Deformation driving wheel set for robot

Abstract

The utility model belongs to the technical field of robot equipment, and relates to a deformation driving wheel set for a robot, which comprises a framework and a modal driving module, two ends of the modal driving module are respectively connected with a modal transmission module, and the modal driving module drives the two modal transmission modules to move in opposite directions. Each set of modal transmission module is connected with one set of modal overturning module, each set of modal overturning module is connected with one set of wheel-paddle module through one set of power module, and the modal transmission modules drive the power modules and the wheel-paddle modules to overturn vertically through the modal overturning modules. Through mutual cooperation of the modal driving module, the modal transmission module and the modal overturning module, posture transformation of 90-degree vertical rapid overturning of the wheel-paddle module is achieved. The configuration switching of a wheel mode and a claw mode of the wheel-paddle module is realized through the deformation mechanism; through combination of different posture transformation and configuration transformation, the robot can perform multi-mode motion operation in ground and underwater environments in a wheel mode and a claw mode.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot equipment, and in particular relates to a deformable driving wheel set for a robot. Background Art

[0002] In operational scenarios such as reconnaissance, detection, and combat, robots need to face structural or unstructured ground environments simultaneously or in different time periods. These complex ground environments include artificially constructed structural steps, stairs, trenches, and other terrains, as well as messy terrains formed after disasters or wars, and some environments have narrow spaces. For example, on structured roads such as paving, robots need to pass quickly, with low resistance and high speed to transport load equipment to the destination or carry loads to complete operations; on unstructured roads such as mud, bumps, and gullies, robots need to pass smoothly and usually need to have high-performance and highly reliable climbing and obstacle-crossing capabilities. The above-mentioned operational scenarios are mainly for ground operations, but in actual application requirements, robots are also required to have the ability to work in multiple conditions, such as "going up to the sky" and "going down to the sea." In a typical scenario, such as in the field of military reconnaissance, after the robot is released from a drone or fighter jet, it needs to turn on the "air exploration mode"; after slowly descending to the ground, turn on the "high-speed flat ground advancement" mode to quickly approach the reconnaissance on a flat road; after reaching a specific mudflat, turn on the "high obstacle travel" mode to achieve climbing over complex unstructured ground; after crossing the mudflat area, start to enter the water surface or dive underwater to carry out operations.

[0003] To realize the mobile operation function under multi-habitat conditions, the current mainstream or public technical means are as follows:

[0004] 1. The solution of using independent wheel and blade mechanisms to achieve land and air operations respectively:

[0005] The invention patent with application number 202310637951.9 discloses an amphibious bird-repelling robot for a substation, including an aircraft and an omnidirectional mobile working chassis. The aircraft can be detachably connected to the omnidirectional mobile working chassis. The aircraft can be driven to fly, can turn at any angle, and can quickly adjust its position to complete the work.

[0006] Other patents of this type include patent application number 202211498356.3: a building surface detection method based on a foldable amphibious wall-climbing robot, patent application number 202320011424.2: a deformable air-to-ground amphibious robot, patent application number 202320478785.8: a land-to-air amphibious robot capable of autonomous cruising, and patent application number 202221925137.4: a land-to-air amphibious robot.

[0007] 2. The scheme of using wheels and auxiliary mechanisms to achieve land movement and propulsion by blade thrust:

[0008] The invention patent with application number 202310141090.5 discloses a multi-mode bionic amphibious robot that can move across water and land. An impeller system that can rotate with the wheels is arranged on both sides of the center of the wheel body. The impeller system's multi-layered sheet-like expandable blades can be orderly expanded and closed as the impeller rotates to different phases. When traveling on the water surface, they can be opened to increase the propulsion efficiency. When traveling on land, they can be expanded when contacting obstacles on non-structural ground, thereby improving the robot's obstacle crossing ability.

[0009] Similar solutions include patent application number 202210540929.8: an amphibious robot based on a continuous vacuum suction cup, patent application number 202311595922.7: an amphibious robot driven by a retractable paddle wheel, and patent application number 202322905859.4: a composite wheel-paddle stabilization mechanism for a two-wheeled amphibious transport robot.

[0010] 3. Use double or even number of actuators to achieve wheel position change and multi-habitat posture adjustment

[0011] The invention patent with application number 202311066733.0 discloses an amphibious robot and method with multi-motion modes based on the integration of wheels, propellers and legs, including a body and an integrated structure of wheels, propellers and legs, wherein the integrated structure of wheels, propellers and legs includes a leg tilting mechanism, a wheel rotation structure and a blade propulsion structure, etc. The tilting mechanism mainly has a servo or a motor to complete the angle adjustment, change the posture and thus realize multi-modal operation.

[0012] Similar solutions include an amphibious variable configuration robot disclosed in the invention patent with application number 202210933172.9, an amphibious bionic robot disclosed in the patent with application number 202310893980.1, and an amphibious robot, control method and application disclosed in the patent with application number 202310902360.X.

[0013] Existing technical solutions mainly achieve versatility through deformation of wheels and propellers, and realize independent underwater or underwater propulsion functions through split layout devices. They can only realize configuration changes of wheels or propellers, or single-mode posture changes of wheels and propellers. They have complex and large structures, poor stability during configuration or posture changes, and very limited operating functions and applicable environments. Summary of the invention

[0014] The utility model aims to provide a deformable driving wheel set for a robot which can realize a 90-degree vertical rapid flip of a wheel system, and a rapid and stable posture and configuration transformation.

[0015] The technical solution adopted by the utility model to solve its technical problems is: a deformable driving wheel group for a robot, including a skeleton and a modal driving module installed on the skeleton, the two ends of the modal driving module are respectively connected to a set of modal transmission modules, the modal driving module drives the two sets of modal transmission modules to move in opposite directions, each set of modal transmission modules is respectively connected to a set of modal flip modules, each set of modal flip modules is connected to a set of wheel-paddle modules through a set of power modules, the power module drives the wheel-paddle module to move forward or backward, and the modal transmission module drives the power module and the wheel-paddle module to flip vertically through the modal flip module.

[0016] In some embodiments of the present invention, the modal drive module includes a modal drive motor and a straight rod. The modal drive motor is fixedly mounted on the frame, the output end of the modal drive motor is connected to the middle of the straight rod, and the two ends of the straight rod are respectively connected to one end of the modal transmission module. The modal drive motor rotates to drive the straight rod to rotate, and then the two ends of the straight rod respectively drive the two sets of modal transmission modules to move in opposite directions.

[0017] In some embodiments of the utility model, the modal transmission module includes a U frame and a transmission connecting rod fixedly connected to the rear end of the U frame, the transmission connecting rod is hingedly connected to the end of the I-bar, and the front end of the U frame is hingedly connected to the modal flip module.

[0018] In some embodiments of the utility model, the modal flip module includes a flip bracket, a driving link, a follower link and a flip base. The flip bracket is used to install the power module. The upper end of the flip bracket is hingedly connected to one end of the follower link, and the other end of the follower link is hingedly connected to the upper part of the flip base. The lower part of the flip bracket is hingedly connected to the front end of the U frame and one end of the driving link, and the other end of the driving link is hingedly connected to the lower part of the flip base. The straight rod rotates, and the flip bracket is pulled by the transmission link and the U frame to rotate around the hinge point of the driving link and the flip base. The upper part of the flip bracket assists in rotation around the hinge point of the follower link and the flip base, and the flip bracket drives the power module and the wheel-propeller module to flip vertically.

[0019] Furthermore, each set of modal flipping modules is provided with two groups of flipping bases, driving connecting rods and follower connecting rods, respectively. The two groups of flipping bases are symmetrically installed on both sides of the end of the skeleton. The two sides of the upper end of the flipping bracket are respectively hingedly connected to the upper part of the corresponding flipping base through a group of follower connecting rods, and the two sides of the lower part of the flipping bracket are respectively hingedly connected to a group of driving connecting rods and the front end of the corresponding U frame. The other end of each group of driving connecting rods is hingedly connected to the lower part of the corresponding flipping base, and the power module is fixedly installed on the outer end surface of the lower part of the flipping bracket.

[0020] In some embodiments of the utility model, the power module includes a power motor, which is fixedly mounted on a flip bracket, and an output end of the power motor is connected to the wheel-paddle module to drive the wheel-paddle module forward or backward.

[0021] In some embodiments of the utility model, the wheel-paddle module includes at least a wheel frame, a plurality of wheel bodies connected to the wheel frame and used to achieve rapid movement, and a deformation mechanism for transforming the configuration of the wheel bodies. Each wheel body is provided with a paddle body for achieving propulsion in water. The deformation mechanism is meshingly connected to the wheel body, and the deformation mechanism drives the wheel body to rotate to achieve wheel-claw configuration transformation.

[0022] Furthermore, the modal transmission module can also be a gear rack structure or a telescopic cylinder structure, which drives the power module and the wheel-propeller module to flip vertically through the modal flip module.

[0023] Furthermore, the modal drive motor, the power motor and the deformation mechanism are all waterproof and sealed to adapt to the movement and operation of the deformation drive device underwater.

[0024] In some embodiments of the present invention, the skeleton is used to install the deformable driving wheel set on the robot body.

[0025] The utility model has the following beneficial effects: the deformable driving wheel group of the utility model cooperates with the modal driving module, the modal transmission module and the modal flipping module to realize the posture transformation of the wheel-paddle module to quickly flip vertically by 90 degrees; the wheel mode and claw mode configuration switching of the wheel-paddle module is realized through the deformation mechanism; through different posture transformation and configuration transformation combinations, the robot can realize multi-modal motion operation in the wheel mode and claw mode in the ground and water environment, so that the robot can adapt to multi-habitat operation environments such as air-ground-water, and meet the needs of full-domain operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the deformable driving wheel set for robots of the utility model. Figure 1 .

[0027] Figure 2 This is a schematic diagram of the overall three-dimensional structure of the deformable driving wheel set for robots of the utility model. Figure 2 .

[0028] Figure 3 This is a front view of the deformable driving wheel set for a robot of the utility model.

[0029] Figure 4 It is a bottom view of the deformable driving wheel set used for a robot of the utility model.

[0030] Figure 5 It is a top view of the deformable driving wheel set used for a robot of the utility model.

[0031] Figure 6 It is a left view of the deformable driving wheel set used for a robot of the utility model.

[0032] Figure 7 It is a schematic diagram of the overall three-dimensional structure of the deformable driving wheel set for the robot of the utility model after the wheel-paddle module is vertically flipped 90 degrees.

[0033] Figure 8 It is a front view of the deformable driving wheel set for a robot according to the utility model after the wheel-paddle module is vertically flipped 90 degrees.

[0034] Fig. 9 It is a schematic diagram of the overall three-dimensional structure of the wheel mode after the deformable driving wheel set of the utility model is applied to the robot.

[0035] Fig.10 It is a schematic diagram of the overall three-dimensional structure of the claw mode after the deformable driving wheel set of the utility model is applied to the robot.

[0036] Fig.11 It is a schematic diagram of the overall three-dimensional structure of the utility model after the deformable driving wheel set is applied to the robot rear wheel mode and is vertically flipped 90 degrees.

[0037] In the figure, 1. a deformed driving wheel set;

[0038] 100, skeleton, 200, modal drive module, 300, modal transmission module, 400, modal flip module, 500, power module, 600, wheel-propeller module;

[0039] 210, straight bar, 220, modal drive motor;

[0040] 310, transmission connecting rod, 320, U frame;

[0041] 410, a flip base, 420, a driving connecting rod, 430, a follower connecting rod, 440, a flip bracket;

[0042] 510, power motor;

[0043] 610, wheel frame, 620, wheel body, 630, deformation mechanism, 640, paddle body. DETAILED DESCRIPTION

[0044] The utility model will now be further described in detail with reference to the accompanying drawings.

[0045] like Figure 1As shown, a deformable driving wheel group for a robot includes a skeleton 100 and a modal driving module 200 installed on the skeleton 100, wherein two ends of the modal driving module 200 are respectively connected to a set of modal transmission modules 300, and the modal driving module 200 drives the two sets of modal transmission modules 300 to move in opposite directions, each set of modal transmission modules 300 is respectively connected to a set of modal flip modules 400, and each set of modal flip modules 400 is connected to a set of wheel-paddle modules 600 through a set of power modules 500, the power module 500 drives the wheel-paddle module 600 to move forward or backward, and the modal transmission module 300 drives the power module 500 and the wheel-paddle module 600 to flip vertically through the modal flip module 400.

[0046] In some embodiments of the present invention, Figure 3 As shown, the modal drive module 200 includes a modal drive motor 220 and a straight rod 210. The modal drive motor 220 is fixedly mounted on the frame 100. The output end of the modal drive motor 220 is connected to the middle of the straight rod 210. The two ends of the straight rod 210 are respectively connected to one end of the modal transmission module 300. The modal drive motor 220 rotates to drive the straight rod 210 to rotate, and then the two ends of the straight rod 321 respectively drive the two sets of modal transmission modules 300 to move in opposite directions.

[0047] Furthermore, the modal drive module 200 may also be in the form of a steering wheel or the like.

[0048] In some embodiments of the present invention, Figure 4 , Figure 5 As shown, the modal transmission module 300 includes a U frame 320 and a transmission connecting rod 310 fixedly connected to the rear end of the U frame 320, the transmission connecting rod 310 is hingedly connected to the end of the straight rod 210, and the front end of the U frame 320 is hingedly connected to the modal flip module 400.

[0049] Furthermore, the modal transmission module 300 can also be a gear rack structure or a telescopic cylinder structure, and drive the power module 500 and the wheel-propeller module 600 to flip vertically through the modal flip module 400.

[0050] In some embodiments of the present invention, Figure 2 , Figure 3 , Figure 8As shown, the modal flip module 400 includes a flip bracket 440, a driving connecting rod 420, a follower connecting rod 430 and a flip base 410. The flip bracket 440 is used to install the power module 500. The upper end of the flip bracket 440 is hingedly connected to one end of the follower connecting rod 430, and the other end of the follower connecting rod 430 is hingedly connected to the upper part of the flip base 410. The lower part of the flip bracket 440 is hingedly connected to the front end of the U frame 320 and one end of the driving connecting rod 420. The other end of the driving link 420 is hingedly connected to the lower part of the flip base 410. The straight rod 210 rotates, and the flip bracket 440 is pulled by the transmission link 310 and the U frame 320 to rotate around the hinge point between the driving link 420 and the flip base 410. The upper part of the flip bracket 440 assists in rotating around the hinge point between the follower link 430 and the flip base 410. The flip bracket 440 drives the power module 500 and the wheel-propeller module 600 to flip vertically.

[0051] Furthermore, in order to improve the connection firmness and flip stability of the flip bracket 440, as Figure 7 As shown, each set of modal flip module 400 has two groups of flip base 410, driving link 420 and follower link 430 respectively, and the two groups of flip base 410 are symmetrically installed on both sides of the end of the skeleton 100, and the two sides of the upper end of the flip bracket 440 are respectively hingedly connected to the upper part of the corresponding flip base 410 through a group of follower links 430, and the two sides of the lower part of the flip bracket 440 are respectively hingedly connected to a group of driving links 420 and the front end of the corresponding U frame 320, and the other end of each group of driving links 420 is hingedly connected to the lower part of the corresponding flip base 410, and the power module 500 is fixedly installed on the outer end surface of the lower part of the flip bracket 440.

[0052] In some embodiments of the present invention, Figure 4 , Figure 5 As shown, the power module 500 includes a power motor 510, which is fixedly mounted on the flip bracket 440. The output end of the power motor 510 is connected to the wheel-paddle module 600 to drive the wheel-paddle module 600 forward or backward.

[0053] In some embodiments of the present invention, Figure 6 As shown, the wheel-paddle module 600 includes at least a wheel frame 610, a plurality of wheel bodies 620 connected to the wheel frame 610 and used to achieve rapid movement, and a deformation mechanism 630 for performing configuration transformation on the wheel body 620. Each wheel body 620 is provided with a paddle body 640 for achieving underwater propulsion. The deformation mechanism 630 is meshingly connected with the wheel body 620, and the deformation mechanism 630 drives the wheel body 620 to rotate to achieve wheel-claw configuration transformation.

[0054] Furthermore, in order to improve the compactness of the gear train, the wheel body 620 and the paddle body 640 are an integrated structure, and the paddle body 640 is embedded therein as the spokes of the wheel body 620 .

[0055] Furthermore, the wheel-propeller module 600 may also include a freewheeling module for providing power or signal transmission in a rotating state, and the freewheeling module may be an electric slip ring or an electrical module with the same structure. The detailed structure of the freewheeling module may adopt the electric slip ring and its related structure in the invention patent of a multi-modal working robot with application publication number CN117681590A.

[0056] Furthermore, the detailed structure and working principle of the power module 500 driving the wheel-paddle module 600 forward or backward and the deformation mechanism 630 driving the wheel body 620 to perform wheel-claw modal transformation all adopt the structure and principle disclosed in the invention patent with publication number CN117681590A applied by the applicant for a multimodal working robot, which will not be repeated here.

[0057] In some embodiments of the present invention, the skeleton 100 is used to install the deformable driving wheel set 1 on the robot body. The deformable driving wheel set 1 of the present application can be installed on the front or rear of the robot body alone or simultaneously. The present invention takes the deformable driving wheel set 1 installed alone on the front of the robot body as an example to illustrate the posture transformation and configuration transformation of the wheel-paddle module 600.

[0058] Furthermore, the modal drive motor 220, the power motor 510, and the deformation mechanism 630 are all waterproof and sealed to adapt to the movement operation of the deformation drive device under water.

[0059] The working principle of the deformable driving wheel set of the utility model is as follows:

[0060] (1) The steps of transforming the driving wheel set 1 to move at high speed in wheel mode:

[0061] 1) The deformation mechanism 630 works to control the wheel body 620 to be in wheel mode. For the specific control deformation process, refer to the invention patent with application publication number CN117681590A;

[0062] 2) The modal drive motor 220 rotates, driving the straight rod 210 to rotate in a vertical state, and the modal transmission module 300 pushes the flip bracket 440 to rotate away from the modal drive motor 220 with the hinge point between the driving connecting rod 420 and the flip base 410 as the center. The upper part of the flip bracket 440 assists in rotating with the hinge point between the follower connecting rod 430 and the flip base 410 as the center. The flip bracket 440 drives the power module 500 and the wheel-paddle module 600 to flip upward, so that the two sets of wheel-paddle modules 600 in wheel mode are placed on both sides of the skeleton 100, as shown in FIG. Figure 1 As shown;

[0063] 3) At this time, the deformation driving wheel set 1 is installed at the front of the robot body, and two sets of wheel-paddle modules 600 in wheel mode are placed on both sides of the front of the robot body. The power motor 510 works to drive the wheel-paddle module 600 to rotate at high speed. Fig. 9 As shown, the wheel set at the rear of the robot body cooperates to realize the forward or backward movement of the robot, allowing the robot to move at high speed on a flat ground.

[0064] (2) Steps for the deformation driving wheel set 1 to move in claw mode:

[0065] 1) The deformation mechanism 630 works, and the wheel body 620 is controlled to be in claw mode. For the specific control deformation process, refer to the invention patent with application publication number CN117681590A;

[0066] 2) The modal drive motor 220 rotates, driving the straight rod 210 to rotate in a vertical state, and the modal transmission module 300 pushes the flip bracket 440 to rotate away from the modal drive motor 220 with the hinge point between the driving connecting rod 420 and the flip base 410 as the center. The upper part of the flip bracket 440 assists in rotating with the hinge point between the follower connecting rod 430 and the flip base 410 as the center. The flip bracket 440 drives the power module 500 and the wheel-paddle module 600 to flip upward, so that the two sets of wheel-paddle modules 600 in claw mode are placed on both sides of the skeleton 100;

[0067] 3) At this time, the deformation driving wheel set 1 is installed at the front of the robot body, and two sets of wheel-paddle modules 600 in claw mode are placed on both sides of the front of the robot body. The power motor 510 works to drive the wheel-paddle modules 600 to rotate at high speed. Fig.10 As shown, the wheel set at the rear of the robot body cooperates with the robot to move forward or backward, allowing the robot to quickly overcome obstacles on muddy and uneven roads or tidal flats in claw mode.

[0068] (3) The deformation driving wheel set 1 assists the robot to move in water in wheel mode:

[0069] 1) The deformation mechanism 630 works to control the wheel body 620 to be in wheel mode. For the specific control deformation process, refer to the invention patent with application publication number CN117681590A;

[0070] 2) The modal drive motor 220 rotates, driving the straight rod 210 to rotate from a vertical state to an inclined state, and the modal transmission module 300 pulls the flip bracket 440 to rotate in the direction of the modal drive motor 220 with the hinge point of the driving connecting rod 420 and the flip base 410 as the center. The upper part of the flip bracket 440 assists in rotating with the hinge point of the follower connecting rod 430 and the flip base 410 as the center. The flip bracket 440 drives the power module 500 and the wheel-paddle module 600 to flip downward, so that the two sets of wheel-paddle modules 600 in wheel mode are located below the skeleton 100, as shown in FIG. Figure 7 , 8 As shown, at this time, the end surface of the wheel-propeller module 600 is in a horizontal state;

[0071] 3) The deformation driving wheel set 1 is installed at the front of the robot body, and the two sets of wheel-paddle modules 600 in wheel mode are flipped to a horizontal state, such as Fig.11 As shown, the power motor 510 works, driving the wheel-paddle module 600 to rotate at high speed, and the paddle body 640 drives the fluid to flow vertically. By controlling the rotation direction of the wheel-paddle module 600, the fluid flow direction can be controlled, and the robot can be lifted and lowered and stably suspended in the water.

[0072] The above-described embodiments are merely descriptions of preferred implementations of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by ordinary persons in the art to the technical solution of the present invention shall fall within the scope of protection of the present invention.

[0073] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

Claims

1. A deformable driving wheel set for a robot, characterized in that: It includes a frame and a modal drive module installed on the frame. The two ends of the modal drive module are respectively connected to a set of modal transmission modules. The modal drive module drives the two sets of modal transmission modules to move in opposite directions. Each set of modal transmission modules is respectively connected to a set of modal flip modules. Each set of modal flip modules is connected to a set of wheel-propeller modules through a set of power modules. The power module drives the wheel-propeller module to move forward or backward. The modal transmission module drives the power module and the wheel-propeller module to flip vertically through the modal flip module.

2. The deformable driving wheel set for a robot according to claim 1, characterized in that: The modal drive module includes a modal drive motor and a straight rod. The modal drive motor is fixedly installed on the frame. The output end of the modal drive motor is connected to the middle of the straight rod. The two ends of the straight rod are respectively connected to one end of the modal transmission module. The modal drive motor rotates to drive the straight rod to rotate, and then the two ends of the straight rod respectively drive the two sets of modal transmission modules to move in opposite directions.

3. The deformable driving wheel set for a robot according to claim 1, characterized in that: The modal transmission module comprises a U frame and a transmission connecting rod fixedly connected to the rear end of the U frame, the transmission connecting rod is hingedly connected to the end of the straight rod, and the front end of the U frame is hingedly connected to the modal flip module.

4. The deformable driving wheel set for a robot according to claim 1, characterized in that: The modal flip module includes a flip bracket, a driving connecting rod, a follower connecting rod and a flip base. The flip bracket is used to install the power module. The upper end of the flip bracket is hingedly connected to one end of the follower connecting rod, and the other end of the follower connecting rod is hingedly connected to the upper part of the flip base. The lower part of the flip bracket is hingedly connected to the front end of the U frame and one end of the driving connecting rod, and the other end of the driving connecting rod is hingedly connected to the lower part of the flip base. The straight rod rotates, and the flip bracket is pulled by the transmission connecting rod and the U frame to rotate around the hinge point of the driving connecting rod and the flip base. The upper part of the flip bracket assists in rotation around the hinge point of the follower connecting rod and the flip base. The flip bracket drives the power module and the wheel-propeller module to flip vertically.

5. The deformable driving wheel set for a robot according to claim 4, characterized in that: Each set of modal flip module has two groups of flip bases, driving connecting rods and follower connecting rods, and the two groups of flip bases are symmetrically installed on both sides of the end of the skeleton. The two sides of the upper end of the flip bracket are respectively hingedly connected to the upper part of the corresponding flip base through a group of follower connecting rods, and the two sides of the lower part of the flip bracket are respectively hingedly connected to a group of driving connecting rods and the front end of the corresponding U frame. The other end of each group of driving connecting rods is hingedly connected to the lower part of the corresponding flip base, and the power module is fixedly installed on the outer end surface of the lower part of the flip bracket.

6. The deformable driving wheel set for a robot according to claim 4 or 5, characterized in that: The power module includes a power motor, which is fixedly mounted on the flip bracket. The output end of the power motor is connected to the wheel-propeller module to drive the wheel-propeller module forward or backward.

7. The deformable driving wheel set for a robot according to claim 1, characterized in that: The wheel-paddle module at least includes a wheel frame, a plurality of wheel bodies connected to the wheel frame and used to achieve rapid movement, and a deformation mechanism for transforming the configuration of the wheel bodies. Each wheel body is provided with a paddle body for achieving propulsion in water. The deformation mechanism is meshingly connected to the wheel body, and the deformation mechanism drives the wheel body to rotate to achieve wheel-claw configuration transformation.

8. The deformable driving wheel set for a robot according to claim 1, characterized in that: The skeleton is used to install the deformable driving wheel set on the robot body.

9. The deformable driving wheel set for a robot according to claim 1, characterized in that: The modal transmission module is a gear rack structure or a telescopic cylinder structure, and drives the power module and the wheel-propeller module to flip vertically through the modal flip module.

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