A robot with a wheel and foot structure that facilitates switching

Abstract

This invention proposes a robot with easily switchable wheeled and legged structures, comprising a main body module and a replaceable module. The main body module includes a body frame and a thigh assembly, with a first joint docking structure at the lower part of the thigh assembly. The replaceable module is either a legged actuator or a wheeled actuator. The legged actuator includes a lower leg assembly and a foot assembly connected to the lower part of the lower leg assembly, with a second joint docking structure at the upper part of the lower leg assembly for joint connection with the first joint docking structure. The wheeled actuator also has a second joint docking structure at the upper part for joint connection with the first joint docking structure. This invention achieves standardized and rapid interchangeability between legged and wheeled actuators by providing a first joint docking structure at the lower part of the thigh assembly and identical second joint docking structures at the upper parts of both the legged and wheeled actuators.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot with easily switchable wheel and leg structures. Background Technology

[0002] Legged robots can adapt to complex terrains such as stairs, gravel, and ditches, and have excellent obstacle-crossing capabilities, but they move slowly and consume more energy on flat surfaces. Wheeled robots, on the other hand, move quickly and have high energy efficiency on smooth surfaces, but they struggle to overcome obstacles such as steps and rocks. In practical applications, it is often necessary to switch between legged and wheeled structures depending on the working environment to balance the needs of obstacle crossing and rapid movement.

[0003] However, currently, few robots can easily switch between legged and wheeled structures. Existing robots have complex joint designs, requiring the disassembly of multiple components when disassembling a joint, resulting in cumbersome and inefficient operations. More importantly, these joint structures typically correspond only to either legged or wheeled actuators, lacking standardized, universal, quick-release interfaces compatible with both, making it impossible to quickly interchange wheeled and legged actuators. After switching modes, the coordination of the drive system is poor, requiring extensive manual calibration of numerous parameters to restore normal operation, raising the barrier to entry and failing to meet the needs of convenient and efficient switching in practical applications. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a robot that facilitates switching between wheeled and legged structures, thereby improving the ease of switching between the robot's legged and wheeled actuators.

[0005] The technical solution of this invention is implemented as follows:

[0006] A robot that allows for easy switching between wheeled and legged structures includes a main body module and a replaceable module;

[0007] The main module includes a main body frame and a thigh assembly connected to the main body frame. The lower part of the thigh assembly is provided with a first joint docking structure for connecting the replaceable module.

[0008] The replaceable module is a legged actuator or a wheeled actuator;

[0009] The foot actuator includes a lower leg assembly and a foot assembly connected to the lower part of the lower leg assembly. The upper part of the lower leg assembly is provided with a second joint docking structure for forming a joint connection with the first joint docking structure.

[0010] The upper part of the wheeled actuator is provided with a second joint docking structure for forming a joint connection with the first joint docking structure.

[0011] As a further optional solution, the first joint docking structure includes a mounting cavity and a first joint motor disposed within the mounting cavity. A first end of the mounting cavity corresponds to the output end of the first joint motor. A mounting plate is provided at the first end of the mounting cavity. The output end of the first joint motor is connected to the inner surface of the mounting plate. A certain gap is provided between the first joint motor and the inner wall of the mounting cavity, and the inner wall of the mounting cavity is provided with at least one wire-passing hole. The mounting plate is provided with a first hinge hole coaxially arranged with and axially penetrating the first joint motor. The output portion of the first joint motor's output end is exposed through the first hinge hole. The second end of the mounting cavity is an open structure, and a first hinge portion is provided at one end of the first joint motor corresponding to the second end of the mounting cavity.

[0012] The second joint docking structure includes a first connecting plate and a second connecting plate that are disposed opposite to each other and detachably connected. The first connecting plate and the second connecting plate are respectively located outside the two ends of the mounting cavity. The inner side of the first connecting plate is provided with a second hinge portion, which passes through the first hinge hole and is connected to the output part of the first joint motor. The inner side of the second connecting plate is provided with a second hinge hole, and the first hinge portion is rotatably passed through the second hinge hole.

[0013] As a further optional solution, the mounting plate is provided with a plurality of first connection holes, which are arranged circumferentially around the first hinge hole;

[0014] The output end face of the first joint motor is provided with a second connection hole that corresponds one-to-one with the first connection hole. The second connection hole and the first connection hole are connected by screws to fix the first joint motor on the mounting plate.

[0015] As a further optional solution, a structural plate is provided on the end face of the first joint motor corresponding to the second end of the mounting cavity. A first hinge shaft is protruded on the end face of the structural plate away from the first joint motor. The first hinge shaft is coaxially arranged with the first joint motor. A first bearing is sleeved on the first hinge shaft. The first hinge shaft and the first bearing are combined to form the first hinge part.

[0016] As a further optional solution, the second hinge part is a boss provided on the inner side of the first connecting plate, and the boss is provided with a plurality of third connecting holes that pass through along the axial direction.

[0017] The output portion of the first joint motor is provided with a fourth connection hole that corresponds one-to-one with the third connection hole. The fourth connection hole and the third connection hole are connected by screws to realize the driving connection between the first joint motor and the first connection plate.

[0018] As a further optional solution, the lower leg assembly includes a first leg shell and a second leg shell that are joined on the left and right sides, wherein the first connecting plate is formed on the upper part of the first leg shell and the second connecting plate is formed on the upper part of the second leg shell.

[0019] The inner side of the first leg shell is provided with multiple horizontally arranged first docking posts, and the inner side of the second leg shell is provided with second docking posts corresponding to the first docking posts. The end face of the second docking post is provided with a positioning groove for the end of the first docking post to be inserted. The end face of the first docking post is provided with a first locking hole, which is a threaded hole. The second docking post is provided with a second locking hole that extends axially, which is a smooth hole. The first locking hole and the second locking hole are connected by screws.

[0020] As a further optional solution, the lower part of the calf assembly is provided with the first joint docking structure, and the upper part of the foot assembly is provided with the second joint docking structure;

[0021] The foot assembly includes a foot plate, with a first foot shell and a second foot shell distributed horizontally on the top of the foot plate. A first connecting plate is formed on the upper part of the first foot shell, and a second connecting plate is formed on the upper part of the second foot shell. The foot plate is provided with a plurality of positioning cylinders. Both the first and second foot shells are provided with positioning pins for inserting the positioning cylinders. The bottom of each positioning pin is provided with a third locking hole arranged axially. The third locking hole is a threaded hole. The positioning cylinder is provided with a fourth locking hole that extends axially. The fourth locking hole is a smooth hole. The third locking hole and the fourth locking hole are connected by screws.

[0022] As a further optional solution, the wheeled actuator includes a first wheel housing and a second wheel housing that are mated on the left and right sides, and the first wheel housing and the second wheel housing are fixed together by screws;

[0023] The first connecting plate is formed on the upper part of the first wheel set housing, and the second connecting plate is formed on the upper part of the second wheel set housing;

[0024] A rotatable movable wheel and a second joint motor for driving the movable wheel to rotate are provided between the lower part of the first wheel set housing and the lower part of the second wheel set housing.

[0025] As a further optional solution, a third hinge hole is provided on the inner side of the lower part of the first wheel set housing, and a second hinge shaft is provided on one side of the movable wheel, extending outward along the same axis. A second bearing is sleeved on the second hinge shaft, and the second hinge shaft and the second bearing are combined to form a third hinge part. The third hinge part is rotatably disposed in the third hinge hole.

[0026] The other side of the movable wheel is provided with an embedding cavity for the second joint motor to be embedded in. The output part of the second joint motor is coaxially arranged with the movable wheel and connected by screws. The motor housing of the second joint motor is connected to the lower part of the housing of the second wheel set by screws.

[0027] As a further optional solution, the main body frame is provided with a first bracket on each side, and the first bracket is provided with a second bracket that rotates along a first axis and a third joint motor for driving the second bracket to rotate.

[0028] The second bracket is provided with a third bracket that rotates along a second axis and a fourth joint motor for driving the third bracket to rotate; the third bracket has the first joint docking structure formed on it.

[0029] The upper part of the thigh assembly has a second joint docking structure, and the upper part of the thigh assembly is jointed with the third bracket; the joint connection between the thigh assembly and the switchable module rotates around a third axis.

[0030] The first axis, the second axis, and the third axis are perpendicular to each other.

[0031] Compared with the prior art, the present invention has at least the following beneficial effects:

[0032] This invention divides the robot into a main module and a replaceable module, and sets a uniform first joint docking structure on the lower part of the thigh assembly. Simultaneously, it sets identical second joint docking structures on the upper parts of the leg actuators (upper part of the lower leg assembly) and wheel actuators, respectively, achieving standardized and rapid interchangeability between the leg and wheel actuators. Users only need to assemble and disassemble the replaceable module and the thigh assembly on-site, without disassembling the main frame or other joint components, making operation simple and switching highly efficient.

[0033] Because the legged and wheeled actuators share the same second joint docking structure, forming a unified mechanical and drive interface with the first joint docking structure of the main module, the problems of different actuators requiring different connection methods and poor drive system coordination after switching, as seen in existing technologies, are avoided. After switching, there is no need for manual calibration of numerous parameters, lowering the barrier to entry and improving the robot's ease of use and reliability. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a robot that facilitates switching between wheel and leg structures according to an embodiment of the present invention (the replaceable module is in the form of a leg-type actuator).

[0035] Figure 2 yes Figure 1 An exploded view of the robot in the embodiment, showing how to easily switch between wheel and leg structures;

[0036] Figure 3 This is one of the structural schematic diagrams of the first joint docking structure and the second joint docking structure provided in an embodiment of the present invention;

[0037] Figure 4 This is a second schematic diagram of the first joint docking structure and the second joint docking structure provided in an embodiment of the present invention;

[0038] Figure 5 This is a cross-sectional schematic diagram (exploded state) of the first joint docking structure and the second joint docking structure provided in an embodiment of the present invention.

[0039] Figure 6 This is a cross-sectional schematic diagram (connection state) of the first joint docking structure and the second joint docking structure provided in an embodiment of the present invention.

[0040] Figure 7 This is an exploded view of a lower leg assembly provided in an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of the connection structure between the lower leg assembly and the foot assembly according to an embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram of the structure of a robot that is easy to switch between wheel and leg structures according to an embodiment of the present invention (the replaceable module is in the form of a wheeled actuator).

[0043] Figure 10 yes Figure 9 An exploded view of the robot in the embodiment, showing how to easily switch between wheel and leg structures;

[0044] Figure 11 This is an exploded view of a wheeled actuator provided in an embodiment of the present invention;

[0045] Figure 12 This is an exploded sectional view of a wheeled actuator provided in an embodiment of the present invention;

[0046] Figure 13 This is an exploded view of the main module provided in an embodiment of the present invention.

[0047] In the diagram: 100, main module; 110, main body frame; 120, thigh assembly; 130, first support; 140, third joint motor; 150, second support; 160, fourth joint motor; 170, third support; L1, first axis; L2, second axis; L3, third axis;

[0048] 200, Foot-type actuator; 210, Lower leg assembly; 2101, First leg housing; 2101a, First docking post; 2102, Second leg housing; 2102a, Second docking post; 2102b, Positioning groove; 220, Foot assembly; 2201, Foot sole plate; 2201a, Positioning insert; 2202, First foot housing; 2203, Second foot housing; 2204, Positioning insert;

[0049] 300, Wheel-type actuator; 310, First wheel assembly housing; 3101, Third hinge hole; 320, Second wheel assembly housing; 330, Moving wheel; 3301, Third hinge part; 3301a, Second hinge shaft; 3301b, Second bearing; 3302, Embedded cavity; 340, Second joint motor;

[0050] 1. First joint docking structure; 11. Mounting cavity; 111. Wire hole; 12. First joint motor; 121. Output section; 1211. Fourth connecting hole; 122. First hinge part; 123. Structural plate; 124. First hinge shaft; 125. First bearing; 126. Second connecting hole; 13. Mounting plate; 131. First hinge hole; 132. First connecting hole;

[0051] 2. Second joint docking structure; 21. First connecting plate; 211. Second hinge part; 212. Third connecting hole; 22. Second connecting plate; 221. Second hinge hole. Detailed Implementation

[0052] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0053] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0057] refer to Figures 1 to 13 An embodiment of the present invention illustrates a robot with easily switchable wheel and leg structures, including a main body module 100 and a replaceable module; the main body module 100 includes a body main frame 110 and a thigh assembly 120 connected to the body main frame 110, and the lower part of the thigh assembly 120 is provided with a first joint docking structure 1 for connecting the replaceable module;

[0058] The replaceable module is either a foot-type actuator 200 or a wheel-type actuator 300, wherein:

[0059] like Figure 1 and Figure 2 As shown, the foot actuator 200 includes a lower leg assembly 210 and a foot assembly 220 connected to the lower part of the lower leg assembly 210. The upper part of the lower leg assembly 210 is provided with a second joint docking structure 2 for forming a joint connection with the first joint docking structure 1.

[0060] like Figure 9 and Figure 10 As shown, the upper part of the wheeled actuator 300 is provided with a second joint docking structure 2 for forming a joint connection with the first joint docking structure 1.

[0061] Specifically, the main body frame 110 is the robot's torso. One end of the thigh assembly 120 is jointed to the main body frame 110, enabling basic movements such as leg lifting and stepping. The first joint docking structure 1 located at the lower part of the thigh assembly 120 is an interface that includes both mechanical connection and drive transmission. Replaceable modules refer to independent components that can be completely replaced with either the leg-type actuator 200 or the wheel-type actuator 300 according to the needs of the working environment. The leg-type actuator 200 consists of a lower leg assembly 210 and a foot assembly 220, simulating the shape of a biological leg, and is used for walking in complex terrains such as stairs, gravel, and ditches. The wheel-type actuator 300 does not have a lower leg and foot; instead, it has a second joint docking structure 2 directly on its upper part and wheels installed on its lower part for rapid movement on flat surfaces.

[0062] The first joint docking structure 1 can accommodate a joint motor (detailed in subsequent embodiments). The second joint docking structure 2 is identical to that of the foot actuator 200 and the wheel actuator 300, ensuring that regardless of which actuator is installed, a seamless physical connection and power coupling with the thigh assembly 120 can be achieved without transitions or adjustments. Here, "forming a joint connection" means that after the two docking structures are combined, they can rotate relative to each other around the same axis, thereby forming an actively driven joint between the thigh assembly 120 and the replaceable module. The movement of this joint is controlled by the joint motor in the first joint docking structure 1.

[0063] Thus, this embodiment divides the robot into a main module 100 and a replaceable module, and sets a unified first joint docking structure 1 on the lower part of the thigh assembly 120, while setting identical second joint docking structures 2 on the upper parts of the foot actuator 200 (upper part of the lower leg assembly 210) and the wheel actuator 300, respectively, achieving standardized and rapid interchangeability between the foot actuator 200 and the wheel actuator 300. Users only need to assemble and disassemble the replaceable module with the thigh assembly 120 on-site, without disassembling the main frame and other joint components, making operation simple and switching highly efficient. Since the foot actuator 200 and the wheel actuator 300 share the exact same second joint docking structure 2, forming a unified mechanical and drive interface with the first joint docking structure 1 of the main module 100, the problems of different actuators requiring different connection methods and poor drive system coordination after switching in existing technologies are avoided. After switching, there is no need for manual calibration of numerous parameters, lowering the barrier to entry and improving the robot's ease of use and reliability.

[0064] In some embodiments, to facilitate the standardization and convenience of the first joint docking structure 1 and the second joint docking structure 2, reference is made to... Figures 3 to 6The first joint docking structure 1 includes a mounting cavity 11 and a first joint motor 12 disposed within the mounting cavity 11. A first end of the mounting cavity 11 corresponds to the output end of the first joint motor 12. A mounting plate 13 is provided at the first end of the mounting cavity 11. The output end of the first joint motor 12 is connected to the inner surface of the mounting plate 13. A certain gap is provided between the first joint motor 12 and the inner wall of the mounting cavity 11, and the inner wall of the mounting cavity 11 is provided with at least one wire-passing hole 111. The mounting plate 13 is provided with a first hinge hole 131 coaxially arranged with and axially penetrating the first joint motor 12. The output portion 121 of the output end of the first joint motor 12 is exposed through the first hinge hole 131. The second end of the mounting cavity 11 is an open structure, and a first hinge portion 122 is provided at one end of the first joint motor 12 corresponding to the second end of the mounting cavity 11.

[0065] The second joint docking structure 2 includes a first connecting plate 21 and a second connecting plate 22 that are disposed opposite to each other and detachably connected. The first connecting plate 21 and the second connecting plate 22 are located outside the two ends of the mounting cavity 11. The inner side of the first connecting plate 21 is provided with a second hinge portion 211, which passes through the first hinge hole 131 and is connected to the output portion 121 of the first joint motor 12. The inner side of the second connecting plate 22 is provided with a second hinge hole 221, and the first hinge portion 122 is rotatably passed through the second hinge hole 221.

[0066] Specifically, a joint motor is a servo motor used in robot joints and is the core driving component of the joint actuator, often referred to as an integrated motor module. It integrates the motor, reducer, sensor, and drive circuit together, enabling high-precision rotation or linear motion; in the above description, the output part 121 of the first joint motor 12 refers to the motor shaft or its extension connection end, and the output end of the first joint motor 12 refers to the end where its output part 121 is located.

[0067] In the first joint docking structure 1 of the thigh assembly 120, the mounting cavity 11 is a hollow structure in the lower part of the thigh assembly 120, used to accommodate the first joint motor 12 and provide a mounting reference for it. A mounting plate 13 is fixed to the first end of the mounting cavity 11 (i.e., the end near the replaceable module). The mounting plate 13 can be a piece of metal or high-strength plastic, integrally formed with the side wall of the mounting cavity 11 or fixed by screws. The output end of the first joint motor 12 (usually the end face of the motor rotor or the flange of the output shaft) is connected to the inner side of the mounting plate 13 by screws or other means, so that the main body of the first joint motor 12 is suspended on the mounting plate 13. Wiring holes 111 are provided in the inner wall of the mounting cavity 11 for passing power lines, signal lines, etc., to achieve electrical control of the first joint motor 12; a gap is left between the first joint motor 12 and the inner wall of the mounting cavity 11, which serves as a heat dissipation channel and wiring space.

[0068] The first hinge hole 131 in the center of the mounting plate 13 is coaxial with the first joint motor 12. The output part 121 of the first joint motor 12 is exposed through this hole (note that "exposed" means unobstructed, not that the structure protrudes) so as to connect with the second joint docking structure 2. The second end of the mounting cavity 11 is an open structure, which facilitates the outward extension of the first hinge part 122 at the rear of the first joint motor 12. The first hinge part 122 is located on the end face of the first joint motor 12 away from the output end, and can be a shaft-like structure, used to form a rotational support with the second joint docking structure 2.

[0069] The second joint docking structure 2 includes a first connecting plate 21 and a second connecting plate 22, which are located outside the two ends of the mounting cavity 11, respectively. Specifically, the first connecting plate 21 is located outside the first end of the mounting cavity 11, and the second connecting plate 22 is located outside the second end of the mounting cavity 11. The first connecting plate 21 and the second connecting plate 22 are fixedly connected by screws or other detachable means, clamping the mounting cavity 11 and the first joint motor 12 inside between them. The inner side of the first connecting plate 21 has a second hinge portion 211, which passes through a first hinge hole 131 on the mounting plate 13 and connects to the output portion 121 of the first joint motor 12, thereby transmitting the driving force of the motor to the first connecting plate 21, and thus driving the entire replaceable module to rotate around the joint axis. The inner side of the second connecting plate 22 has a second hinge hole 221, and the first hinge portion 122 at the rear of the first joint motor 12 is rotatably inserted into this second hinge hole 221, serving as a driven support point for joint rotation.

[0070] Through the above structure, the first joint docking structure 1 and the second joint docking structure 2 together form a complete rotary joint. The first joint motor 12 acts as the driving component, and its output portion 121 drives the first connecting plate 21 to rotate via the second hinge portion 211. The first hinge portion 122 and the second hinge hole 221 form a driven rotary pair, ensuring that both ends of the joint are coaxial and rotate smoothly. Simultaneously, the first connecting plate 21 and the second connecting plate 22 sandwich the mounting cavity 11 in the middle, allowing the replaceable module (whether it is the foot actuator 200 or the wheel actuator 300) to be securely mounted on the thigh assembly 120.

[0071] Thus, when it is necessary to replace the foot actuator 200 / wheel actuator 300, it is only necessary to disassemble and separate the first connecting plate 21 and the second connecting plate 22 on the foot actuator 200 / wheel actuator 300 to remove the first joint docking structure 1 on the thigh assembly 120. This standardized joint structure unifies the interface between the foot actuator 200 and the wheel actuator 300, making the two actuators completely interchangeable, and no mechanical adjustment or electrical calibration is required after switching, further reducing the threshold for use.

[0072] In some embodiments, reference Figures 3 to 6 The mounting plate 13 is provided with a plurality of first connecting holes 132, which are arranged in a circle around the first hinge hole 131. The output end of the first joint motor 12 is provided with a second connecting hole 126 corresponding to the first connecting hole 132. The second connecting hole 126 is connected to the first connecting hole 132 by screws to fix the first joint motor 12 on the mounting plate 13.

[0073] Specifically, in addition to the first hinge hole 131, the mounting plate 13 also has a plurality of first connecting holes 132 evenly arranged around the first hinge hole 131. These first connecting holes 132 are through holes, and their central axis is parallel to the axis of the first hinge hole 131. The plurality of first connecting holes 132 are arranged in a circumferential array, that is, they are located on the same circumference with the center of the first hinge hole 131 as the center, and the central angles between adjacent holes are equal. For example, three, four or six first connecting holes 132 can be provided, and the specific number is determined according to the size of the first joint motor 12 and the force requirements.

[0074] Correspondingly, on the output end face of the first joint motor 12, i.e., the end face of the motor housing facing the mounting plate 13, there are two second connecting holes 126, one-to-one corresponding to the positions of the first connecting holes 132 and equal in number. In this embodiment, the second connecting holes 126 are threaded holes. During assembly, the first joint motor 12 is inserted into the second open end of the mounting cavity 11, so that the output end face of the first joint motor 12 is against the inner side of the mounting plate 13, and the first joint motor 12 is rotated to align each of the second connecting holes 126 with the corresponding first connecting holes 132. Then, the operator inserts screws from the outside of the mounting plate 13 through the first connecting holes 132 (through holes), screws them into the second connecting holes 126 (threaded holes), and tightens them to securely fix the first joint motor 12 to the mounting plate 13. During disassembly, simply unscrew the screws from the outside of the mounting plate 13 to release the fixation and remove the motor from the mounting cavity 11.

[0075] Thus, in this embodiment, the first joint motor 12 can be assembled and disassembled simply by turning the screws in the first connecting hole 132 and the second connecting hole 126, making the operation simple. Furthermore, all assembly and disassembly operations can be completed on the outside of the mounting plate 13, without needing to enter the mounting cavity 11, providing ample operating space and greatly simplifying the assembly and maintenance process. Simultaneously, the multiple screws arranged circumferentially can evenly transmit the torque and axial force generated by the first joint motor 12 during operation, ensuring the smooth movement of the joint.

[0076] In some embodiments, reference Figure 7 A structural plate 123 is provided on the end face of the first joint motor 12 corresponding to the second end of the mounting cavity 11. A first hinge shaft 124 is protruding on the end face of the structural plate 123 away from the first joint motor 12. The first hinge shaft 124 is coaxially arranged with the first joint motor 12. A first bearing 125 is sleeved on the first hinge shaft 124. The first hinge shaft 124 and the first bearing 125 are combined to form the first hinge part 122.

[0077] Specifically, the tail end of the first joint motor 12 corresponds to the end face of the second end of the mounting cavity 11. A structural plate 123 is provided on this end face, and the structural plate 123 is detachably connected to the housing of the first joint motor 12 by screws. The structural plate 123 can be a separate metal or plastic plate.

[0078] A first hinge shaft 124 is protruding from the end face of the structural plate 123 away from the first joint motor 12. The first hinge shaft 124 is integrally formed with the structural plate 123; a first bearing 125 is sleeved on the first hinge shaft 124, and the model and size of the first bearing 125 can be selected according to actual needs. The first hinge shaft 124 and the inner ring or inner surface of the first bearing 125 form a tight fit or transition fit, while the outer ring or outer surface of the first bearing 125 is used to make a clearance fit with the second hinge hole 221 on the second connecting plate 22 so as to be pulled out from the second hinge hole 221. In this way, the first hinge shaft 124 and the first bearing 125 together constitute the first hinge part 122, which is rotatably inserted into the second hinge hole 221.

[0079] The structural plate 123 is detachably connected to the motor housing via screws, allowing for the replacement of different sizes of the first hinge shaft 124 and corresponding first bearing 125 as needed. For example, when the second hinge hole 221 on the second connecting plate 22 is large, simply replacing it with a structural plate 123 featuring a larger diameter first hinge shaft 124 and a corresponding size first bearing 125 achieves a match without modifying the motor body or replacing the entire first joint motor 12. This further improves the versatility and configurability of the joint structure.

[0080] In some embodiments, reference Figures 3 to 6 The second hinge portion 211 is a boss provided on the inner side of the first connecting plate 21. The boss is provided with a plurality of third connecting holes 212 that pass through along the axial direction. The output portion 121 of the first joint motor 12 is provided with a fourth connecting hole 1211 that corresponds one-to-one with the third connecting holes 212. The fourth connecting hole 1211 and the third connecting hole 212 are connected by screws to realize the driving connection between the first joint motor 12 and the first connecting plate 21.

[0081] Specifically, a boss is provided on the inner side of the first connecting plate 21 facing the mounting cavity 11. The boss and the first connecting plate 21 can be integrally formed. The boss has multiple third connecting holes 212 along its axial direction. These third connecting holes 212 penetrate the entire thickness of the boss, that is, they penetrate from the free end face of the boss to the outer side of the first connecting plate 21.

[0082] The output portion 121 of the first joint motor 12 has four connecting holes 1211, each corresponding to and equal in number to the third connecting holes 212. The fourth connecting holes 1211 are threaded holes, while the third connecting holes 212 are through holes. During assembly, the boss is inserted into the first hinge hole 131 of the mounting plate 13, with its free end face facing the output portion 121 of the first joint motor 12. The position is adjusted so that each third connecting hole 212 is aligned with its corresponding fourth connecting hole 1211. Then, from the outside of the first connecting plate 21 (i.e., the side facing away from the mounting cavity 11), screws are passed through the third connecting holes 212, screwed into the fourth connecting holes 1211, and tightened, thereby achieving a fixed connection between the first connecting plate 21 and the output portion 121 of the first joint motor 12. In this way, the torque of the first joint motor 12 is transmitted to the boss through the screws, thereby driving the entire first connecting plate 21 to rotate.

[0083] The boss and the first hinge hole 131 may form a fitting gap, or a bearing may be provided between them to achieve hinge.

[0084] In one embodiment, a fitting clearance is formed between the boss and the first hinge hole 131.

[0085] Specifically, the boss, serving as the second hinge part 211, passes through the first hinge hole 131 of the mounting plate 13. The outer wall of the boss and the inner wall of the first hinge hole 131 are not in close contact, but rather have a certain radial gap, forming a fitting clearance. The boss can rotate freely within the first hinge hole 131 without jamming.

[0086] In another embodiment, a bearing (not shown) is provided between the boss and the first hinge hole 131 to achieve hinge.

[0087] Specifically, the boss, serving as the second hinge part 211, passes through the first hinge hole 131 of the mounting plate 13. A bearing is installed between the outer wall of the boss and the inner wall of the first hinge hole 131. The bearing can be a rolling bearing (such as a deep groove ball bearing or a needle roller bearing) or a sliding bearing (such as a graphite bushing). The inner ring of the bearing forms a tight fit or transition fit with the outer wall of the boss to ensure that the inner ring of the bearing rotates synchronously with the boss when it rotates. The outer ring of the bearing and the inner wall of the first hinge hole 131 adopt a clearance fit, rather than a tight fit. The purpose of this design is that when it is necessary to disassemble the joint structure, after releasing the connection between the first connecting plate 21 and the second connecting plate 22 and loosening the fixation between the second hinge part 211 and the motor output part 121, the first connecting plate 21, together with the boss, can be pulled out from the first hinge hole 131. At this time, the outer ring of the bearing can slide relative to the inner wall of the first hinge hole 131, making the extraction process smooth and unobstructed. Thus, placing a bearing between the boss and the first hinge hole 131 can further improve rotational stability and is more suitable for high-load joint applications.

[0088] In some embodiments, reference Figure 7 The lower leg assembly 210 includes a first leg shell 2101 and a second leg shell 2102 that are joined on the left and right. The first connecting plate 21 is formed on the upper part of the first leg shell 2101, and the second connecting plate 22 is formed on the upper part of the second leg shell 2102.

[0089] The inner side of the first leg housing 2101 is provided with multiple horizontally arranged first docking posts 2101a, and the inner side of the second leg housing 2102 is provided with second docking posts 2102a corresponding to the first docking posts 2101a. The end face of the second docking post 2102a is provided with a positioning groove 2102b for the end of the first docking post 2101a to be inserted. The end face of the first docking post 2101a is provided with a first locking hole (not marked in the figure), which is a threaded hole. The second docking post 2102a is provided with a second locking hole (not marked in the figure) that extends axially, which is a smooth hole. The first locking hole and the second locking hole are connected by screws.

[0090] Specifically, the upper part of the first leg shell 2101 is directly formed with a first connecting plate 21, and the upper part of the second leg shell 2102 is directly formed with a second connecting plate 22. That is to say, when the first leg shell 2101 and the second leg shell 2102 are mated, the first connecting plate 21 and the second connecting plate 22 on their upper parts clamp the first joint mating structure 1 at the lower part of the thigh assembly 120.

[0091] To ensure precise and secure connection between the left and right outer shells, multiple laterally extending first mating posts 2101a are provided on the inner side of the first leg shell 2101 (i.e., the side facing the second leg shell 2102), and corresponding second mating posts 2102a are provided on the inner side of the second leg shell 2102. The end face of the second mating post 2102a has a positioning groove 2102b, the shape of which matches the end of the first mating post 2101a, such as a circular or rectangular countersunk hole. During assembly, the end of the first mating post 2101a is inserted into the positioning groove 2102b to achieve radial positioning of the left and right shells. A first locking hole (not shown in the figure) is provided at the center of the end face of the first mating post 2101a; this hole is a threaded hole. A second locking hole (not shown in the figure) is provided on the second mating post 2102a, extending axially; this hole is a smooth hole (i.e., a through hole without threads). After the left and right outer shells are aligned, the screw passes through the second locking hole (plain hole) from the outside of the second leg outer shell 2102, and then screws into the first locking hole (threaded hole) on the end face of the first mating post 2101a. After tightening, the left and right outer shells are fixed together. Since the second locking hole is a plain hole, the head of the screw presses against the outer surface of the second leg outer shell 2102, while the threaded part engages with the first locking hole, thereby pulling the two outer shells together.

[0092] Thus, in this embodiment, the first docking post 2101a and the second docking post 2102a cooperate through the positioning groove 2102b to achieve precise alignment of the left and right outer shells, ensuring the relative positional accuracy between the first connecting plate 21 and the second connecting plate 22, thereby ensuring good coaxiality when the second joint docking structure 2 and the first joint docking structure 1 are assembled. Furthermore, the screw passes through the light hole from the outside of the second leg outer shell 2102 and is screwed into the threaded hole of the first leg outer shell 2101. This connection method allows the screw head to be located outside the outer shell, facilitating installation and disassembly.

[0093] In some embodiments, reference Figure 7 and Figure 8The lower part of the calf assembly 210 is provided with the first joint docking structure 1, and the upper part of the foot assembly 220 is provided with the second joint docking structure 2; the foot assembly 220 includes a foot plate 2201, and a first foot shell 2202 and a second foot shell 2203 distributed left and right are provided above the foot plate 2201. The first connecting plate 21 is formed on the upper part of the first foot shell 2202, and the second connecting plate 22 is formed on the upper part of the second foot shell 2203; the foot The base plate 2201 is provided with a plurality of positioning inserts 2201a. The first foot shell 2202 and the second foot shell 2203 are both provided with positioning posts 2204 for inserting the positioning inserts 2201a. The bottom of the positioning post 2204 is provided with a third locking hole arranged along the axial direction. The third locking hole is a threaded hole. The positioning insert 2201a is provided with a fourth locking hole that extends along the axial direction. The fourth locking hole is a smooth hole. The third locking hole and the fourth locking hole are connected by screws.

[0094] Specifically, in this embodiment, the lower leg assembly 210 and the foot assembly 220 are also connected by a joint through the first joint docking structure 1 and the second joint docking structure 2; that is, the lower leg assembly 210 and the foot assembly 220 are connected by the same joint structure as the thigh assembly 120 and the lower leg assembly 210, so that the lower leg assembly 210 and the foot assembly 220 can also be quickly disassembled and replaced.

[0095] The foot assembly 220 specifically includes a foot plate 2201, a first foot shell 2202, and a second foot shell 2203. The foot plate 2201 is the component in direct contact with the ground and can be made of wear-resistant material, with anti-slip textures on its bottom surface. To connect the foot plate 2201, the first foot shell 2202, and the second foot shell 2203, the foot plate 2201 is provided with multiple positioning inserts 2201a. Each positioning insert 2201a has a cylindrical structure that protrudes upwards from the upper surface of the foot plate 2201, and its interior has a fourth locking hole that extends axially. This fourth locking hole is a smooth hole (without threads). The lower parts of the first foot shell 2202 and the second foot shell 2203 are respectively provided with positioning posts 2204. The shape of the positioning posts 2204 matches the inner hole of the positioning inserts 2201a and can be inserted into the positioning inserts 2201a. The bottom (insertion end) of the positioning pin 2204 is provided with a third locking hole along the axial direction, which is a threaded hole. When the first foot shell 2202 and the second foot shell 2203 are placed on the foot plate 2201, the positioning pin 2204 is inserted into the corresponding positioning sleeve 2201a, and the third locking hole is coaxial with the fourth locking hole. Then, the screw passes through the fourth locking hole (smooth hole) from the bottom of the foot plate 2201 (i.e., the bottom surface of the foot plate 2201), and then screws into the third locking hole (threaded hole). After tightening, the first foot shell 2202, the second foot shell 2203 and the foot plate 2201 are fixed together. Conversely, when the screw at the bottom of the foot plate 2201 is loosened, the first foot shell 2202, the second foot shell 2203 and the foot plate 2201 can be disassembled.

[0096] In this embodiment, by setting a first joint docking structure 1 at the lower part of the lower leg assembly 210 and a second joint docking structure 2 at the upper part of the foot assembly 220, a standardized quick-release interface is formed between the foot assembly 220 and the lower leg assembly 210, which is exactly the same as the interface between the thigh assembly 120 and the replaceable module. This means that the entire robot, from the thigh to the lower leg and then to the foot, adopts a unified joint docking standard, greatly improving the universality and interchangeability of parts.

[0097] In some embodiments, reference Figures 9 to 12 The wheeled actuator 300 includes a first wheel housing 310 and a second wheel housing 320 connected on the left and right sides, and the first wheel housing 310 and the second wheel housing 320 are fixed by screws; a first connecting plate 21 is formed on the upper part of the first wheel housing 310, and a second connecting plate 22 is formed on the upper part of the second wheel housing 320; a rotatable movable wheel 330 and a second joint motor 340 for driving the movable wheel 330 to rotate are provided between the lower part of the first wheel housing 310 and the lower part of the second wheel housing 320.

[0098] Specifically, the wheeled actuator 300 is designed for rapid movement on flat surfaces, therefore it eliminates the need for lower legs and feet, instead consisting directly of a wheel assembly shell and built-in moving wheels 330. The wheel assembly shell is formed by mating a first wheel assembly shell 310 and a second wheel assembly shell 320, which are secured together with screws. The upper part of the first wheel assembly shell 310 has a first connecting plate 21 directly formed thereon, and the upper part of the second wheel assembly shell 320 has a second connecting plate 22 directly formed thereon. That is, when the first wheel assembly shell 310 and the second wheel assembly shell 320 are mated together, their upper first connecting plates 21 and second connecting plates 22 clamp the lower part of the thigh assembly 120's first joint docking structure 1. In this way, the wheeled actuator 300 has the same upper interface (i.e., the second joint docking structure 2) as the foot-type actuator 200, and can directly replace the foot-type actuator 200 without any adapters.

[0099] It should be noted that the first connecting plate 21 and the second connecting plate 22 on the upper part of the wheel actuator 300 are the same in shape, size and connection method as the first connecting plate 21 and the second connecting plate 22 on the lower leg assembly 210 of the foot actuator 200.

[0100] Preferably, refer to Figures 9 to 12 The lower inner side of the first wheel set housing 310 is provided with a third hinge hole 3101. One side of the movable wheel 330 is provided with a second hinge shaft 3301a extending outward along the same axis. A second bearing 3301b is sleeved on the second hinge shaft 3301a. The second hinge shaft 3301a and the second bearing 3301b are combined to form a third hinge part 3301. The third hinge part 3301 is rotatably disposed in the third hinge hole 3101. The other side of the movable wheel 330 is provided with an embedding cavity 3302 for the second joint motor 340 to be embedded. The output part (not marked in the figure) of the second joint motor 340 is coaxially disposed with the movable wheel 330 and screwed together. The motor housing of the second joint motor 340 is screwed together with the lower part of the second wheel set housing 320.

[0101] Specifically, a third hinge hole 3101 is provided on the lower inner side of the first wheel assembly housing 310 (i.e., the side facing the second wheel assembly housing 320), which is used to accommodate the support structure on one side of the movable wheel 330. One side of the movable wheel 330 (e.g.) Figure 11 , Figure 12On the left side of the wheel 330, a second hinge shaft 3301a extending outward along the axial direction is formed on its hub. This shaft is coaxial with the rotation axis of the moving wheel 330. The hub is the central load-bearing part of the moving wheel 330, usually made of metal or high-strength plastic, and the tire covers the outer periphery of the hub. The second hinge shaft 3301a is directly formed on the hub. A second bearing 3301b is sleeved on the second hinge shaft 3301a. The inner ring of the second bearing 3301b is interference-fitted with the second hinge shaft 3301a or fixed by a shoulder and a retaining ring, while the outer ring is clearance-fitted with the third hinge hole 3101. The second hinge shaft 3301a and the second bearing 3301b together constitute the third hinge part 3301. During assembly, the third hinge part 3301 is rotatably inserted into the third hinge hole 3101 at the lower part of the first wheel assembly housing 310. In this way, one side of the movable wheel 330 is supported on the first wheel housing 310 by a bearing, allowing it to rotate freely with low frictional resistance.

[0102] The other side of the moving wheel 330 (e.g.) Figure 11 , Figure 12 On the right side of the wheel 330, an embedded cavity 3302 is formed on its hub. This embedded cavity 3302 is recessed inward from the end face of the hub, its shape matching the contour of the second joint motor 340. The second joint motor 340 is embedded in this embedded cavity 3302, such that the output portion of the second joint motor 340 faces the interior of the moving wheel 330 and is coaxially arranged with the moving wheel 330. This effectively utilizes the space inside the hub, making the entire wheel actuator 300 more compact. The output portion 121 of the second joint motor 340 is connected to the hub of the moving wheel 330 by screws. Simultaneously, the motor housing of the second joint motor 340 (i.e., the housing of the motor body) is fixedly connected to the lower part of the second wheel assembly housing 320 by screws. Since the motor housing is fixed to the housing, and the output portion 121 of the second joint motor 340 is fixed to the hub, when the second joint motor 340 is energized and rotates, the motor housing remains stationary, while its output portion drives the moving wheel 330 to rotate.

[0103] When replacing the replaceable module, for example, to replace the wheeled actuator 300 with the footed actuator 200, the screws on the first wheel assembly housing 310 / second wheel assembly housing 320 can be loosened, so that the first connecting plate 21 and the second connecting plate 22 on the first wheel assembly housing 310 and the second wheel assembly housing 320 no longer clamp the first joint docking structure 1 on the thigh assembly 120. Then, the screws between the first connecting plate 21 and the first joint motor 12 can be loosened, at which point the first joint docking structure 1 and the second joint docking structure 2 can be separated. The operation is the same if the footed actuator 200 is to be replaced with the wheeled actuator 300.

[0104] In some embodiments, reference Figure 13The main body frame 110 has a first support 130 on each side. The first support 130 has a second support 150 that rotates along a first axis L1 and a third joint motor 140 for driving the second support 150 to rotate. The second support 150 has a third support 170 that rotates along a second axis and a fourth joint motor 160 for driving the third support 170 to rotate. The third support 170 has a first joint docking structure 1. The upper part of the thigh assembly 120 has a second joint docking structure 2. The upper part of the thigh assembly 120 is jointed with the third support 170. The joint connection between the thigh assembly 120 and the switchable module rotates around a third axis L3. The first axis L1, the second axis L2, and the third axis L3 are perpendicular to each other.

[0105] Specifically, this embodiment further defines a multi-degree-of-freedom joint system between the main body frame 110 and the thigh assembly 120. The main body frame 110 is the robot's torso, with a first support 130 on each of its left and right sides (corresponding to the robot's left and right legs). The first support 130 can be directly fixed to the main body frame 110 or integrally formed with the main frame. A third joint motor 140 is mounted on each first support 130, which drives a second support 150 to rotate around a first axis L1. The second support 150 is rotatably mounted on the first support 130 and connected to the output portion 121 of the third joint motor 140, thereby achieving swinging around the first axis L1 under motor drive. The first axis L1 can typically be set as the robot's lateral swing axis (i.e., the abduction / adduction direction of the hip joint), for example, an axis extending horizontally along the robot's front-back direction.

[0106] A fourth joint motor 160 is further mounted on the second support 150. This motor drives the third support 170 to rotate about the second axis L2. The third support 170 is rotatably mounted on the second support 150 and connected to the output portion 121 of the fourth joint motor 160, thereby achieving rotation about the second axis L2 under the drive of the motor, that is, adjusting the orientation of the third support 170 (affecting the orientation of the thigh assembly 120).

[0107] The third support 170 has a first joint docking structure 1, and the upper part of the thigh assembly 120 has a second joint docking structure 2. In other words, in this embodiment, the same joint structure is used between the third support 170 and the thigh assembly 120, and between the thigh assembly 120 and the replaceable module (i.e., the foot actuator 200 or the wheel actuator 300).

[0108] Thus, in this embodiment, by setting a first support 130, a second support 150, and a third support 170 on both sides of the main body frame 110, and configuring a third joint motor 140 and a fourth joint motor 160, the thigh can rotate around two mutually perpendicular axes. Combined with the rotation of the third axis L3 between the thigh and the replaceable module provided by the first joint docking structure 1 on the third support 170, a three-degree-of-freedom hip joint is formed. The three axes are mutually perpendicular, making the leg's kinematic model simple, easy to decouple, and with high control precision. Furthermore, the entire leg joint system, from the hip to the foot, uses a unified standardized interface (first joint docking structure 1 and second joint docking structure 2), allowing each module of the robot (body, thigh, lower leg / wheel actuator 300, foot) to be independently manufactured and replaced, greatly reducing manufacturing and maintenance costs.

[0109] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0110] To highlight the key technical aspects of this application, the specification and accompanying drawings omit or omit structural, step, or operational features not directly related to solving the technical problems of this application when describing the embodiments. Such omissions do not affect the understanding of the technical solution of this application by those skilled in the art, nor do they constitute a limitation on the embodiments. Those skilled in the art can supplement or replace relevant content based on conventional technical knowledge without affecting the completeness and feasibility of the technical solution of this application.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot facilitating a wheel, foot structure transition, characterized by, Includes the main module and replaceable modules; The main module includes a main body frame and a thigh assembly connected to the main body frame. The lower part of the thigh assembly is provided with a first joint docking structure for connecting the replaceable module. The replaceable module is a legged actuator or a wheeled actuator; The foot actuator includes a lower leg assembly and a foot assembly connected to the lower part of the lower leg assembly. The upper part of the lower leg assembly is provided with a second joint docking structure for forming a joint connection with the first joint docking structure. The upper part of the wheeled actuator is provided with a second joint docking structure for forming a joint connection with the first joint docking structure.

2. The robot with easily switchable wheel and leg structures according to claim 1, characterized in that: The first joint docking structure includes a mounting cavity and a first joint motor disposed within the mounting cavity. A first end of the mounting cavity corresponds to the output end of the first joint motor. A mounting plate is provided at the first end of the mounting cavity. The output end of the first joint motor is connected to the inner surface of the mounting plate. A certain gap is provided between the first joint motor and the inner wall of the mounting cavity, and the inner wall of the mounting cavity is provided with at least one wire-passing hole. The mounting plate is provided with a first hinge hole coaxially arranged with and axially penetrating the first joint motor. The output portion of the first joint motor's output end is exposed through the first hinge hole. The second end of the mounting cavity is an open structure, and a first hinge portion is provided at one end of the first joint motor corresponding to the second end of the mounting cavity. The second joint docking structure includes a first connecting plate and a second connecting plate that are disposed opposite to each other and detachably connected. The first connecting plate and the second connecting plate are respectively located outside the two ends of the mounting cavity. The inner side of the first connecting plate is provided with a second hinge portion, which passes through the first hinge hole and is connected to the output part of the first joint motor. The inner side of the second connecting plate is provided with a second hinge hole, and the first hinge portion is rotatably passed through the second hinge hole.

3. The robot with easily switchable wheel and leg structures according to claim 2, characterized in that: The mounting plate is provided with a plurality of first connecting holes, which are arranged in a circle around the first hinge hole as the center. The output end face of the first joint motor is provided with a second connection hole that corresponds one-to-one with the first connection hole. The second connection hole and the first connection hole are connected by screws to fix the first joint motor on the mounting plate.

4. The robot with easily switchable wheel and leg structures according to claim 2, characterized in that: A structural plate is provided on the end face of the first joint motor corresponding to the second end of the mounting cavity. A first hinge shaft is protruding on the end face of the structural plate away from the first joint motor. The first hinge shaft is coaxially arranged with the first joint motor. A first bearing is sleeved on the first hinge shaft. The first hinge shaft and the first bearing are combined to form the first hinge part.

5. The robot with easily switchable wheel and leg structures according to claim 2, characterized in that: The second hinge part is a boss provided on the inner side of the first connecting plate, and the boss is provided with a plurality of third connecting holes that pass through along the axial direction; The output portion of the first joint motor is provided with a fourth connection hole that corresponds one-to-one with the third connection hole. The fourth connection hole and the third connection hole are connected by screws to realize the driving connection between the first joint motor and the first connection plate.

6. The robot with easily switchable wheel and leg structures according to claim 2, characterized in that: The lower leg assembly includes a first leg shell and a second leg shell that are joined on the left and right sides. The first connecting plate is formed on the upper part of the first leg shell, and the second connecting plate is formed on the upper part of the second leg shell. The inner side of the first leg shell is provided with multiple horizontally arranged first docking posts, and the inner side of the second leg shell is provided with second docking posts corresponding to the first docking posts. The end face of the second docking post is provided with a positioning groove for the end of the first docking post to be inserted. The end face of the first docking post is provided with a first locking hole, which is a threaded hole. The second docking post is provided with a second locking hole that extends axially, which is a smooth hole. The first locking hole and the second locking hole are connected by screws.

7. The robot with easily switchable wheel and leg structures according to claim 6, characterized in that: The lower part of the calf assembly is provided with the first joint docking structure, and the upper part of the foot assembly is provided with the second joint docking structure. The foot assembly includes a foot plate, with a first foot shell and a second foot shell distributed horizontally on the top of the foot plate. A first connecting plate is formed on the upper part of the first foot shell, and a second connecting plate is formed on the upper part of the second foot shell. The foot plate is provided with a plurality of positioning cylinders. Both the first and second foot shells are provided with positioning pins for inserting the positioning cylinders. The bottom of each positioning pin is provided with a third locking hole arranged axially. The third locking hole is a threaded hole. The positioning cylinder is provided with a fourth locking hole that extends axially. The fourth locking hole is a smooth hole. The third locking hole and the fourth locking hole are connected by screws.

8. The robot with easily switchable wheel and leg structures according to claim 2, characterized in that: The wheeled actuator includes a first wheel housing and a second wheel housing that are connected on the left and right sides, and the first wheel housing and the second wheel housing are fixed together by screws; The first connecting plate is formed on the upper part of the first wheel set housing, and the second connecting plate is formed on the upper part of the second wheel set housing; A rotatable movable wheel and a second joint motor for driving the movable wheel to rotate are provided between the lower part of the first wheel set housing and the lower part of the second wheel set housing.

9. The robot with easily switchable wheel and leg structures according to claim 8, characterized in that: The lower inner side of the first wheel assembly housing is provided with a third hinge hole, and one side of the movable wheel is provided with a second hinge shaft extending outward along the same axis. A second bearing is sleeved on the second hinge shaft, and the second hinge shaft and the second bearing are combined to form a third hinge part. The third hinge part is rotatably disposed in the third hinge hole. The other side of the movable wheel is provided with an embedding cavity for the second joint motor to be embedded in. The output part of the second joint motor is coaxially arranged with the movable wheel and connected by screws. The motor housing of the second joint motor is connected to the lower part of the housing of the second wheel set by screws.

10. The robot with easily switchable wheel and leg structures according to claim 2, characterized in that: The main body frame is provided with a first bracket on each side, and a second bracket that rotates along a first axis and a third joint motor for driving the second bracket to rotate are provided on the first bracket. The second bracket is provided with a third bracket that rotates along a second axis and a fourth joint motor for driving the third bracket to rotate; the third bracket has the first joint docking structure formed on it. The upper part of the thigh assembly has a second joint docking structure, and the upper part of the thigh assembly is jointed with the third bracket; the joint connection between the thigh assembly and the switchable module rotates around a third axis. The first axis, the second axis, and the third axis are perpendicular to each other.

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