The invention relates to a deformable multi-mode mobile robot and a robot multi-mode transformation method. The robot comprises a control module, a fixed wheat wheel module, a four-connecting-rod variable-structure module, tail end wheat wheel modules, a motor module and the like, and has three movement modes: in the quadrilateral four-wheel mode, the distance between the two tail end wheat wheel modules and the distance between the tail end wheat wheel modules and the fixed wheat wheel module can be changed; the robot can push objects with different widths and pass through spaces with different heights. The collinear four-wheel mode enables the two tail end Macro-wheel modules to move to the positions beside the fixed Macro-wheel module and to be collinear with the fixed Macro-wheel module, and the robot can pass through a narrow space. And in the vertical two-wheel mode, the tail end McWe wheel module is lifted up to serve as a mechanical arm, and the robot can grab, clamp and transport a target object. The robot combines three motion modes, and can be flexibly and quickly switched among various modes, so that the robot can realize the functions of crawling, gripping, transporting and the like.

    本发明涉及一种可变形多模式移动机器人及机器人多模式变形方法。机器人包括控制模块、固定麦轮模块、四连杆变构模块、末端麦轮模块、电机模块等,具有三种运动模式:四边形四轮模式可以改变两个末端麦轮模块之间的距离以及改变末端麦轮模块与固定麦轮模块之间的距离,机器人可以推动宽度不同的物体以及通过高度不同的空间。共线四轮模式使得两个末端麦轮模块分别移动到固定麦轮模块旁并与其共线布置,机器人可以通过较为狭窄的空间。直立式两轮模式将末端麦轮模块抬起,充当机械臂使用,机器人可以对目标物体进行抓夹运输。机器人结合了三种运动模式,并且可以灵活快速地在各种模式中进行切换,因此机器人可以实现爬行、抓夹、运输等功能。


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    Title :

    Deformable multi-mode mobile robot and robot multi-mode transformation method


    Additional title:

    一种可变形多模式移动机器人及机器人多模式变形方法


    Contributors:
    ZHU HAIFEI (author) / MO JINGYI (author) / LI HAORAN (author) / CHEN XUANYU (author) / ZHANG FUYONG (author) / MENG WEI (author)

    Publication date :

    2024-01-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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