Polymorphic mobile robot

Abstract

The utility model discloses a polymorphic mobile robot, which relates to the technical field of robots, and comprises a mobile chassis and a machine body shell fixed with the mobile chassis, the four end corners of the mobile chassis are all rotatably connected with wheels, and one side of the upper surface of the machine body shell is detachably fixed with a display screen through a connecting assembly. According to the multi-form mobile robot, the mobile bottom plate and the robot body shell are of an integrated structure and used for supporting the functional assembly and the display screen, the device is conveniently driven to move through the wheels, information is conveniently observed through the display screen, and the needed task is conveniently achieved through the functional assembly; a worker selects a proper functional assembly according to needs, and the proper functional assembly is detachably and fixedly connected with the machine body shell, so that the utilization rate of the device is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and specifically relates to a multi-form mobile robot. Background Art

[0002] A robot is a comprehensive product that integrates automatic control, microelectronics, information technology, and mechanical structures, involving multiple disciplines. In recent years, with the continuous upgrading of the intelligent industries in modern industry and service industries, the intelligent control, sensor fusion, information processing, and collaborative operation based on mobile robots have developed rapidly and are gradually becoming the hotspots and difficulties in high-end intelligent research.

[0003] Robot education stimulates students' learning interests and cultivates their comprehensive abilities by assembling, building, and operating toy robots. Robot education enables students to understand the development and application status of robots, understand the concepts and working methods of robots, and lay a foundation for further learning relevant knowledge of robot technology; enables students to understand the functions of various sensors of robots, learn to write simple robot control programs, and improve their ability to analyze and solve problems; through toy robot competitions and completing various tasks, students can cultivate their practical abilities, collaborative abilities, and creative abilities during the process of building robots and programming.

[0004] Currently, among science and education robots, most robots integrate many advanced technologies such as mechanical principles, electronic sensors, computer software and hardware, and artificial intelligence. However, toy robots for low-school-age students need to simplify these advanced technologies, enabling students to come into contact with relevant technologies while also being interesting enough to stimulate students' learning interests.

[0005] The most common robot teaching aid among existing ones is the mobile vehicle teaching aid. The mobile vehicle teaching aid consists of an integrated structure such as a vehicle bottom plate, a vehicle top plate, a motor, and rollers. At the same time, auxiliary mechanical modules are fixed on the mobile vehicle teaching aid, and mechanical actions are realized while the mobile vehicle has the function of moving.

[0006] However, in existing robots, there is a problem that the mobile vehicle teaching aid and the mechanical modules are fixedly connected and difficult to disassemble, and each mechanical module is fixedly combined with the mobile vehicle teaching aid, which cannot meet the requirements of actual applications. Content of the Utility Model

[0007] (1) Technical Problems to be Solved

[0008] In view of the deficiencies of the prior art, the utility model provides a multi-form mobile robot, which solves the problems that in traditional robots, the mobile vehicle teaching aid and the mechanical modules are fixedly connected and difficult to disassemble, and each mechanical module is fixedly combined with the mobile vehicle teaching aid, which cannot meet the requirements of actual applications.

[0009] (2) Technical solution

[0010] To achieve the above object, the utility model provides the following technical solution: A multi-form mobile robot, including a mobile chassis and a fuselage shell fixed to the mobile chassis. Wheels are rotatably connected to four end corners of the mobile chassis. On one side of the upper surface of the fuselage shell, a display screen is detachably fixed through a connection component, and on the other side, a functional component for completing tasks is provided.

[0011] Through the above technical solution, the mobile bottom plate and the fuselage shell are an integrated structure, which is used to support the functional component and the display screen. The device is conveniently driven to move through the wheels, information is conveniently observed through the display screen, and the required tasks can be facilitated through the functional component. The staff can select a suitable functional component according to needs and detachably fixedly connect the suitable functional component to the fuselage shell to improve the utilization rate of the device.

[0012] Preferably, the connection component includes an ear seat fixedly connected to one side of the upper surface of the fuselage shell. A support plate is arranged above the ear seat. The display screen is fixed to the support plate. Ear plates are integrated on both sides of the support plate. The ear plates are in contact with and rotatably connected to the adjacent ear seats.

[0013] Through the above technical solution, the display screen is supported by the cooperation of the ear seat, the ear plate and the support plate, and the rotation angle of the display screen can be adjusted through the cooperation of the ear plate and the ear seat.

[0014] Preferably, a slider is fixed to one side of the ear seat facing the adjacent ear plate. An arc-shaped chute adapted to the slider is opened on the ear plate. One end of the slider away from the ear plate penetrates through the ear plate through the arc-shaped chute. A dead stop is fixed to the end of the slider passing through the ear plate through the arc-shaped chute.

[0015] Through the above technical solution, through the cooperation of the slider and the arc-shaped chute, a guiding and limiting effect is exerted on the rotation of the display screen, and the stability of the rotation of the display screen is improved.

[0016] Preferably, the functional component is composed of a mounting component detachably fixedly connected to the fuselage shell, a gripping component for realizing the gripping function, and a moving component for adjusting the position of the gripping component. The mounting component includes a bracket arranged above the other side of the upper surface of the fuselage shell. The inner cavity of the bracket is hollow. The bracket is fixedly connected to the fuselage shell through a plurality of uniformly arranged bolts. A circular hole communicating with the inner cavity of the bracket is opened at the middle position of the upper surface of the bracket.

[0017] Through the above technical solution, it is convenient for the functional component to be detachably fixedly connected to the fuselage shell through the mounting component. The required items are gripped and sorted through the gripping component. The height and position of the gripping component are adjusted through the moving component to facilitate accurate and high-precision gripping and sorting of items.

[0018] Preferably, the motion assembly includes a first support seat disposed on the upper surface of the bracket and rotatably connected to the bracket. A second servo motor for driving the first support seat to rotate is fixed on the bracket. Swing rods rotatably connected to the first support seat are disposed on both sides of the first support seat. A third servo motor for driving one of the swing rods to rotate is fixed on the first support seat. Second support seats are rotatably connected to the ends of the two swing rods away from the first support seat. A fourth servo motor for driving the second support seat to rotate is fixed on one of the swing rods. A third support seat is rotatably connected to the end of the second support seat away from the swing rod. A fifth servo motor for driving the third support seat to rotate is fixed on the second support seat. A circular plate is rotatably connected to the side of the third support seat facing away from the second support seat. A sixth servo motor for driving the circular plate to rotate is fixed on the third support seat.

[0019] Through the above technical solution, power is provided by the second servo motor to drive the rotation of the first support seat. Power is provided by the third servo motor to drive the rotation of the swing rod. Power is provided by the fourth servo motor to drive the rotation of the second support seat. Power is provided by the fifth servo motor to drive the rotation of the third support seat. Power is provided by the sixth servo motor to drive the rotation of the circular plate and the gripping assembly fixed on the circular plate, so as to accurately adjust the position and height of the gripping assembly and achieve accurate gripping.

[0020] Preferably, the gripping assembly includes a connecting plate fixed to the circular plate. Two oppositely arranged gears are rotatably connected to the connecting plate. The two gears mesh with each other. A connecting rod is integrally formed on each gear. The end of the connecting rod away from the gear is rotatably connected to a clamping rod in contact with the article. Two oppositely arranged limiting rods are also hinged to the connecting plate. The end of the limiting rod away from the connecting plate is rotatably connected to the adjacent clamping rod. A seventh servo motor for driving one of the gears to rotate is fixed on the connecting plate.

[0021] Through the above technical solution, power is provided by the seventh servo motor to drive the rotation of the gear coaxially fixed to the output shaft of the seventh servo motor. The two gears mesh with each other, and power is transmitted through the two gears. The rotation of the two gears will drive the rotation of the swing rod integrally structured with the gears. Power is transmitted through the cooperation of the swing rod and the clamping rod. The connecting rod plays a role in limiting the rotation of the clamping rod. The two clamping rods approach each other to achieve the gripping function.

[0022] Preferably, the functional component includes a support placed on the other side of the upper surface of the fuselage shell, a support plate is arranged above the support, a depth camera is fixed on the side of the support plate facing away from the ear seat, two relatively arranged extension plates are fixed on the side of the support plate facing the support, the extension plates extend into the support and are rotatably connected to the support, an arc guide groove is opened on the support, the center position of the arc guide groove coincides with the rotation connection between the extension plate and the support, a short shaft is fixed on the extension plate, the short shaft passes through the support through the arc guide groove, and an anti-slip block is fixed to the part of the short shaft passing through the support.

[0023] Through the above technical solution, the support plate and the extension plate are supported by the support, the depth camera is supported by the support plate and the extension plate, and the rotation of the depth camera is limited and guided by the cooperation of the short axis and the arc guide groove.

[0024] (III) Beneficial effects

[0025] The utility model provides a multi-modal mobile robot. It has the following beneficial effects:

[0026] (1) The multi-modal mobile robot has an integrated structure of a mobile base plate and a body shell, which are used to support functional components and a display screen. The wheels facilitate movement of the device, the display screen facilitates observation of information, and the functional components facilitate the realization of required tasks. The staff can select appropriate functional components according to their needs and detachably fix the appropriate functional components to the body shell to improve the utilization rate of the device.

[0027] (2) The multi-modal mobile robot can perform image recognition, depth ranging, visual line patrol, lane line detection and other recognition tasks through depth camera observation. After the recognition is completed, the depth camera can be removed, the bracket can be fixed to the body shell, and the gripping component can be used to realize object tracking and grasping, logistics distribution, etc. according to the data collected by the depth camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0029] Figure 2 This is a schematic diagram of the overall side view structure of the utility model;

[0030] Figure 3 This is a schematic diagram of the overall top view structure of the utility model;

[0031] Figure 4 For this utility model Figure 3 The enlarged structural diagram at A in the middle;

[0032] Figure 5 This is a schematic diagram of the structure of the external antenna used in the utility model;

[0033] Figure 6 This is a schematic structural diagram of the present utility model for embodying the short shaft.

[0034] In the figure: 1, moving chassis; 2, wheels; 3, fuselage shell; 4, display screen; 5, ear seat; 6, support plate; 7, ear plate; 8, slider; 9, arc-shaped chute; 10, bracket; 11, second servo; 12, first support seat; 13, third servo; 14, swing rod; 15, second support seat; 16, fifth servo; 17, third support seat; 18, sixth servo; 19, circular plate; 20, connecting plate; 21, gear; 22, connecting rod; 23, clamping rod; 24, limiting rod; 25, seventh servo; 26, lidar; 27, RGB camera; 28, external antenna; 29, support; 30, support plate; 31, depth camera; 32, extension plate; 33, arc-shaped guide groove; 34, short shaft. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0036] Embodiment 1: Please refer to Figures 1-4 , in the embodiment of the present utility model, a multi-form mobile robot includes a moving chassis 1. Wheels 2 are rotatably connected to the four end corners of the moving chassis 1. A first servo for driving the rotation of the wheels 2 to drive the device to move is fixed on the moving chassis 1. By providing power through the first servo, the wheels 2 coaxially fixed to the output shaft of the first servo are driven to rotate, thereby driving the moving chassis 1 to move to a suitable position.

[0037] As Figure 1 and Figure 2 and Figure 3 , the upper end of the moving chassis 1 is detachably fixed with a fuselage shell 3 through a plurality of uniformly arranged bolts. One side of the upper surface of the fuselage shell 3 is detachably fixed with a display screen 4 through a connection component, and a function component for completing tasks is provided on the other side. The moving bottom plate and the fuselage shell 3 are detachably fixed, which is convenient for disassembling and assembling the fuselage shell 3 and the moving chassis 1, reducing costs. The function component and the display screen 4 are supported by the fuselage shell 3, the collected information is observed through the display screen 4, and different functions required by the device are realized through the function component.

[0038] As Figure 2 and Figure 3 and Figure 4, the connecting component includes an ear seat 5 fixed to one side of the upper surface of the fuselage shell 3 by screws. A support plate 6 is arranged above the ear seat 5, and the display screen 4 is fixed to the support plate 6. Ear plates 7 are integrated on both sides of the support plate 6. The ear plates 7 abut against the adjacent ear seats 5 and are rotatably connected to the adjacent ear seats 5.

[0039] As Figure 2 and Figure 3 and Figure 4 , a slider 8 is fixed to one side of the ear seat 5 facing the adjacent ear plate 7. An arc-shaped chute 9 adapted to the slider 8 is formed on the ear plate 7. One end of the slider 8 away from the ear plate 7 penetrates through the ear plate 7 through the arc-shaped chute 9. A dead stop with a diameter larger than the width of the arc-shaped chute 9 is fixed to the end of the slider 8 passing through the ear plate 7 through the arc-shaped chute 9. The center position of the arc-shaped chute 9 coincides with the rotation connection point of the ear seat 5 and the ear plate 7.

[0040] As Figure 2 and Figure 3 and Figure 4 , when the display screen 4 rotates, it will drive the support plate 6 fixed to the display screen 4 to rotate around the rotation connection point of the ear plate 7 and the ear seat 5. Through the cooperation of the slider 8 and the arc-shaped chute 9, it plays a role in supporting and guiding the rotation of the integrated ear plate 7, support plate 6 and display screen 4.

[0041] As Figure 2 and Figure 3 and Figure 4 , a first cylindrical groove is formed on the ear plate 7. A number of second cylindrical grooves which are uniformly arranged and adapted to the first cylindrical groove are formed on both sides of the ear seat 5. The number of second cylindrical grooves is arranged in an array with the rotation connection point of the ear plate 7 and the ear seat 5 as the center. The ear plate 7 and the ear seat 5 are fixedly connected by bolts passing through the first cylindrical groove and the second cylindrical groove. When the display screen 4 rotates to a suitable position, the ear plate 7 and the ear seat 5 are fixedly connected by bolts passing through the first cylindrical groove and the appropriate second cylindrical groove, reducing the possibility of the display screen 4 shaking during use.

[0042] As Figure 2 and Figure 3 and Figure 4 , the functional component is composed of a mounting component detachably and fixedly connected to the fuselage shell 3, a grasping component for realizing the grasping function, and a motion component for adjusting the position of the grasping component.

[0043] As Figure 2 and Figure 3 and Figure 4 , the mounting component includes a bracket 10 arranged above the other side of the upper surface of the fuselage shell 3. The inner cavity of the bracket 10 is hollow. The bracket 10 is fixedly connected to the fuselage shell 3 by a number of uniformly arranged bolts. A circular hole communicating with the inner cavity of the bracket 10 is formed at the middle position of the upper surface of the bracket 10.

[0044] AsFigure 2 and Figure 3 and Figure 4 As shown in Figure 4 , the motion component includes a second servo motor 11 fixed in the inner cavity of the bracket 10. The output shaft of the second servo motor 11 passes through the bracket 10 through a circular hole and is rotatably connected to the bracket 10. A first support seat 12 is rotatably connected to the upper surface of the bracket 10. The part of the output shaft of the second servo motor 11 passing through the bracket 10 is fixedly connected to the middle position of the first support seat 12. The second servo motor 11 is supported by the bracket 10, and power is provided by the second servo motor 11 to drive the first support seat 12 to rotate.

[0045] Such as Figure 2 and Figure 3 and Figure 4 As shown in Figure 4 , a third servo motor 13 is fixed in the first support seat 12. The output shaft end of the third servo motor 13 passes through the first support seat 12 and is rotatably connected to the first support seat 12. Swing rods 14 are arranged on both sides of the first support seat 12. One of the swing rods 14 is rotatably connected to the first support seat 12, and the other swing rod 14 is fixedly connected to the part of the output shaft of the third servo motor 13 passing through the first support seat 12. Power is provided by the third servo motor 13 to drive the swing rod 14 fixed to the output shaft of the third servo motor 13 to rotate.

[0046] Such as Figure 2 and Figure 3 and Figure 4 As shown in Figure 4 , second support seats 15 are arranged at the ends of the two swing rods 14 away from the first support seat 12. A fourth servo motor is fixed on one of the swing rods 14. The output shaft end of the fourth servo motor passes through the swing rod 14 and is rotatably connected to the swing rod 14. The part of the output shaft of the fourth servo motor passing through the swing rod 14 is fixed to the second support seat 15, and the other swing rod 14 is rotatably connected to the second support seat 15. The second support seat 15 is supported by the two swing rods 14, and power is provided by the fourth servo motor to drive the second support seat 15 fixed to the output shaft of the fourth servo motor to rotate.

[0047] Such as Figure 2 and Figure 3 and Figure 4 As shown in Figure 4 , a fifth servo motor 16 is fixed at the end of the second support seat 15 away from the swing rod 14. The output shaft end of the fifth servo motor 16 passes through the second support seat 15 and is rotatably connected to the second support seat 15. A third support seat 17 is arranged at the end of the second support seat 15 away from the swing rod 14. One end of the third support seat 17 is rotatably connected to the second support seat 15, and the other end is fixed to the end of the output shaft of the fifth servo motor 16 passing through the second support seat 15. The third support seat 17 is supported by the second support seat 15, and power is provided by the fifth servo motor 16 to drive the third support seat 17 to rotate.

[0048] Such as Figure 2 and Figure 3 and Figure 4, on the side of the third support base 17 away from the second support base 15, a sixth servo 18 is fixed. The output shaft of the sixth servo 18 passes through the third support base 17 and is rotatably connected to the third support base 17. A circular plate 19 is coaxially fixed to the part of the output shaft of the sixth servo 18 that passes through the third support base 17.

[0049] As Figure 2 and Figure 3 and Figure 4 , power is provided by the second servo 11 to drive the first support base 12 to rotate, power is provided by the third servo 13 to drive the swing rod 14 to rotate, power is provided by the fourth servo to drive the second support base 15 to rotate, power is provided by the fifth servo 16 to drive the third support base 17 to rotate, and power is provided by the sixth servo 18 to drive the circular plate 19 and the gripping assembly fixed on the circular plate 19 to rotate, so as to accurately adjust the position and height of the gripping assembly and achieve accurate gripping.

[0050] As Figure 2 and Figure 3 and Figure 4 , the gripping assembly includes a connecting plate 20 fixed to the circular plate 19. Two relatively arranged gears 21 are rotatably connected to the connecting plate 20. The two gears 21 mesh with each other. A connecting rod 22 is integrated on each gear 21. The end of the connecting rod 22 away from the gear 21 is rotatably connected to a clamping rod 23 in contact with the article. Two relatively arranged limiting rods 24 are also hinged to the connecting plate 20. The end of the limiting rod 24 away from the connecting plate 20 is rotatably connected to the adjacent clamping rod 23. A seventh servo 25 for driving one of the gears 21 to rotate is fixed to the connecting plate 20.

[0051] As Figure 2 and Figure 3 and Figure 4 , power is provided by the seventh servo 25 to drive the gear 21 coaxially fixed to the output shaft of the seventh servo 25 to rotate. The two gears 21 mesh with each other. Power is transmitted through the two gears 21. The rotation of the two gears 21 will drive the swing rod 14 with an integrated structure with the gear 21 to rotate. Power is transmitted through the cooperation of the swing rod 14 and the clamping rod 23. The connecting rod 22 plays a role in limiting the rotation of the clamping rod 23. The two clamping rods 23 approach each other to achieve the gripping function.

[0052] As Figure 2 and Figure 3 and Figure 4A laser radar 26 is fixed to the body shell 3 by bolts, two antenna holes are provided on the body shell 3, an external antenna 28 is installed in the antenna hole, an RGB camera 27 is fixed on the third support seat 17, a circuit board located between the mobile base plate and the body shell 3 is fixed on the mobile base plate, a main control module for processing and analyzing data and controlling each module, a voice broadcast module and a wireless communication module for connecting each module are provided on the circuit board, and the display screen 4, the laser radar 26, the RGB camera 27 and the voice broadcast module are all connected to the main control module through the wireless communication module.

[0053] Example 2, please refer to Figures 5-6 The functional component includes a support 29 placed on the other side of the upper surface of the fuselage shell 3, a support plate 30 is arranged above the support 29, a depth camera 31 is fixed on the side of the support plate 30 away from the ear seat 5, and two relatively arranged extension plates 32 are fixed on the side of the support plate 30 facing the support 29. The extension plate 32 extends into the support 29 and is rotatably connected to the support 29. An arc guide groove 33 is opened on the support 29, and the center position of the arc guide groove 33 coincides with the rotation connection between the extension plate 32 and the support 29. A short shaft 34 is fixed on the extension plate 32, and the short shaft 34 passes through the support 29 through the arc guide groove 33. The part of the short shaft 34 that passes through the support 29 is fixed with an anti-slip block.

[0054] like Figure 5 and Figure 6 The extension plate 32 is provided with a third cylindrical hole, and the support 29 is provided with a plurality of fourth cylindrical holes adapted to the third cylindrical hole. The plurality of fourth cylindrical holes are arranged in an array with the rotation connection point of the ear seat 5 and the extension plate 32 as the center. The support 29 and the extension plate 32 are fixedly connected by bolts penetrating the third cylindrical hole and the adjacent fourth cylindrical hole.

[0055] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0057] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-modal mobile robot, characterized in that: The invention comprises a mobile chassis (1) and a body shell (3) fixed to the mobile chassis (1), wherein wheels (2) are rotatably connected to the four end corners of the mobile chassis (1), a display screen (4) is detachably fixed to one side of the upper surface of the body shell (3) via a connecting component, and a functional component for completing a task is provided on the other side.

2. The polymorphic mobile robot according to claim 1, wherein: The connection assembly comprises an ear seat (5) fixedly connected to one side of the upper surface of the body shell (3); a support plate (6) is arranged above the ear seat (5); the display screen (4) is fixed to the support plate (6); ear plates (7) are integrated on both sides of the support plate (6); the ear plates (7) are in contact with adjacent ear seats (5) and are rotatably connected to the adjacent ear seats (5).

3. A polymorphic mobile robot according to claim 2, characterized in that: A slider (8) is fixed on the side of the ear seat (5) facing the adjacent ear plate (7); an arc-shaped slide groove (9) adapted to the slider (8) is provided on the ear plate (7); an end of the slider (8) away from the ear plate (7) passes through the ear plate (7) through the arc-shaped slide groove (9); and a dead stop is fixed on the end of the slider (8) passing through the ear plate (7) through the arc-shaped slide groove (9).

4. A polymorphic mobile robot according to claim 1, characterized in that: The functional component is composed of a mounting component that is detachably fixedly connected to the fuselage shell (3), a gripping component that realizes a gripping function, and a motion component that adjusts the position of the gripping component. The mounting component includes a bracket (10) arranged above the other side of the upper surface of the fuselage shell (3), the inner cavity of the bracket (10) is hollow, the bracket (10) is fixedly connected to the fuselage shell (3) by a plurality of evenly arranged bolts, and a circular hole that communicates with the inner cavity of the bracket (10) is provided in the middle of the upper surface of the bracket (10).

5. The polymorphic mobile robot according to claim 4, characterized in that: The motion assembly comprises a first support seat (12) arranged on the upper surface of the support (10) and rotatably connected to the support (10); a second steering engine (11) is fixed on the support (10) for driving the first support seat (12) to rotate; swing rods (14) are arranged on both sides of the first support seat (12) and are rotatably connected to the first support seat (12); a third steering engine (13) is fixed on the first support seat (12) for driving one of the swing rods (14) to rotate; and one end of the two swing rods (14) away from the first support seat (12) is rotatably connected to the second support seat (11). A support seat (15), wherein a fourth steering gear for driving the second support seat (15) to rotate is fixed on one of the swing rods (14); an end of the second support seat (15) away from the swing rod (14) is rotatably connected to a third support seat (17); a fifth steering gear (16) for driving the third support seat (17) to rotate is fixed on the second support seat (15); a circular plate (19) is rotatably connected to the side of the third support seat (17) away from the second support seat (15); and a sixth steering gear (18) for driving the circular plate (19) to rotate is fixed on the third support seat (17).

6. The polymorphic mobile robot according to claim 5, characterized in that: The gripping assembly includes a connecting plate (20) fixed to the circular plate (19). Two relatively arranged gears (21) are rotatably connected to the connecting plate (20). The two gears (21) mesh with each other. A connecting rod (22) is integrated on each gear (21). The end of the connecting rod (22) away from the gear (21) is rotatably connected to a clamping rod (23) in contact with the article. Two relatively arranged limiting rods (24) are also hinged to the connecting plate (20). The end of the limiting rod (24) away from the connecting plate (20) is rotatably connected to the adjacent clamping rod (23). A seventh servo (25) for driving one of the gears (21) to rotate is fixed to the connecting plate (20).

7. A polymorphic mobile robot according to claim 1, characterized in that: The functional assembly includes a support (29) placed on the other side of the upper surface of the fuselage shell (3). A tray (30) is arranged above the support (29). A depth camera (31) is fixed to the side of the tray (30) facing away from the ear seat (5). Two relatively arranged extension plates (32) are fixed to the side of the tray (30) facing the support (29). The extension plates (32) extend into the support (29) and are rotatably connected to the support (29). An arc-shaped guiding groove (33) is formed in the support (29). The center position of the arc-shaped guiding groove (33) coincides with the rotational connection position of the extension plate (32) and the support (29). A short shaft (34) is fixed to the extension plate (32). The short shaft (34) passes through the support (29) through the arc-shaped guiding groove (33). An anti-detachment block is fixed to the part of the short shaft (34) protruding from the support (29).

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