Reconfigurable joint track compound mobile robot

A reconfigurable joint track compound mobile robot, comprising a main vehicle body (1), yaw joints (2) and an auxiliary track module (3);

• the main vehicle body (1) is provided with a main track (101), and a clutch brake (1082) and a first wheel joint (1083) fixedly connected together are arranged in a main track driving wheel (108);
• a second wheel joint (1052) is arranged in a main track driven wheel (105);
• the main vehicle body (1) is provided with a plurality of main track driving mechanisms and a plurality of wheel joint driving mechanisms, wherein the main track driving wheel (108) is driven to rotate by the plurality of main track driving mechanisms and the plurality of main track driving mechanisms are connected with the clutch brake (1082);
• the second wheel joint (1052) is driven to rotate by the plurality of the wheel joint driving mechanisms;
• the first wheel joint (1083) and the second wheel joint (1052) are respectively connected with corresponding yaw joints (2);
• an adapter seat (207) is arranged at one end of the yaw joint (2) away from the main vehicle body (1);
• an auxiliary track (304) is arranged on the auxiliary track module (3), and an axle end (3011) of an auxiliary track first wheel axle (301) is rotatably connected with the adapter seat (207) on the corresponding yaw joint (2);
• a yaw driving mechanism is arranged in the yaw joint (2), and the auxiliary track module (3) is driven to swing through the yaw driving mechanism in the corresponding yaw joint (2);
• an auxiliary track driving mechanism and a rotary driving mechanism are arranged in the auxiliary track module (3), and the auxiliary track (304) is driven to rotate by the auxiliary track driving mechanism;
• and the entire auxiliary track module (3) is driven to rotate around the auxiliary track first wheel axle (301) by the rotary driving mechanism.