Wheel-spring hybrid mobile robot

Abstract

A wheel-spring compound mobile robot belongs to the technical field of robots. The existing mobile spring compound robot relies on multiple motors to drive walking, energy storage and attitude control, resulting in high weight and high energy consumption of the whole machine. The body is configured to be compressed and stored energy, two supporting wheels are rotatably installed on both sides of the body, used to realize the robot walking in the wheel mode; the supporting opening and closing mechanism is installed on one side of the body, which is configured to control the unilateral lifting of the robot; the winding rope mechanism, the clutch mechanism and the driving mechanism are all provided with two and are divided on both sides of the body, the driving mechanism has two power output ends, one of which is connected with the supporting wheel, and the other is connected with the corresponding clutch mechanism to form a detachable or connectable clutch transmission structure, used to control the winding rope mechanism to perform the winding and unwinding action. Through the clutch design of the driving mechanism and the clutch mechanism, not only the walking of the supporting wheel can be realized, but also the robot can be switched from the wheel mode to the walking mode.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a wheeled-jumping composite mobile robot. Background Technology

[0002] Lunar lava tubes and craters are unique landforms that are of great significance for deep space exploration. However, due to the rugged terrain and large elevation differences, conventional wheeled, legged, or tracked robots struggle to effectively conduct in-depth exploration. To overcome these complex terrain obstacles, bouncing motion has emerged as a promising mode of locomotion. However, existing mobile-bouncing hybrid robots typically require multiple independent motors to handle movement, energy storage, and attitude adjustment, resulting in excessive robot mass, high system power consumption, and extremely complex control. While solutions using mechanical clutches for time-sharing drive exist, traditional clutch mechanisms are overly complex and have numerous components, making them prone to mechanical jamming in dusty environments like those on the moon and in extreme temperature variations, compromising reliability.

[0003] Therefore, simplifying the drive system, reducing the overall weight, and improving the robustness of the time-sharing clutch mechanism are the technical challenges that urgently need to be addressed in the field of multimodal mobile robots. Summary of the Invention

[0004] In view of this, the present invention provides a wheel-jumping composite mobile robot, which uses a gear meshing clutch structure to switch between wheel mode and jumping mode. The overall structure is simple, can avoid lunar dust interference, and ensures the stability and reliability of clutch action.

[0005] The technical solution adopted in this invention is as follows:

[0006] A wheeled-jumping hybrid mobile robot includes a body, support wheels, a support tensioning mechanism, a rope winding mechanism, a clutch mechanism, and a drive mechanism. The body is configured to be compressible and store energy. Two support wheels are provided and rotatably mounted on both sides of the body to enable the robot to move in wheeled mode. The support tensioning mechanism is mounted on one side of the body and is configured to control the robot to lift on one side. Two rope winding mechanisms, a clutch mechanism, and a drive mechanism are provided and evenly distributed on both sides of the body, with each corresponding to the other. The drive mechanism has two power output ends, one of which is connected to the support wheel, and the other power output end forms a separable or engaging clutch transmission structure with the corresponding clutch mechanism to control the rope winding mechanism to perform rope winding and unwinding actions.

[0007] When the robot is in wheeled mode, the drive mechanism and clutch mechanism are disengaged, and power is transmitted only to the support wheels, enabling the robot to move in wheels. When the drive mechanism and clutch mechanism are engaged, the drive mechanism controls the rope winding mechanism to wind up the traction rope through the clutch mechanism. One rope winding mechanism controls the support opening and closing mechanism to perform the opening action, and the other rope winding mechanism controls the robot body to be compressed and stored, so that the robot switches from wheeled mode to jumping obstacle crossing mode.

[0008] Furthermore, the fuselage includes a support base and an energy storage mechanism. There are two support bases, which are arranged symmetrically side by side. The energy storage mechanism is located between the two support bases and connects the two in series.

[0009] Furthermore, the drive mechanism includes a drive motor and a drive wheel. The motor shaft of the drive motor is connected to the support wheel, and the drive wheel is mounted on the motor shaft. The clutch mechanism includes an idler wheel and a first driven wheel. The idler wheel is engaged with the drive wheel and can be driven to revolve around the drive wheel. When the idler wheel is driven to rotate around the drive wheel, after it engages with the first driven wheel, it transmits the power of the drive wheel to the first driven wheel. The first driven wheel controls the winding mechanism to wind up the traction rope. When the idler wheel is driven in the opposite direction and disengages from the first driven wheel, it cuts off the power transmission between the drive wheel and the first driven wheel, and the winding mechanism can release the wound traction rope.

[0010] Furthermore, the clutch mechanism also includes a connecting rod and a connecting rod drive assembly. The connecting rod is sleeved on the motor shaft of the drive motor. One end of the connecting rod is rotatably connected to the inertial wheel, and the other end can rotate around the motor shaft under the actuation of the connecting rod drive assembly.

[0011] Furthermore, the linkage drive assembly includes two sets of magnetic units, which are symmetrically arranged on both sides of the linkage to control the linkage to rotate around the motor shaft.

[0012] Furthermore, the single magnetic attraction unit includes an electromagnet and a magnetic armature. The two magnetic armatures are fixed to the left and right side walls of the connecting rod, respectively, and the two electromagnets are fixed to the support base and are located on the left and right sides of the connecting rod, respectively.

[0013] Furthermore, the rope winding mechanism includes a winding reel and a traction rope. The rope winding mechanism corresponding to the support opening and closing mechanism is the first rope winding mechanism, and the rope winding mechanism corresponding to the machine body is the second rope winding mechanism. The winding reels of both rope winding mechanisms are connected to the corresponding clutch mechanisms. One end of the traction rope of the first rope winding mechanism is wound and fixed on the winding reel, and the other end is connected to the support opening and closing mechanism to control its opening movement. One end of the traction rope of the second rope winding mechanism is wound and fixed on the winding reel, and the other end is connected to the support seat on the opposite side so that the two support seats move closer to each other during the winding process of the traction rope, compressing the energy storage mechanism to store energy.

[0014] Furthermore, the energy storage mechanism includes several groups of energy storage units evenly arranged circumferentially between two support bases. Each group of energy storage units includes a connecting base, a limiting connector, and an energy storage spring. There are two connecting bases and two limiting connectors, and the two connecting bases and the limiting connectors correspond one-to-one with the two support bases. The limiting connectors are installed to the inner side of the corresponding support bases through the corresponding connecting bases. The two ends of the energy storage springs are respectively connected to the two limiting connectors.

[0015] Furthermore, the limiting connector includes an inner clamping piece, an outer clamping piece, a left clamping piece, and a right clamping piece. The connecting seat is provided with a rotating shaft and a first limiting block. The inner clamping piece and the outer clamping piece are arranged vertically opposite each other and are rotatably connected to the rotating shaft. The inner clamping piece and the outer clamping piece are each 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 clamping piece and the right clamping piece are arranged horizontally opposite each other, and one end of the left clamping piece and the right clamping piece are clamped between the inner clamping piece and the outer clamping piece. After the end of the energy storage spring passes through the gap between the left clamping piece and the right clamping piece, it is inserted into the gap between the inner clamping piece and the outer clamping piece and is clamped and fixed.

[0016] Furthermore, the support tensioning mechanism includes multiple support rods and multiple torsion springs. Each support rod is equipped with a torsion spring. The multiple support rods are evenly arranged along the circumference of the machine body. The support rods are hinged to the machine body. One end of the torsion spring is connected to the machine body, and the other end is connected to the corresponding support rod. The rope winding mechanism is connected to the end of each support rod and can drive the support rod to rotate inward and outward around the hinge point.

[0017] The beneficial effects of this invention compared to the prior art are:

[0018] 1. This invention employs two sets of rope-driven transmission systems with clutch functions, allowing for flexible switching of the robot's motion modes according to the working environment. Specifically, it utilizes the coordinated operation of the drive mechanism, clutch mechanism, and rope winding mechanism to switch between wheeled movement and obstacle-crossing modes. In wheeled mode, the drive mechanism enables the robot to move on wheels, while in obstacle-crossing mode, the robot automatically jumps over obstacles. The entire robot requires only two motors to fulfill multiple functional requirements, reducing the number of motors and lowering the overall weight. Furthermore, this invention integrates an energy storage mechanism into the main body structure, simplifying the overall layout, achieving lightweight design, and accumulating elastic potential energy to provide driving force for the robot's jumping motion. The use of a rope winding mechanism to transmit driving power, leveraging the low weight of the rope, further reduces the robot's weight, achieving the goal of lightweight design.

[0019] 2. In this invention, since the inertial wheel and the driving wheel are always in a meshing state, the engagement or disengagement of the drive mechanism and the clutch mechanism is achieved solely by the engagement or disengagement of the inertial wheel and the first driven wheel. The overall structure is simple, and the clutch switching method is concise. During the engagement and docking process of the inertial wheel and the first driven wheel, even if lunar dust impurities adhere to the surface of the inertial wheel, it can still achieve smooth and precise engagement with the first driven wheel under the continuous adsorption of electromagnetic force, avoiding transmission interference caused by the lunar dust environment and improving the stability and reliability of the engagement or disengagement of the drive mechanism and the clutch mechanism. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are provided to give a further understanding of the invention.

[0021] Figure 1 This is a schematic diagram of the overall structure of a wheeled-jumping composite mobile robot in wheeled travel mode according to the present invention. Figure 1 .

[0022] Figure 2 This is a schematic diagram of the overall structure of a wheeled-jumping composite mobile robot in wheeled travel mode according to the present invention. Figure 2 .

[0023] Figure 3 This is a schematic diagram of the overall structure of a wheeled-jumping composite mobile robot in wheeled travel mode according to the present invention. Figure 3 (Remove one support wheel).

[0024] Figure 4 This is a schematic diagram of the overall structure of a wheeled-jumping composite mobile robot in the bouncing obstacle-crossing mode according to the present invention. Figure 1 .

[0025] Figure 5 This is a schematic diagram of the overall structure of a wheeled-jumping composite mobile robot in the bouncing obstacle-crossing mode according to the present invention. Figure 2 .

[0026] Figure 6 This is a schematic diagram showing the drive mechanism and clutch mechanism in a disengaged state.

[0027] Figure 7 This is a schematic diagram showing the drive mechanism and clutch mechanism in an engaged state.

[0028] Figure 8 This is a schematic diagram of the support base.

[0029] Figure 9 Schematic diagram of the limiting connector Figure 1 .

[0030] Figure 10 Schematic diagram of the limiting connector Figure 2 (Remove the connector).

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Support base; 11. Outer support plate; 12. Inner support plate; 13. Support column; 14. Connecting lug; 15. Slide groove; 16. Fixed pulley;

[0033] 2. Drive mechanism; 21. Drive motor; 22. Drive wheel;

[0034] 3. Clutch mechanism; 31. Inertia wheel; 32. First driven wheel; 33. Second driven wheel; 34. Third driven wheel; 35. Connecting rod; 36. Connecting rod drive assembly; 361. Electromagnet; 362. Magnetic armature;

[0035] 4. Rope winding mechanism; 41. Rope reel; 42. Traction rope;

[0036] 5. Energy storage mechanism; 51. Connecting seat; 511. Rotating shaft; 52. Limiting connector; 521. Inner clamping plate; 522. Outer clamping plate; 523. Left clamping plate; 524. Right clamping plate; 525. Second limiting block; 53. Energy storage spring;

[0037] 6. Supporting tensioning mechanism; 61. Support rod; 62. Torsion spring;

[0038] 7. Support wheels. Detailed Implementation

[0039] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] See Figure 1 and Figure 2 This embodiment provides a wheeled-jumping hybrid mobile robot, primarily designed for complex terrain environments with rugged surfaces and significant elevation differences, especially suitable for exploration and movement tasks on the lunar surface, such as lava tubes and craters. The robot mainly consists of a support base 1, a drive mechanism 2, a clutch mechanism 3, a rope winding mechanism 4, an energy storage mechanism 5, a support tensioning mechanism 6, and support wheels 7. Through the coordinated operation of these multiple mechanisms, it achieves switching between wheeled movement and obstacle-jumping modes. Specifically, in conjunction with… Figure 1 , Figure 2As shown, there are two support bases 1 arranged symmetrically side by side. An energy storage mechanism 5 is positioned between the two support bases 1, connecting them in series to form the robot's body. This energy storage mechanism 5 is both part of the body structure and an energy storage structure. Each support base 1 has a support wheel 7 mounted on its outer side. The diameter of the support wheel 7 is larger than the outer diameter of the support base 1, ensuring that the robot's body can be supported off the ground. Furthermore, a support opening and closing mechanism 6 is installed on one of the support bases 1 and can perform opening and closing movements for lifting one side of the robot's body, adjusting the robot's tilt angle during jumps.

[0041] Among them, combined Figure 8 Each support base 1 mainly consists of an outer support plate 11, an inner support plate 12, and multiple support columns 13 arranged in parallel left and right directions. The multiple support columns 13 are evenly distributed in the circumferential direction between the inner support plate 12 and the outer support plate 11, forming a stable installation space.

[0042] like Figure 1 and Figure 2 As shown, there are two of each of the drive mechanism 2, clutch mechanism 3, and rope winding mechanism 4, and they are divided into two groups. The drive mechanism 2, clutch mechanism 3, and rope winding mechanism 4 in the same group constitute a rope drive transmission system with clutch function. Each support base 1 is equipped with a rope drive transmission system. Specifically, the clutch mechanism 3 is located in the installation space between the inner and outer support plates 11 and is mounted on the inner surface of the outer support plate 11. The drive mechanism 2 is mounted on the inner support plate 12 and has two power output ends, which are designated as the first power output end and the second power output end. The first power output end extends into the installation space between the two support plates and forms a separable or engageable clutch transmission structure with the corresponding clutch mechanism 3. The second power output end passes through the outer support plate 11 and is rigidly fixed to the wheel axle of the support wheel 7, which can directly drive the support wheel 7 to rotate, thereby realizing the robot's movement in wheel mode. The rope winding mechanism 4 is mounted on the outer end face of the outer support plate 11. Its power input end is connected to the power output end of the corresponding clutch mechanism 3, and it can receive the power transmitted by the clutch mechanism 3 to complete the rope winding and unwinding action. The two rope winding mechanisms 4 correspond to the support tensioning mechanism 6 and the energy storage mechanism 5, respectively. The rope winding mechanism 4 on the same side as the support tensioning mechanism 6 has its power output end connected to the power input end of the support tensioning mechanism 6, which can drive the support tensioning mechanism 6 to open and extend, lifting the corresponding side of the robot body and the support wheel 7, realizing the robot body's posture adjustment of tilting up on one side. For the convenience of the following description, this rope winding mechanism 4 is referred to as the first rope winding mechanism. The power output end of the rope winding mechanism 4 on the other side is connected to the support seat 1 on the opposite side. During operation, it can pull the two support seats 1 together to compress the energy storage mechanism 5 in the middle to complete the storage. This rope winding mechanism 4 is referred to as the second rope winding mechanism.

[0043] Figure 1 , Figure 2 This diagram illustrates the robot's wheeled movement mode. In this mode, the drive mechanism 2 and clutch mechanism 3 are completely disengaged, and power is transmitted only to the support wheels 7. When both drive mechanisms 2 start synchronously and their speeds are perfectly aligned with the steering direction, they drive the two support wheels 7 to rotate at the same speed and in the same direction, enabling the robot to move forward or backward in a straight line. When there is a speed difference, reverse rotation, or independent start / stop of the two drive mechanisms 2, the two support wheels 7 move at different speeds or rotate in opposite directions. Relying on the difference in travel speed on both sides, the robot can perform turning, U-turns, and other posture movements, adapting to the movement requirements on flat surfaces.

[0044] When the robot needs to cross a large obstacle, it switches to the bouncing obstacle-crossing mode. The power output of the drive mechanism 2 engages with the clutch mechanism 3. Simultaneously, both drive mechanisms 2 drive the rope winding mechanism 4 through their corresponding clutch mechanisms 3 to wind the rope. The first rope winding mechanism controls the support tensioning mechanism 6 to open, causing the robot body and support wheels 7 near the support tensioning mechanism 6 to lift off the ground, thus tilting one end of the robot upwards and adjusting its jumping posture. The second rope winding mechanism pulls the two support seats 1 together, compressing the energy storage mechanism 5 and storing elastic potential energy. At this point, the robot switches from wheeled mode to bouncing mode. Figure 4 and Figure 5 As shown in the diagram. During the jump preparation phase, because the drive mechanism 2 and clutch mechanism 3 are still engaged, the energy storage mechanism 5 is braked and cannot release energy. When the robot needs to perform a jump, the power output end of the drive mechanism 2 separates from the clutch mechanism 3 again, the brake on the energy storage mechanism 5 is released, and the previously compressed energy storage mechanism 5 instantly releases the stored elastic potential energy, propelling the robot to quickly jump to one side, thereby completing the crossing of complex terrains such as height differences, obstacles, and ditches, and realizing the obstacle-crossing function.

[0045] After completing a single obstacle-jumping maneuver, the robot can automatically reset from the obstacle-jumping mode and switch back to the wheeled mode. For continuous jumping operations, the mode switch can be completed in advance during the robot's airborne phase, i.e., switching back from the wheeled mode to the obstacle-jumping mode, ensuring the robot lands in a jumping configuration. Upon impact, the power output of the drive mechanism 2 disengages from the clutch mechanism 3, allowing the robot to jump again, thus achieving continuous jumping.

[0046] Therefore, this embodiment employs two sets of rope-driven transmission systems with clutch functions, allowing for flexible switching of the robot's motion modes according to the working environment. Specifically, the linkage between the drive mechanism 2, the clutch mechanism 3, and the rope winding mechanism 4 enables switching between wheeled movement and obstacle-crossing modes. In wheeled mode, the drive mechanism 2 also enables the robot to move on wheels, while in obstacle-crossing mode, the robot automatically jumps over obstacles. The entire robot requires only two motors to fulfill multiple functional requirements, reducing the number of motors and lowering the overall weight of the robot. Furthermore, this embodiment integrates the energy storage mechanism 5 into the main body structure, simplifying the overall layout, achieving lightweight design, and accumulating elastic potential energy to provide driving force for the robot's jumping motion. The use of the rope winding mechanism 4 to transmit driving power, leveraging the low weight of the rope, further reduces the robot's weight, achieving the goal of lightweight design.

[0047] See Figure 2 , Figure 6 and Figure 7 In this embodiment, the drive mechanism 2 and clutch mechanism 3 adopt a gear meshing clutch structure, which has a simple overall structure, can avoid interference from lunar dust, and ensure the stability and reliability of clutch operation. Specifically, the drive mechanism 2 in this embodiment includes a drive motor 21 and a drive wheel 22. The body of the drive motor 21 is mounted on the inner surface of the inner support plate 12. The motor shaft of the drive motor 21 passes through the central opening on the inner support plate 12 and the outer support plate 11, and is fixedly connected to the wheel axle of the support wheel 7 through a coupling. This motor shaft is the second power output end of the drive mechanism 2. The drive wheel 22 is located in the mounting space of the support base 1 and is fitted on the motor shaft of the drive motor 21. The drive wheel 22 can rotate with the motor shaft. This drive wheel 22 is the first power output end of the drive mechanism 2.

[0048] Combination Figure 2 , Figure 6 and Figure 7As shown, the clutch mechanism 3 in this embodiment includes an idler wheel 31, a first driven wheel 32, a second driven wheel 33, a third driven wheel 34, a connecting rod 35, and a connecting rod drive assembly 36. An arc-shaped groove 15 centered on the motor shaft is provided on the outer support plate 11. The axle of the idler wheel 31 is inserted into the groove 15 and can slide back and forth along the extension direction of the groove 15. The idler wheel 31 and the driving wheel 22 are always engaged. The first driven wheel 32 and the second driven wheel 33 are coaxially and rotatably mounted on the outer support plate 11. The first driven wheel 32 is located inside the outer support plate 11 and near the tail end of the groove 15. The second driven wheel 33 and the third driven wheel 34 are both arranged outside the outer support plate 11 and are engaged with each other. The third driven wheel 34 is sleeved on the motor shaft of the drive motor 21 and can rotate independently relative to the motor shaft. It is also fixedly connected to the rope winding mechanism 4, thereby realizing the transmission of power to the rope winding mechanism 4. The linkage drive assembly 36 is installed inside the outer support plate 11. The linkage 35 has a sleeve hole near the center position and is rotatably sleeved on the motor shaft through the sleeve hole. One end of the linkage 35 is rotatably connected to the axle of the inertia wheel 31, and the other end extends to the operating range of the linkage drive assembly 36. It can rotate around the motor shaft as a whole under the action of the linkage drive assembly 36, thereby driving the inertia wheel 31 to slide along the slide groove 15.

[0049] like Figure 6 The diagram shows the separation state of the drive mechanism 2 and the clutch mechanism 3, with the idler wheel 31 located at the head end of the slide 15. After the drive motor 21 starts, the drive wheel 22 rotates synchronously with the motor shaft, causing the idler wheel 31 to idle. Power is only output to the support wheel 7 through the motor shaft, enabling the robot to move in a wheeled manner. When it is necessary to engage the drive mechanism 2 and the clutch mechanism 3 to switch working modes, the linkage drive assembly 36 drives the linkage 35 to rotate around the motor shaft, pushing the idler wheel 31 to slide towards the tail end along the slide 15. During the sliding process, the idler wheel 31 always remains engaged with the drive wheel 22, that is, it rotates around the drive wheel 22 while rotating on its own axis, until it engages with the first driven wheel 32, completing the engagement of the drive mechanism 2 and the clutch mechanism 3. Figure 7 The working status is shown.

[0050] After the drive mechanism 2 engages with the clutch mechanism 3, the power of the drive wheel 22 is transmitted to the first driven wheel 32 via the inertial wheel 31. The first driven wheel 32 drives the second driven wheel 33 to rotate via coaxial transmission. The meshing second driven wheel 33 then drives the third driven wheel 34 to rotate, ultimately transmitting the power to the winding mechanism 4 to achieve the winding operation. When the drive motor 21 stops outputting power, the first driven wheel 32 remains locked by engaging with the inertial wheel 31 and the drive wheel 22. This, in turn, brakes the winding mechanism 4 and the energy storage mechanism 5 through the linkage of the second driven wheel 33 and the third driven wheel 34, limiting the release of elastic potential energy by the energy storage mechanism 5.

[0051] When the robot needs to perform a jumping motion, the linkage drive assembly 36 drives the linkage 35 to rotate in the opposite direction, causing the inertial wheel 31 to slide back to its starting end along the slide groove 15, thus disengaging the inertial wheel 31 from the first driven wheel 32. At this time, the power of the driving wheel 22 cannot be transmitted to the first driven wheel 32, and the braking effect on the first driven wheel 32 and subsequent transmission structures is released. The locking state of the energy storage mechanism 5 is then released, and the elastic potential energy is rapidly released, driving the robot to complete the jumping motion.

[0052] Among them, combined Figure 6 and Figure 7 As shown, the linkage drive assembly 36 in this embodiment includes two sets of magnetic units, which are symmetrically arranged on both sides of the linkage 35. Each set of magnetic units mainly consists of an electromagnet 361 and a magnetic armature 362. The electromagnet 361 is fixed inside the outer support plate 11, and the magnetic armature 362 is fixed to the end of the linkage 35. Let the two sets of magnetic units be the first magnetic unit and the second magnetic unit. The first magnetic unit is used to limit and lock the idler wheel 31 to the beginning of the slide groove 15, and the second magnetic unit is used to pull the idler wheel 31 to slide to the end of the slide groove 15 and keep it in the locked position.

[0053] When the robot is in wheeled mode, the idler wheel 31 rests at the head end of the slide 15. The electromagnet 361 of the first magnetic attraction unit is energized and attracted by the electromagnetic force to the matching magnetic armature 362, thus constraining the connecting rod 35 and the idler wheel 31 to stay in place. This prevents the robot from moving along the slide 15 while the drive motor 21 drives the support wheel 7 to move, and simultaneously driving the idler wheel 31 to move along the slide 15 via the active wheel 22. If it is necessary to slide the idler wheel 31 along the slide 15 to the tail end to engage with the first driven wheel 32, the electromagnet 361 of the second magnetic attraction unit is energized. The magnetic force generated by the electromagnet pulls the connecting rod 35 to rotate around the motor shaft. The swing force of the connecting rod 35 drives the idler wheel 31 to move towards the tail end along the slide 15. After the idler wheel 31 and the first driven wheel 32 have engaged, the second magnetic attraction unit continues to be energized, relying on constant electromagnetic force to stabilize the engagement state.

[0054] In this embodiment, since the inertial wheel 31 and the driving wheel 22 are always engaged, the engagement or disengagement of the drive mechanism 2 and the clutch mechanism 3 is achieved solely by the engagement or disengagement of the inertial wheel 31 and the first driven wheel 32. The overall structure is simple, and the clutch switching method is convenient. During the engagement and docking process of the inertial wheel 31 and the first driven wheel 32, even if lunar dust impurities are attached to the surface of the inertial wheel 31, it can still achieve smooth and precise engagement with the first driven wheel 32 under the continuous adsorption of electromagnetic force, avoiding transmission interference caused by the lunar dust environment and improving the stability and reliability of the engagement or disengagement of the drive mechanism 2 and the clutch mechanism 3.

[0055] See Figure 3 and Figure 4 The winding mechanism 4 in this embodiment includes a winding reel 41 and traction ropes 42. The winding reel 41 has a through-hole in the center, through which it is sleeved on the outside of the motor shaft and fixedly connected to the third driven wheel 34, and can rotate synchronously with the third driven wheel 34. There are four traction ropes 42, one end of which is wound and fixed on the winding reel 41. The other end of the traction rope 42 of the first winding mechanism is connected to the support tensioning mechanism 6. The other end of the traction rope 42 of the second winding mechanism is fixedly connected to the opposite support seat 1. In order to avoid friction between the four traction ropes 42 of the second winding mechanism and the support seat 1 during the winding and unwinding process, four fixed pulleys 16 are provided at the edge of the outer support plate 11 on the side of the second winding mechanism. Each traction rope 42 corresponds to one fixed pulley 16. The end of the traction rope 42 extends along the radial direction of the outer support plate 11, passes around the corresponding fixed pulley 16 and connects to the opposite support seat 1.

[0056] When the third driven wheel 34 drives the winding reel 41 to rotate in the forward direction, the winding reel 41 winds up the four traction ropes 42. The traction ropes 42 of the first winding mechanism exert a pulling force on the support opening mechanism 6, causing the support opening mechanism 6 to perform an opening action, supporting the support wheel 7 on the same side off the ground; the traction ropes 42 of the second winding mechanism exert a pulling force on the support seat 1 on the opposite side, causing the support seat 1 on the opposite side to compress the energy storage mechanism 5 to store energy.

[0057] See Figures 1 to 5 The energy storage mechanism 5 in this embodiment includes four sets of circumferentially evenly arranged energy storage units. Each set of energy storage units includes a connecting seat 51, a limiting connector 52, and an energy storage spring 53. There are two connecting seats 51 and two limiting connectors 52. The two connecting seats 51 and the two limiting connectors 52 correspond one-to-one with the two support seats 1. The limiting connectors 52 are installed to the inner side of the corresponding support seat 1 through the corresponding connecting seats 51. The two ends of the energy storage spring 53 are respectively connected to the two limiting connectors 52.

[0058] Among them, the energy storage spring 53 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.

[0059] Specifically, to prevent the energy storage spring 53 from detaching from the connecting seat 51 during the robot's bouncing process, [further details are needed]. Figure 9 and Figure 10As shown, the limiting connector 52 in this embodiment mainly consists of an inner clamping piece 521, an outer clamping piece 522, a left clamping piece 523, and a right clamping piece 524. The connecting seat 51 is provided with a rotating shaft 511 and a first limiting block (not shown in the figure). The inner clamping piece 521 and the outer clamping piece 522 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 525, with the two half-shaft sleeves forming a complete bushing. The inner clamping piece 521 and the outer clamping piece 522 are sleeved on the rotating shaft 511 of the connecting seat 51 through this bushing, forming a rotating pair. During the bending and energy storage process of the energy storage spring 53, the bushing formed by the inner clamping piece 521 and the outer clamping piece 522 rotates around the rotating shaft 511 until the second limiting block 525 abuts against the first limiting block, thereby limiting the rotation angle of the limiting connector 52. Furthermore, a limiting groove is provided at the other end of the outer clamping piece 522. The left clamp 523 and right clamp 524 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 clamp 522 and are clamped and fixed by the inner clamp 521 and the outer clamp 522. The end of the energy storage spring 53 passes through the gap between the left clamp 523 and the right clamp 524 and is further inserted into the gap between the inner clamp 521 and the outer clamp 522 and clamped and fixed. This achieves comprehensive fixation of the energy storage spring 53 in four directions: up, down, left, and right. This effectively prevents it from separating from the connecting seat 51 when releasing elastic potential energy, thereby preventing the energy storage mechanism 5 from failing.

[0060] During the winding of the traction rope 42 by the reel 41 of the second rope mechanism, the traction rope 42 tightens, and the two support seats 1 move closer together under the driving force of the traction rope 42, compressing the energy storage spring 53 to bend and store energy. When the inertial wheel 31 disengages from the first driven wheel 32, the constraints of the reel 41 and the traction rope 42 on the energy storage spring 53 are released. The energy storage spring 53 gradually unfolds from its bent state and releases its elastic potential energy, supporting the opening and closing mechanism 6 to generate a pushing force on the ground, causing the robot to lift off the ground and jump in a predetermined direction, thereby realizing the robot's jumping action.

[0061] See Figure 3 and Figure 4As shown, in this embodiment, the support tensioning mechanism 6 includes four support rods 61 and four torsion springs 62. Each support rod 61 is equipped with a torsion spring 62. The four support rods 61 are evenly arranged along the circumference of the energy storage mechanism 5, and the outer diameter of the contour enclosed by the four support rods 61 is smaller than the outer diameter of the support wheel 7. The outer support plate 11 has four connecting ears 14 evenly distributed along the circumference, and each of the four connecting ears 14 is paired with one of the four support rods 61. The support rods 61 adopt a bent rod structure, and the bent position of the support rod 61 is hinged to the corresponding connecting ear 14. The support rods 61 are arranged along the line connecting the two support seats 1. The end of the support rod 61 near the rope winding mechanism 4 is the rope mounting end, and the other end is the ground support end. One end of the torsion spring 62 is connected to the connecting ear 14, and the other end is connected to the corresponding support rod 61. The four traction ropes 42 of the first rope winding mechanism correspond one-to-one with the four support rods 61, and the driving end of the traction rope 42 is fixedly connected to the rope mounting end of the support rod 61.

[0062] During the winding process of the traction rope 42, a traction force is applied to the end of the support rod 61. The rope connection end of the support rod 61 is subjected to tension, overcoming the elastic force of the torsion spring 62 and deflecting towards the winding reel 41. According to the lever transmission principle, the ground-supporting end of the support rod 61 swings outward. When the ground-supporting end of the support rod 61 contacts and presses against the ground, the ground exerts a reverse force on the support rod 61, causing the support wheel 7 to be lifted off the ground. As the opening angle of the four support rods 61 increases, the height of the support wheel 7 off the ground increases, thereby adjusting the upward tilt angle of the robot's jump. During the robot's jump, the support rod 61 rotates back to its original position under the restoring force of the torsion spring 62.

[0063] In this embodiment, the tilt angle of the robot is adjusted by the opening and closing action of four support rods 61. The overall structure is simple and easy to operate.

[0064] The working principle or workflow of the present invention will be described in detail below with reference to the accompanying drawings.

[0065] The working process of wheeled travel mode: Figure 1 , Figure 2This diagram illustrates the robot's wheeled movement mode. The idler wheel 31 is located at the head of the slide 15. The electromagnet 361 of the first magnetic unit is energized, attracting the matching magnetic armature 362 via electromagnetic force. The constraint link 35 is fixed to the idler wheel 31 in its original position, preventing the robot from simultaneously moving the idler wheel 31 along the slide 15 via the drive wheel 22 while the drive motor 21 drives the support wheel 7. After the drive motor 21 starts, the drive wheel 22 rotates synchronously with the motor shaft, causing the idler wheel 31 to idle. Power is only output to the support wheel 7 through the motor shaft, enabling the robot to move in a wheeled manner. When the speed and direction of the drive motors 21 on both sides are completely consistent, they drive the two support wheels 7 to rotate at the same speed and in the same direction, achieving the robot's linear forward or backward movement. When the two drive motors 21 have a speed difference, rotate in opposite directions, or start and stop independently, the two support wheels 7 form a differential motion or reverse rotation state. Relying on the difference in the travel speed on both sides, the robot can complete posture actions such as turning and turning around, adapting to the movement needs of flat roads.

[0066] How the bounce obstacle crossing mode works:

[0067] Engagement / Disengagement Phase: When the robot needs to cross a large obstacle, the electromagnet 361 of the second magnetic attraction unit is energized, and the magnetic attraction force generated by it pulls the connecting rod 35 to rotate around the motor shaft as the rotation center. The swing force of the connecting rod 35 drives the inertial wheel 31 to move along the slide 15 towards the tail end. After the inertial wheel 31 and the first driven wheel 32 are engaged, the second magnetic attraction unit continues to be energized and magnetized, relying on constant electromagnetic attraction force to stabilize the engagement state.

[0068] Energy storage stage: The power of the driving wheel 22 is transmitted to the first driven wheel 32 via the inertial wheel 31. The first driven wheel 32 drives the second driven wheel 33 to rotate through coaxial transmission. Then, the meshing second driven wheel 33 drives the third driven wheel 34 to rotate, and finally transmits the power to the winding reel 41. The winding reel 41 winds up the traction rope 42. The two support seats 1 approach each other under the driving force of the traction rope 42 of the second winding mechanism 4 and squeeze the energy storage spring 53 to bend and store energy. During the winding process, the traction rope 42 of the first rope winding mechanism 4 applies traction force to the end of the support rod 61. The rope connection end of the support rod 61 is pulled and deflects towards the winding reel 41. According to the lever transmission principle, the ground-supporting end of the support rod 61 swings outward. When the ground-supporting end of the support rod 61 contacts and presses against the ground, the ground exerts a reverse force on the support rod 61, causing the support wheel 7 to be lifted off the ground. As the opening angle of the four support rods 61 increases, the height of the support wheel 7 off the ground increases, thereby adjusting the upward tilt angle of the robot's jump.

[0069] Jumping phase:

[0070] Once the energy storage is complete, the electromagnet 361 of the first magnetic attraction unit is energized. The magnetic attraction force generated by the electromagnet pulls the connecting rod 35 to rotate in reverse around the motor shaft. The swing force of the connecting rod 35 drives the inertial wheel 31 to move towards the head end along the slide groove 15. When the inertial wheel 31 disengages from the first driven wheel 32, the constraints of the winding reel 41 and the traction rope 42 on the energy storage spring 53 are released. The energy storage spring 53 gradually unfolds from a bent state and releases elastic potential energy. The support rod 61 generates a pushing force on the ground, causing the robot to leave the ground and jump in a pre-set direction, thereby realizing the robot's jumping action.

[0071] 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 wheeled-jumping composite mobile robot, characterized in that, The robot comprises a body, support wheels, a support tensioning mechanism, a rope winding mechanism, a clutch mechanism, and a drive mechanism. The body is configured to be compressible and store energy. There are two support wheels, which are rotatably mounted on both sides of the body to enable the robot to move in wheeled mode. The support tensioning mechanism is mounted on one side of the body and is configured to control the robot to lift on one side. There are two rope winding mechanisms, two clutch mechanisms, and two drive mechanisms, which are located on both sides of the body and are configured in a one-to-one correspondence. The drive mechanism has two power output ends, one of which is connected to the support wheel, and the other power output end forms a separable or engaging clutch transmission structure with the corresponding clutch mechanism to control the rope winding mechanism to perform rope winding and unwinding actions. When the robot is in wheeled mode, the drive mechanism and clutch mechanism are disengaged, and power is transmitted only to the support wheels, enabling the robot to move in wheels. When the drive mechanism and clutch mechanism are engaged, the drive mechanism controls the rope winding mechanism to wind up the traction rope through the clutch mechanism. One rope winding mechanism controls the support opening and closing mechanism to perform the opening action, and the other rope winding mechanism controls the robot body to be compressed and stored, so that the robot switches from wheeled mode to jumping obstacle crossing mode.

2. The wheeled-jumping composite mobile robot according to claim 1, characterized in that, The fuselage includes a support base and an energy storage mechanism. There are two support bases, which are arranged symmetrically side by side. The energy storage mechanism is located between the two support bases and connects them in series.

3. The wheeled-jumping composite mobile robot according to claim 2, characterized in that, The drive mechanism includes a drive motor and a drive wheel. The motor shaft of the drive motor is connected to a support wheel, and the drive wheel is mounted on the motor shaft. The clutch mechanism includes an idler wheel and a first driven wheel. The idler wheel is engaged with the drive wheel and can be driven to revolve around the drive wheel. When the idler wheel is driven to rotate around the drive wheel, and after the idler wheel engages with the first driven wheel, it transmits the power of the drive wheel to the first driven wheel. The first driven wheel controls the winding mechanism to wind up the traction rope. When the idler wheel is driven in the opposite direction and disengages from the first driven wheel, it cuts off the power transmission between the drive wheel and the first driven wheel, and the winding mechanism can release the wound traction rope.

4. The wheeled-jumping composite mobile robot according to claim 3, characterized in that, The clutch mechanism also includes a connecting rod and a connecting rod drive assembly. The connecting rod is sleeved on the motor shaft of the drive motor. One end of the connecting rod is rotatably connected to the inertial wheel, and the other end can rotate around the motor shaft under the action of the connecting rod drive assembly.

5. A wheeled-jumping composite mobile robot according to claim 4, characterized in that, The linkage drive assembly includes two sets of magnetic units, which are symmetrically arranged on both sides of the linkage to control the rotation of the linkage around the motor shaft.

6. A wheeled-jumping composite mobile robot according to claim 5, characterized in that, A single magnetic unit includes an electromagnet and a magnetic armature. The two magnetic armatures are fixed to the left and right side walls of the connecting rod, respectively. The two electromagnets are fixed to the support base and are located on the left and right sides of the connecting rod, respectively.

7. A wheeled-jumping composite mobile robot according to claim 2, characterized in that, The rope winding mechanism includes a winding reel and a traction rope. The rope winding mechanism corresponding to the support opening and closing mechanism is the first rope winding mechanism, and the rope winding mechanism corresponding to the machine body is the second rope winding mechanism. The winding reels of both rope winding mechanisms are connected to the corresponding clutch mechanisms. One end of the traction rope of the first rope winding mechanism is wound and fixed on the winding reel, and the other end is connected to the support opening and closing mechanism to control its opening movement. One end of the traction rope of the second rope winding mechanism is wound and fixed on the winding reel, and the other end is connected to the support seat on the opposite side so that the two support seats move closer to each other during the winding process of the traction rope, compressing the energy storage mechanism to store energy.

8. A wheeled-jumping composite mobile robot according to claim 2, characterized in that, The energy storage mechanism includes several groups of energy storage units evenly arranged circumferentially between two support bases. Each group of energy storage units includes a connecting base, a limiting connector, and an energy storage spring. There are two connecting bases and two limiting connectors, and the two connecting bases and the limiting connectors correspond one-to-one with the two support bases. The limiting connectors are installed to the inner side of the corresponding support bases through the corresponding connecting bases. The two ends of the energy storage springs are respectively connected to the two limiting connectors.

9. A wheeled-jumping composite mobile robot according to claim 8, characterized in that, The limiting connector includes an inner clamping piece, an outer clamping piece, a left clamping piece, and a right clamping piece. The connecting seat is provided with a rotating shaft and a first limiting block. The inner clamping piece and the outer clamping piece are arranged vertically opposite each other and are rotatably connected to the rotating shaft. The inner clamping piece and the outer clamping piece are each 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 clamping piece and the right clamping piece are arranged horizontally opposite each other, and one end of the left clamping piece and the right clamping piece are clamped between the inner clamping piece and the outer clamping piece. After the end of the energy storage spring passes through the gap between the left clamping piece and the right clamping piece, it is inserted into the gap between the inner clamping piece and the outer clamping piece and is clamped and fixed.

10. A wheeled-jumping composite mobile robot according to claim 1, characterized in that, The support tensioning mechanism includes multiple support rods and multiple torsion springs. Each support rod is equipped with a torsion spring. The multiple support rods are evenly arranged along the circumference of the machine body. The support rods are hinged to the machine body. One end of the torsion spring is connected to the machine body, and the other end is connected to the corresponding support rod. The rope winding mechanism is connected to the end of each support rod and can drive the support rod to rotate inward and outward around the hinge point.

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