Deformation driving device for robot

Abstract

The utility model belongs to the technical field of robot equipment, and relates to a deformation driving device for a robot, which comprises a framework and a modal driving module, the output end of the modal driving module is connected with a swing switching mechanism, and two ends of the swing switching mechanism are respectively provided with a modal transmission module, a modal swing module, a power module and a wheel-paddle module. The end of the swing switching mechanism is connected with the modal swing module through the modal transmission module, the power module is fixedly installed on the modal swing module, and the output end of the power module is connected with the wheel-paddle module. Through mutual cooperation of the modal driving module, the swing switching mechanism and the modal swing module, posture transformation of 90-degree horizontal 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, water and air 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 deformation driving device 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 deformation driving device for a robot which can realize a 90-degree horizontal rapid flip of a gear train, 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 deformation drive device for a robot, including a skeleton and a modal drive module installed on the skeleton, the output end of the modal drive module is connected to a swing switching mechanism, and a set of modal transmission module, modal swing module, power module, and wheel-propeller module are respectively provided at both ends of the swing switching mechanism, the end of the swing switching mechanism is connected to the modal swing module through the modal transmission module, the power module is fixedly installed on the modal swing module, and the output end of the power module is connected to the wheel-propeller module, the power module drives the wheel-propeller module forward or backward, the modal drive module rotates, and the modal transmission module is pushed and pulled by the swing switching mechanism, thereby driving the modal swing module and the power module and wheel-propeller module fixedly connected to the modal swing module to swing horizontally.

[0016] In some embodiments of the present invention, the modal drive module includes a modal drive motor, which is fixedly mounted on the frame, and an output end of the modal drive motor is connected to the swing switching mechanism.

[0017] Furthermore, the modal drive module also includes a bracket and a drive connector. The modal drive motor is fixedly mounted on the frame through the bracket. The output end of the modal drive motor is connected to the swing switching mechanism through the drive connector. The drive connector includes but is not limited to a steering wheel, a flange or a coupling.

[0018] In some embodiments of the utility model, the swing switching mechanism includes two sets of symmetrically arranged switching frames installed on the frame, a power gear connected to the output end of the modal drive motor, and two sets of follower racks meshing with the power gear. The two sets of follower racks are symmetrically arranged with respect to the center of the power gear. The modal drive motor drives the power gear to rotate, and the power gear drives the two sets of follower racks to move linearly in opposite directions.

[0019] Furthermore, the swing switching mechanism also includes a plurality of pulleys for guiding the follower rack, the pulleys are fixedly connected to both sides of the follower rack, and the two sets of switching skeletons are provided with sliding grooves matching with the pulleys. The follower rack drives the pulley to move in the sliding groove, and the end of the follower rack is provided with a fixing device, which is hingedly connected to the modal transmission module. A fastening assembly is connected between the two sets of switching skeletons, and the end of the switching skeleton is provided with a reserved groove for facilitating the movement of the modal transmission module.

[0020] In some embodiments of the utility model, the modal swing module includes a swing base, a swing body and a hinge module. The swing base is fixedly installed on the end of the skeleton, the swing base is hingedly connected to one end of the swing body through the hinge module, one side of the swing body is fixedly connected to the power module, and the modal transmission module includes a bending connecting rod, one end of the bending connecting rod is hingedly connected to the end of the follower rack away from the power gear, and the other end of the bending connecting rod is hingedly connected to the end of the swing body away from the swing base. The follower rack moves linearly, driving the bending connecting rod to swing horizontally, and then driving the swing body to rotate around the hinge module, and further driving the power module and the wheel-propeller module to rotate with the swing body, thereby realizing the horizontal angle swing adjustment of the wheel-propeller module.

[0021] Furthermore, the swing body includes a fixed seat for fixedly connecting the power module, and a guide plate for cooperating with the swing base is fixedly connected to the fixed seat. The guide plate is hingedly connected to the swing base through a hinge module. A plurality of guide arms are arranged at one end of the guide plate, and the end of the guide arm is rotatably connected to a guide assembly. The swing base is provided with a guide groove for cooperating with the sliding of the guide assembly, and the guide assembly assists the swing body to achieve angular swing relative to the swing base.

[0022] Furthermore, the guide groove is distributed on one side or both sides of the swing base, and the guide groove is an arc-shaped groove; two groups of guide plates are arranged, which are respectively located on both sides of the upper and lower end surfaces of the swing base; a swing connector is arranged on the end of the guide plate away from the guide arm, and the swing connector is hingedly connected to the modal transmission module.

[0023] In some embodiments of the utility model, the power module includes a power motor, which is fixedly mounted on a fixing seat. The output end of the power motor is connected to the wheel-paddle module, and the power motor is used to drive the wheel-paddle module forward or backward.

[0024] 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.

[0025] 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.

[0026] The utility model has the following beneficial effects: the deformation drive device of the utility model realizes the posture transformation of the wheel-paddle module to quickly flip horizontally by 90 degrees through the mutual cooperation of the modal drive module, the swing switching mechanism and the modal swing module; 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 water, air and ground environments in wheel mode and claw mode, 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

[0027] Figure 1 The utility model is a schematic diagram of the overall three-dimensional structure of the deformation driving device for robots.

[0028] Figure 2 It is a bottom view of the deformation driving device for a robot of the utility model.

[0029] Figure 3 It is a front view of the deformation driving device for a robot of the utility model.

[0030] Figure 4 It is a top view of the deformation driving device for a robot of the utility model.

[0031] Figure 5 It is a left view of the deformation driving device for a robot of the utility model.

[0032] Figure 6 It is a schematic diagram of the overall three-dimensional structure of the deformation drive device for the robot of the utility model after the wheel-paddle module is horizontally rotated 90 degrees.

[0033] Figure 7 It is a top view of the deformation driving device for a robot of the utility model after the wheel-paddle module is horizontally rotated 90 degrees.

[0034] Figure 8 yes Figure 7 AA section view.

[0035] Fig. 9 It is a schematic diagram of the overall three-dimensional structure of the wheel mode after the deformation drive device of the utility model is applied to the robot.

[0036] Fig.10 It is a schematic diagram of the overall three-dimensional structure of the claw mode after the deformation drive device of the utility model is applied to the robot.

[0037] Fig.11 It is a schematic diagram of the overall three-dimensional structure of the utility model deformation drive device applied to the robot rear wheel mode after horizontal rotation of 90 degrees.

[0038] Fig.12It is a schematic diagram of the overall three-dimensional structure of the utility model after the deformation driving device is applied to the robot rear wheel mode and rotated horizontally by 45 degrees.

[0039] Fig.13 It is a schematic diagram of the overall three-dimensional structure of the deformation drive device of the utility model applied to the robot rear claw mode after horizontal rotation of 90 degrees.

[0040] In the figure, 1. deformation driving device;

[0041] 100, skeleton, 200, modal drive module, 300, modal transmission module, 400, modal swing module, 500, power module, 600, wheel-paddle module, 700, swing switching mechanism;

[0042] 210, modal drive motor, 220, bracket, 230, drive connector;

[0043] 310, bending connecting rod;

[0044] 410, swing base, 420, swing body, 430, guide assembly, 440, hinge module;

[0045] 411, guide slide, 421, fixed seat, 422, guide plate, 423, guide arm, 424, swing connector;

[0046] 510, power motor;

[0047] 610, wheel frame, 620, wheel body, 630, deformation mechanism, 640, paddle body;

[0048] 710, switching frame, 720, power gear, 730, follower rack, 740, pulley, 750, reserved groove;

[0049] 711, slideway, 712, fastening assembly;

[0050] 731. Fixing device. 732. Bearing. DETAILED DESCRIPTION

[0051] The utility model will now be further described in detail with reference to the accompanying drawings.

[0052] like Figure 1As shown, a deformation drive device for a robot includes a skeleton 100 and a modal drive module 200 installed on the skeleton 100, the output end of the modal drive module 200 is connected to a swing switching mechanism 700, and the two ends of the swing switching mechanism 700 are respectively provided with a set of modal transmission modules 300, a modal swing module 400, a power module 500, and a wheel-paddle module 600, and the end of the swing switching mechanism 700 is connected to the modal swing module 400 through the modal transmission module 300. The power module 500 is fixedly mounted on the modal swing module 400, and the output end of the power module 500 is connected to the wheel-propeller module 600. The power module 500 drives the wheel-propeller module 600 to move forward or backward, and the modal drive module 200 rotates, and the modal transmission module 300 is pushed and pulled by the swing switching mechanism 700 to swing back and forth, thereby driving the modal swing module 400 and the power module 500 and the wheel-propeller module 600 fixedly connected to the modal swing module 400 to swing horizontally.

[0053] In some embodiments of the present application, Figure 2 As shown, the modal driving module 200 includes a modal driving motor 210 . The modal driving motor 210 is fixedly mounted on the frame 100 , and an output end of the modal driving motor 210 is connected to the swing switching mechanism 700 .

[0054] Furthermore, if Figure 2 As shown, the modal drive module 220 also includes a bracket 220 and a drive connector 230. The modal drive motor 210 is fixedly mounted on the skeleton 100 via the bracket 220. The output end of the modal drive motor 210 is connected to the swing switching mechanism 700 via the drive connector 230. The drive connector 230 includes but is not limited to a steering wheel, a flange or a coupling.

[0055] In some embodiments of the present application, Figure 8 As shown, the swing switching mechanism 700 mainly realizes the symmetrical push-pull function of the modal transmission modules 300 at both ends. The swing switching mechanism 700 includes two sets of symmetrically arranged switching skeletons 710 installed on the skeleton 100, a power gear 720 connected to the output end of the modal drive motor 210, and two sets of follower racks 730 meshing with the power gear 720. The two sets of follower racks 730 are centrally symmetrically arranged with the center of the power gear 720. The modal drive motor 210 drives the power gear 720 to rotate, and the power gear 720 drives the two sets of follower racks 730 to move linearly in opposite directions.

[0056] Furthermore, the swing switching mechanism 700 also includes a plurality of pulleys 740 for guiding the follower rack 730. The pulleys 740 are fixedly connected to both sides of the follower rack 730. The two sets of switching skeletons 710 are provided with a slide groove 711 that matches the pulley 740. The follower rack 730 drives the pulley 740 to move in the slide groove 711. A fixing device 731 is provided at the end of the follower rack 730. The fixing device 731 is hingedly connected to the modal transmission module 300. A fastening assembly 712 is connected between the two sets of switching skeletons 710.

[0057] Further, preferably, in order to improve transmission smoothness, a bearing 732 may be provided between the fixing device 731 and the modal transmission module 300 .

[0058] Furthermore, in order to ensure the motion space of the modal transmission module 300, as Figure 6 As shown, a reserved groove 750 is provided at the end of the switching frame 710 to facilitate the movement of the modal transmission module 300 .

[0059] Furthermore, the swing switching mechanism 700 may be a turbine-worm gear structure in addition to the gear-rack transmission form.

[0060] In some embodiments of the present application, Figure 2-4 , Figure 7 As shown, the modal swing module 400 includes a swing base 410, a swing body 420 and a hinge module 440. The swing base 410 is fixedly installed at the end of the frame 100. The swing base 410 is hingedly connected to one end of the swing body 420 through the hinge module 440. One side of the swing body 420 is fixedly connected to the power module 500. The modal transmission module 300 includes a curved bending connecting rod 310. One end of the bending connecting rod 310 is connected to the follower rack 730. One end away from the power gear 720 is hingedly connected, and the other end of the bending link 310 is hingedly connected to the end of the swing body 420 away from the swing base 410. The follower rack 730 moves linearly, driving the bending link 310 to swing horizontally, and then driving the swing body 420 to rotate around the hinge module 440, and further driving the power module 500 and the wheel-paddle module 600 to rotate with the swing body 420, thereby realizing the horizontal angle swing adjustment of the wheel-paddle module 600.

[0061] Furthermore, the swing body 420 includes a fixed seat 421 for fixedly connecting the power module 500, and a guide plate 422 for cooperating with the swing base 410 is fixedly connected to the fixed seat 421. The guide plate 422 is hingedly connected to the swing base 410 through a hinge module 440. A plurality of guide arms 423 are arranged at one end of the guide plate 422, and the end of the guide arm 423 is rotatably connected to a guide assembly 430. A guide groove 411 for cooperating with the sliding of the guide assembly 430 is provided on the swing base 410, and the guide assembly 430 assists the swing body 420 to achieve angular swing relative to the swing base 410.

[0062] Furthermore, the guide slots 411 are distributed on one side or both sides of the swing base 410, and the guide slots 411 may be arc slots or guide rails. On one hand, the guide slots 411 are used to cooperate with the guide assembly 430 to improve the swing stability and accuracy, and on the other hand, the guide slots 411 cooperate with the guide assembly 430 to increase the support points and improve the load capacity.

[0063] Furthermore, two groups of guide plates 422 can be provided, which are respectively located on both sides of the upper and lower end surfaces of the swing base 410 to improve the stability of the swing body 420 swinging relative to the swing base 410.

[0064] Furthermore, a swing connector 424 is provided on one end of the guide plate 422 away from the guide arm 423 , and the swing connector 424 is hingedly connected to the modal transmission module 300 .

[0065] Furthermore, the guide assembly 430 may be selected from bearings, rollers, or components having the same function.

[0066] Furthermore, the articulated module 440 may be an axis structure or a hinge structure, and bearings are provided at the articulated module 440 and at the relative rotation positions with the swing base 410 and the swing body 420 to reduce rotation resistance and improve swing smoothness.

[0067] In some embodiments of the present application, Figure 3 As shown, the power module 500 includes a power motor 510, which is fixedly mounted on the fixing seat 421. The output end of the power motor 510 is connected to the wheel-paddle module 600, and the power motor 510 is used to drive the wheel-paddle module 600 forward or backward.

[0068] In some embodiments of the present application, Figure 5As 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.

[0069] 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 .

[0070] Furthermore, the modal drive motor 210, the power motor 510, and the deformation mechanism 630 are all waterproof and sealed to adapt to the movement and operation of the deformation drive device underwater.

[0071] 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.

[0072] 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.

[0073] In some embodiments of the present invention, the skeleton 100 is used to install the deformation drive device 1 on the robot body. The deformation drive device 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 deformation drive device 1 installed alone on the rear of the robot body as an example to illustrate the posture transformation and configuration transformation of the wheel-paddle module 600.

[0074] The working principle of the deformation driving device of the utility model is as follows:

[0075] (1) The deformation driving device 1 moves at high speed in a wheel mode:

[0076] 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;

[0077] 2) The modal drive motor 210 rotates, driving the power gear 720 to rotate, and the two sets of follower racks 730 move toward each other, and then the swing body 420 is pulled to rotate in the direction of the modal drive motor 210 through the bent connecting rod 310, thereby driving the power module 500 and the wheel-paddle module 600 connected to the swing body 420 to rotate to the two ends of the skeleton 100;

[0078] 3) At this time, the deformation drive device 1 is installed at the rear of the robot body, and two sets of wheel-paddle modules 600 in wheel mode are placed on both sides of the rear of the robot body. The power module 500 works to drive the wheel-paddle modules 600 to rotate at high speed. Fig. 9 As shown, the deformation driving device 1 cooperates with the wheel set at the front of the robot body to realize the forward or backward movement of the robot, so that the robot can move at high speed on a flat ground.

[0079] (2) Steps of deformation driving device 1 moving in claw mode:

[0080] 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;

[0081] 2) The modal drive motor 210 rotates, driving the power gear 720 to rotate, and the two sets of follower racks 730 move toward each other, and then the swing body 420 is pulled to rotate in the direction of the modal drive motor 210 through the bent connecting rod 310, thereby driving the power module 500 and the wheel-paddle module 600 connected to the swing body 420 to rotate to the two ends of the skeleton 100;

[0082] 3) At this time, the deformation drive device 1 is installed at the rear of the robot body, and two sets of wheel-paddle modules 600 in claw mode are placed on both sides of the rear of the robot body. The power module 500 works to drive the wheel-paddle modules 600 to rotate. Fig.10 As shown, the deformation drive device 1 cooperates with the wheel set at the front of the robot body to realize the forward or backward movement of the robot, so that the robot can quickly overcome obstacles on muddy and uneven roads or tidal flats in claw mode.

[0083] (3) The deformation driving device 1 drives the robot to move in water in a wheel mode:

[0084] 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;

[0085] 2) The modal drive motor 210 rotates, driving the power gear 720 to rotate, and the two sets of follower racks 730 move away from each other, and then the swing body 420 is pulled by the bending connecting rod 310 to rotate in a direction away from the modal drive motor 210, thereby driving the power module 500 and the wheel-paddle module 600 connected to the swing body 420 to rotate to the rear side of the skeleton 100. At this time, the two sets of wheel-paddle modules 600 in the wheel mode are both located at the rear side of the skeleton 100;

[0086] 3) At this time, the deformation driving device 1 is installed at the rear of the robot body, such as Fig.11 As shown, the two sets of wheel-paddle modules 600 in wheel mode are swung to the rear side of the robot body, and the power module 500 works to drive the wheel-paddle module 600 to rotate, driving the robot forward or backward in the water. In addition, by adjusting the swing angle of the wheel-paddle module 600, as shown in FIG. Fig.12 As shown, the robot's movement angle and speed in water can be adjusted.

[0087] (4) The deformation driving device 1 drives the robot to move in water in the claw mode:

[0088] 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;

[0089] 2) The modal drive motor 210 rotates, driving the power gear 720 to rotate, and the two sets of follower racks 730 move away from each other, and then the swing body 420 is pulled by the bending connecting rod 310 to rotate in a direction away from the modal drive motor 210, thereby driving the power module 500 and the wheel-paddle module 600 connected to the swing body 420 to rotate to the rear side of the skeleton 100. At this time, the two sets of wheel-paddle modules 600 in the wheel mode are both located at the rear side of the skeleton 100;

[0090] 3) At this time, the deformation driving device 1 is installed at the rear of the robot body, such as Fig.13 As shown, the two sets of wheel-paddle modules 600 in claw mode are swung to the rear side of the robot body, and the power module 500 works to drive the wheel-paddle module 600 to rotate, so as to drive the robot forward or backward in the water with a stronger driving force. In addition, by adjusting the swing angle of the wheel-paddle module 600, as shown in FIG. Fig.12 As shown, the robot's movement angle and speed in water can be adjusted.

[0091] 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.

[0092] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

Claims

1. A deformation driving device for a robot, characterized in that: It includes a skeleton and a modal drive module installed on the skeleton, the output end of the modal drive module is connected to a swing switching mechanism, and two ends of the swing switching mechanism are respectively provided with a set of modal transmission module, modal swing module, power module, and wheel-propeller module, the end of the swing switching mechanism is connected to the modal swing module through the modal transmission module, the power module is fixedly installed on the modal swing module, and the output end of the power module is connected to the wheel-propeller module, the power module drives the wheel-propeller module forward or backward, the modal drive module rotates, and the modal transmission module is pushed and pulled by the swing switching mechanism, thereby driving the modal swing module and the power module and wheel-propeller module fixedly connected to the modal swing module to swing horizontally.

2. The deformation driving device for a robot according to claim 1, characterized in that: The modal drive module comprises a modal drive motor, which is fixedly mounted on the frame, and an output end of the modal drive motor is connected to the swing switching mechanism.

3. The deformation driving device for a robot according to claim 2, characterized in that: The modal drive module also includes a bracket and a drive connector. The modal drive motor is fixedly mounted on the frame through the bracket. The output end of the modal drive motor is connected to the swing switching mechanism through the drive connector. The drive connector includes but is not limited to a steering wheel, a flange or a coupling.

4. The deformation driving device for a robot according to claim 2, characterized in that: The swing switching mechanism includes two sets of switching frames symmetrically installed on the frame, a power gear connected to the output end of the modal drive motor, and two sets of follower racks meshing with the power gear. The two sets of follower racks are centrally symmetrically arranged with the center of the power gear. The modal drive motor drives the power gear to rotate, and the power gear drives the two sets of follower racks to move linearly in opposite directions.

5. The deformation driving device for a robot according to claim 4, characterized in that: The swing switching mechanism also includes a plurality of pulleys for guiding the follower racks. The pulleys are fixedly connected to both sides of the follower racks. Slide grooves matching the pulleys are provided on the two sets of switching skeletons. The follower rack drives the pulleys to move in the slide grooves. A fixing device is provided at the end of the follower rack. The fixing device is hingedly connected to the modal transmission module. A fastening assembly is connected between the two sets of switching skeletons. A reserved groove is provided at the end of the switching skeleton to facilitate the movement of the modal transmission module.

6. The deformation driving device for a robot according to claim 1, characterized in that: The modal swing module includes a swing base, a swing body and a hinge module. The swing base is fixedly installed on the end of the skeleton. The swing base is hingedly connected to one end of the swing body through the hinge module. One side of the swing body is fixedly connected to the power module. The modal transmission module includes a bending connecting rod. One end of the bending connecting rod is hingedly connected to an end of a follower rack away from the power gear, and the other end of the bending connecting rod is hingedly connected to an end of the swing body away from the swing base. The follower rack moves linearly, driving the bending connecting rod to swing horizontally, thereby driving the swing body to rotate around the hinge module, and further driving the power module and the wheel-propeller module to rotate with the swing body, thereby realizing the horizontal angle swing adjustment of the wheel-propeller module.

7. The deformation driving device for a robot according to claim 6, characterized in that: The swing body includes a fixed seat for fixedly connecting a power module, a guide plate for cooperating with a swing base is fixedly connected to the fixed seat, the guide plate is hingedly connected to the swing base through a hinge module, a plurality of guide arms are arranged at one end of the guide plate, the end of the guide arm is rotatably connected with a guide assembly, a guide groove for cooperating with the sliding of the guide assembly is provided on the swing base, and the guide assembly assists the swing body to achieve angular swing relative to the swing base.

8. The deformation driving device for a robot according to claim 7, characterized in that: The guide slots are distributed on one side or both sides of the swing base, and the guide slots are arc-shaped slots; two groups of guide plates are arranged, which are respectively located on both sides of the upper and lower end surfaces of the swing base; a swing connector is arranged on one end of the guide plate away from the guide arm, and the swing connector is hingedly connected to the modal transmission module.

9. The deformation driving device for a robot according to claim 7, characterized in that: The power module includes a power motor, which is fixedly mounted on a fixed seat. The output end of the power motor is connected to the wheel-propeller module, and the power motor is used to drive the wheel-propeller module forward or backward.

10. The deformation driving device 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.

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