slide bar 51 moves linearly towards the other support base 52 under the guidance of the frame 1 and the slide bar 51. At the same time, the energy storage spring 54 gradually bends to store energy. When the stored energy value reaches the preset jumping threshold, the wedge-shaped surface of the trigger block 41 applies a squeezing force to the corresponding end of the swing arm 42, causing the swing arm 42 to overcome the elastic force of the tension spring 43 and rotate around the pin. As the swing arm 42 rotates, its other end presses downward against the winding roller 31, thereby triggering the winding roller 31 to disengage from the spline 25, releasing the constraint of the spline 25 on the winding roller 31. The winding roller 31 stops winding the rope 32, and the originally taut rope 32 instantly relaxes. The energy storage spring 54 can release its elastic potential energy. The energy storage spring 54 gradually unfolds from its bent state, generating a pushing force on the ground through the auxiliary support wheel 300. At the same time, the frame 1 moves outward along the slide bar 51 under the elastic force of the energy storage spring 54, driving the variable diameter wheel mechanism 200 to leave the ground and jump in a preset direction, thereby realizing the robot's jumping action.

[0071] Obstacle Course Mode:

[0072] A brushless DC motor 61 drives the motor rotor to rotate, which in turn drives the wheel connecting frame 64 connected to it to rotate. The driving gear 71 on the wheel connecting frame 64 rotates accordingly, and transmits power synchronously to another driving gear 71 through the gear connecting shaft 63, causing it to rotate clockwise. The power is then transmitted to the driven gear 72, causing it to rotate counterclockwise; the driven gear 72 further drives the corresponding arc-shaped wheel rim 75 to rotate clockwise around its axis through the arc-shaped rack 74. At the same time, the retainer 73 contacts the ground through the arc-shaped wheel rim 75 and is subjected to ground resistance. Under this resistance, the driven gear 72 transmits part of the power transmitted by the driving gear 71 to the retainer 73, causing the retainer 73 to rotate clockwise around the axis of the drive unit 6, and its rotation speed is lower than that of the driving gear 71. At this time, while the arc-shaped wheel rim 75 rotates clockwise, it also revolves clockwise around the axis of the drive unit 6, causing the variable diameter wheel 7 to roll and gradually deform from a wheel-like posture to a spoke-like posture (i.e., it deforms while moving forward). Until the first limiting rod 76 abuts against the first limiting surface 732 of the retainer 73, the rotational power of the drive gear 71 will be directly transmitted to the retainer 73 through the first limiting rod 76, so that the drive gear 71 and the retainer 73 rotate at the same speed; at this time, the driven gear 72 stops rotating and is relatively stationary with the drive gear 71, the variable diameter wheel 7 is fixed in the shape of spokes, and the robot enters the obstacle crossing mode.

[0073] Wheel mode:

[0074] A brushless DC motor 61 drives the motor rotor to rotate, which in turn drives the wheel connecting frame 64 connected to it to rotate. The driving gear 71 on the wheel connecting frame 64 rotates accordingly, and transmits power synchronously to another driving gear 71 through the gear connecting shaft 63, causing it to rotate counterclockwise. The power is transmitted to the driven gear 72, causing the driven gear 72 to rotate clockwise, and drives the arc-shaped wheel rim 75 to rotate counterclockwise around the axis through the arc-shaped rack 74. The cage 73 experiences ground resistance due to the arc-shaped wheel rim 75 touching the ground, and the driven gear 72 then transmits part of the power to the cage 73, causing the cage 73 to rotate counterclockwise around the axis of the drive unit 6, and the rotation speed is lower than that of the driving gear 71. At this time, while the arc-shaped wheel rim 75 rotates counterclockwise, it also revolves counterclockwise around the axis of the drive unit 6, and the variable diameter wheel 7 rolls forward and gradually transforms from a spoke-shaped posture to a wheel-shaped posture. Until the second limit rod abuts against the second limit surface 733 of the retainer 73, the drive gear 71 transmits rotational power directly to the retainer 73 through the second limit rod, and the two rotate at the same speed; the driven gear 72 stops rotating and is relatively stationary with the drive gear 71, the variable diameter wheel 7 is fixed in the shape of a wheel, and the robot switches to wheel mode.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. A multi-mode mobile robot with jumping, climbing, and rolling functions, characterized in that, It includes a catapult mechanism, a variable diameter wheel mechanism, and auxiliary support wheels. The variable diameter wheel mechanism and auxiliary support wheels are respectively installed at both ends of the catapult mechanism in the catapult direction, which can support the catapult mechanism to lift off the ground. The variable diameter wheel mechanism can be transformed into a wheel posture and a spoke posture. When the variable diameter wheel mechanism is transformed into a wheel posture, the robot can be in wheel mode. When the variable diameter wheel mechanism is transformed into a spoke posture, the robot can be in climbing mode. When the catapult mechanism performs a jumping action, the robot can be in jumping mode. The ejection mechanism includes a frame and, from front to back, a power output unit, a winding unit, a triggering unit, and an energy storage unit, which are sequentially mounted on the frame. The power output unit and the winding unit adopt a clutch design. When the power output unit and the winding unit are engaged, the winding unit can control the energy storage unit to complete energy storage and power accumulation. When the energy stored in the energy storage unit reaches a predetermined threshold, the triggering unit controls the power output unit to separate from the winding unit, releasing the constraint of the winding unit on the energy storage unit, so that the energy storage unit stops accumulating power and releases the stored energy, driving the robot to perform a jumping action. The variable diameter wheel mechanism is rotatably connected to the frame via a steering support frame; The variable diameter wheel mechanism includes a drive unit and variable diameter wheels arranged on the left and right sides of the drive unit. Each variable diameter wheel can be deformed and roll under the drive unit's influence. Each variable diameter wheel includes a driving gear, a driven gear, a cage, an arc-shaped rack, an arc-shaped rim, and a limiting rod. The driving gear and the cage are coaxially arranged with the drive unit. The drive unit can control the rotation of the driving gears of the two variable diameter wheels, and the cage can rotate freely around the axis of the drive unit. At least three arc-shaped rims are provided and arranged along the circumference of the driving gear. The arc-shaped rims are rotatably mounted on the cage, and each arc-shaped rim corresponds to an arc-shaped rack and a driven gear. The arc-shaped rim is fixedly connected to the corresponding arc-shaped rack. The driven gear is rotatably mounted on the cage and meshes with the driving gear and the corresponding arc-shaped rack. The cage has a first limiting surface and a second limiting surface. The limiting rod is mounted on the driving gear and can abut against the two limiting surfaces of the cage. When the drive unit drives the active gear to rotate, the active gear drives the cage and the corresponding arc-shaped rim to rotate through the driven gear and the arc-shaped rack. Under ground resistance, the speed of the active gear is greater than that of the cage. As the variable-diameter wheel rolls, it gradually transforms from a wheel-like posture to a spoke-like posture until the limit rod abuts against the first limit surface of the cage. The active gear and the cage rotate at the same speed, and the robot is in obstacle-crossing mode. When the drive unit drives the active gear to rotate in the opposite direction, the active gear drives the cage and the corresponding arc-shaped rim to rotate in the opposite direction through the driven gear and the arc-shaped rack. Under ground resistance, the speed of the active gear is greater than that of the cage. As the variable-diameter wheel rolls, it transforms from a spoke-like posture to a wheel-like posture until the limit rod abuts against the second limit surface of the cage. The active gear and the cage rotate at the same speed, and the robot is in wheel mode.

2. The multi-mode mobile robot with jumping, climbing, and rolling functions according to claim 1, characterized in that, The winding unit includes a winding roller, a rope, and a return spring; the winding roller is rotatably mounted on the frame and can move up and down, and the return spring is installed between the winding roller and the frame to support the winding roller's return; one end of the rope is wound around the winding roller, and the other end is connected to the energy storage unit for energy storage.

3. A multi-mode mobile robot with jumping, climbing, and rolling functions according to claim 2, characterized in that, The triggering unit includes a trigger block, a rocker arm, and a tension spring. The trigger block is fixed to the rope and can move with the rope. The rocker arm is rotatably mounted on the frame, and the tension spring connects the rocker arm and the frame. When the winding roller is winding the rope, the trigger block moves toward the rocker arm with the rope until the trigger block presses against the rocker arm, causing the rocker arm to rotate and press the winding roller down, thereby triggering the winding roller to separate from the power output unit.

4. A multi-mode mobile robot with jumping, climbing, and rolling functions according to claim 2, characterized in that, The energy storage unit includes a slide bar, a support base, and an energy storage spring. The slide bar is slidably engaged with the frame. There are two support bases, which are respectively installed at the tail ends of the frame and the slide bar. There are at least two energy storage springs, and each energy storage spring is connected to two support bases at both ends. The wire extends along the length of the frame and the slide bar and is connected to the support base at the tail end of the slide bar so that the energy storage spring can bend and store energy when the winding roller winds the wire.

5. A multi-mode mobile robot with jumping, climbing, and rolling functions according to claim 4, characterized in that, The energy storage spring is connected to the support base via a limiting connector, which includes an inner clamp, an outer clamp, a left clamp, and a right clamp. The support base is provided with a rotating shaft and a first limiting block. The inner and outer clamps are arranged vertically opposite each other and are rotatably connected to the rotating shaft. Both the inner and outer clamps are provided with a second limiting block that cooperates with the first limiting block to limit the bending angle of the energy storage spring. The left and right clamps are arranged horizontally opposite each other, and one end of the left and right clamps is clamped between the inner and outer clamps. The end of the energy storage spring passes through the gap between the left and right clamps and is inserted into the gap between the inner and outer clamps and clamped and fixed.

6. A multi-mode mobile robot with jumping, climbing, and rolling functions according to claim 2, characterized in that, The power output unit includes a drive motor, a first gear, a second gear, a first drive shaft, and a spline. The drive motor is fixedly connected to the frame. The first gear is connected to the motor shaft of the drive motor and can rotate with it. The second gear, the first drive shaft, and the spline are arranged coaxially in sequence, and the first drive shaft is rotatably mounted on the frame. The first gear and the second gear mesh with each other. The winding roller is provided with a spline groove, and the spline is inserted into the spline groove of the winding roller.

7. A multi-mode mobile robot with jumping, climbing, and rolling functions according to claim 6, characterized in that, The power output unit also includes a third gear fixed to the steering support frame. This third gear meshes with the first gear, which is an incomplete gear so that it does not drive the winding roller to wind or release the rope when the drive variable diameter wheel mechanism is steering.

8. A multi-mode mobile robot with jumping, climbing, and rolling functions according to claim 1, characterized in that, The drive unit includes a brushless DC motor, a hollow wheel shaft, a gear connecting shaft, and a wheel connecting frame. The brushless DC motor and the wheel connecting frame are both mounted on the outside of the hollow shaft. Two drive gears and a retainer are rotatably mounted at both ends of the axial direction of the hollow shaft. The gear connecting shaft is coaxially inserted into the hollow wheel shaft and fixedly connected to the drive gears at both ends. One end of the wheel connecting frame is connected to the rotor of the brushless DC motor, and the other end is connected to one of the drive gears.

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