A highly adaptable walking mechanism for a wheel-foot mobile robot

Abstract

The present invention discloses a novel highly adaptable walking mechanism of a wheeled-foot mobile robot, comprising a base, a translation connecting rod, a driven crank, a first transmission crank, a first transmission crank extending connecting rod, a second transmission crank, a second transmission crank extending connecting rod, a triangular translation connecting rod, and a driving wheel. The robot uses fewer motor controls and can realize more functions. At the same time, the mechanism adopts a parallelogram connecting rod mechanism, which can not only improve the chassis and meet the real-time transmission of driving wheel power, but also facilitate the arrangement of the driving motor, which is more conducive to the remote transmission of higher power.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, and in particular to a highly adaptable walking mechanism of a wheel-foot mobile robot. Background Art

[0002] The walking mechanism of mobile robots can be divided into four categories: wheeled, footed, tracked, and hybrid. At present, wheeled robots still occupy a large market share of robot walking mechanisms due to their low cost, simple structure, and easy control. Tracked and footed robots often appear in various special mission environments due to their high adaptability to terrain. Hybrid robots are new mobile walking mechanisms designed by combining the advantages of wheeled, footed, and tracked robots. These mechanisms are generally powerful, but their control and structure are relatively complex. They are gradually becoming the mainstream research direction of highly adaptable robot walking mechanisms.

[0003] Unlike general wheeled walking mechanisms, hybrid walking terrains are mostly complex road conditions such as mountains, swamps, gravel, stairs, etc., which are not flat or sloped. The development of mobile robots in the future must not be limited to general roads such as flat and sloped roads. With the development of mobile communications 5G and artificial intelligence, one of the difficulties of mobile robots: trajectory planning and navigation positioning will be well solved. With the positioning of powerful background control algorithms and the cooperation of some sensors, the range of mobile robot activity trajectories will have a qualitative leap. Mobile robots will no longer be limited to activities in a single venue. For example, food delivery robots will no longer only appear in restaurants, but may appear directly at the doorstep. So in summary, the highly adaptable walking mechanism of mobile robots will have a lot of room for development in the future, and the requirements for the highly adaptable walking mechanism of mobile robots are becoming more and more abundant and strict.

[0004] In recent decades, the types of highly adaptable walking mechanisms have become increasingly diverse. Highly adaptable walking mechanisms can be divided into the following categories based on their composition:

[0005] The first type is a highly adaptable walking mechanism based on single-track, double-track or multi-track, such as a single-track firefighting robot used at a fire scene, or a multi-track rescue robot with good adaptability in desert and swamp environments.

[0006] The second type is a wheel-track conversion (composite) highly adaptable walking mechanism based on a deformable wheel structure. The characteristic of this structure is that it uses the wheel-track structure conversion and the form of wheels with different functions to make the mechanism suitable for two or more different environments, thus achieving a certain degree of adaptability.

[0007] The third type is a highly adaptable walking mechanism based on wheel-foot / wheel-leg. This type of walking mechanism is used for different terrains according to the different structures of the wheel-leg parts, and its structure is also more complex. However, due to the advantage of the connecting rod mechanism being lighter than the same type of highly adaptable walking mechanism, it is also often used in various special working occasions, such as lunar rovers, Mars rovers, climbing robots, etc.

[0008] Compared with the crawler-based high-adaptability walking mechanism currently on the market, the wheel-foot walking mechanism is lighter and more flexible. Compared with the wheel-track conversion (composite) high-adaptability walking mechanism based on the deformable wheel structure, the wheel-foot walking mechanism has a higher adaptability to the terrain and is more versatile. However, the existing wheel-foot walking mechanism (such as Fig.17 As shown in the figure, due to the relatively complex motion trajectory of the connecting rod, only a motor can be installed next to the wheel as a drive. A large number of motors are required and the layout is inconvenient. Summary of the invention

[0009] In view of this, the technical problem to be solved by the present invention is to provide a new type of highly adaptable walking mechanism for a wheeled mobile robot, which uses less motor control and can achieve more functions. At the same time, the mechanism adopts a parallelogram linkage mechanism, which not only improves the chassis and meets the real-time transmission of driving wheel power, but also facilitates the arrangement of the driving motor and is more conducive to the remote transmission of higher power.

[0010] The specific technical solution adopted by the present invention is:

[0011] A highly adaptable walking mechanism of a wheel-footed mobile robot comprises a base, a translation connecting rod, a driven crank, a first transmission crank, a first transmission crank extension connecting rod, a second transmission crank, a second transmission crank extension connecting rod, a triangular translation connecting rod, and a driving wheel, wherein a stepping motor, a DC motor and a plurality of bearing seats are installed on the base, a universal wheel is installed on the front lower end of the translation connecting rod, a plurality of bearings are installed on the translation connecting rod, one end of the driven crank is connected to the bearing seat, and the other end is connected to the translation connecting rod through a bearing provided on the translation connecting rod; a crawling end pinion is connected to the output shaft of the DC motor, and a gear box shaft is also installed on the base, one end of the gear box shaft is connected to a crawling end large gear, and the other end is connected to the first transmission crank through a bearing provided on the bearing seat, and the crawling end pinion is meshed with the crawling end large gear; the first transmission The movable crank passes through the bearing provided on the translation connecting rod and is connected with the first transmission crank extending connecting rod; one end of the second transmission crank is connected with the bearing seat, and the other end passes through the bearing provided on the translation connecting rod and is connected with the second transmission crank extending connecting rod. The first transmission crank extending connecting rod and the second transmission crank extending connecting rod are both connected with the triangular translation connecting rod, and a driven wheel is installed at the lower end of the triangular translation connecting rod; a driving end pinion is connected to the output shaft of the stepping motor, and a driving end shaft is also installed on the translation connecting rod. One end of the driving end shaft is connected to the driving end large gear, and the other end passes through the translation connecting rod and is connected to a small pulley. The driving wheel is installed at the rear lower end of the translation connecting rod, and the driving wheel shaft of the driving wheel passes through the translation connecting rod and is connected to the large pulley. The small pulley is connected to the large pulley through a synchronous belt, and the driving end pinion is meshed with the driving end large gear.

[0012] Preferably, the driving end shaft and the driving wheel shaft of the driving wheel are both provided with bearings and are mounted on the translation connecting rod through the bearings.

[0013] Preferably, the center distance between the connection positions at both ends of the transmission crank is equal to the center distance between the connection positions at both ends of the driven crank, and the center distance between the connection positions at both ends of the transmission crank is equal to the distance from the center of the driving end large gear to the center of the driving end small gear; the center distance between the connection positions at both ends of the transmission crank extension connecting rod is twice the center distance between the connection positions at both ends of the transmission crank. On this basis, the driven crank, the translation connecting rod, the base, and the first transmission crank are combined into a second parallelogram mechanism. Similarly, on this basis, the translation connecting rod, the first transmission crank extension connecting rod, the second transmission crank extension connecting rod, and the triangular translation connecting rod are combined into a third parallelogram mechanism.

[0014] Preferably, the structure of the translation connecting rod is similar to a lattice structure.

[0015] Preferably, the first transmission crank is connected to the first transmission crank extending connecting rod, and the same second transmission crank is connected to the second transmission crank extending connecting rod, and relative rotation is limited by a key connection, and axial displacement is limited by a sleeve, so as to be combined into a device similar to a crankshaft.

[0016] Preferably, the first transmission crank extending connecting rod, the second transmission crank extending connecting rod and the triangular translation connecting rod are connected by a connection method of plug screws and nuts; the second transmission crank, the driven crank and the bearing seat are connected by a connection method of plug screws and nuts.

[0017] More preferably, the screw is a plug screw.

[0018] Preferably, reinforcing ribs are provided under the base; reinforcing ribs are provided on the driven crank, the first transmission crank, the first transmission crank extending connecting rod, the second transmission crank, and the second transmission crank extending connecting rod.

[0019] Preferably, the output shaft of the DC motor is connected to the creeping end pinion by an expansion ring; the output shaft of the stepper motor is connected to the driving end pinion by an expansion ring.

[0020] The beneficial effects of the present invention are:

[0021] First, the present invention has a simple structure. Compared with the existing walking mechanism, the mechanism uses the low energy consumption characteristics of the wheel-foot type and the middle wheel type, which can greatly reduce the energy consumption of general movement on flat ground. Compared with the common wheel-foot walking mechanism, the mechanism uses fewer motors to save costs and is relatively simple to control.

[0022] Second: The design of multiple parallelogram linkage mechanisms in space makes the walking mechanism have a higher chassis, and it also has a great advantage over the existing wheel-foot mechanism drive motor directly drive the wheel structure. Generally, the wheel-foot mechanism is directly driven by a common motor, the motor selection is limited, the drive power is small, and the drive motor is difficult to arrange. The transmission design of this walking mechanism is conducive to the transmission of higher power.

[0023] Third: The posture and center of gravity of the mechanism can be controlled by controlling the parallelogram linkage mechanism, making the mechanism more adaptable to the terrain.

[0024] Fourth: By controlling the movement of the connecting rod of the mechanism, it can cross most of the terrains of human urban life, including stairs, high platforms, etc. And the obstacle-crossing ability of the mechanism's climbing mode is stronger than most walking mechanisms on the market. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a highly adaptable walking mechanism;

[0026] Figure 2 for Figure 1 The main view;

[0027] Figure 3 for Figure 1 A top view of

[0028] Figure 4 It is the structural schematic diagram of the translation connecting rod;

[0029] Figure 5 is a structural schematic diagram of a driven crank;

[0030] Figure 6 It is a structural schematic diagram of a transmission crank;

[0031] Figure 7 It is a structural schematic diagram of the transmission crank extending connecting rod;

[0032] Figure 8 It is a structural schematic diagram of a triangular translation connecting rod;

[0033] Fig. 9 It is a schematic diagram of the structure of the gearbox shaft;

[0034] Fig.10 It is a structural schematic diagram of the drive end shaft;

[0035] Fig.11 is a schematic structural diagram of a driving wheel shaft of a driving wheel;

[0036] Fig.12 is the quadrant angle description of the transmission crank;

[0037] Fig.13 It is a simplified diagram of the parallelogram mechanism structure in the four-wheel drive mode;

[0038] Fig.14 This is a structural diagram of the highly adaptable walking mechanism in the crawling obstacle crossing mode;

[0039] Fig.15 The crawling diagram of the highly adaptable walking mechanism in the crawling obstacle crossing mode;

[0040] Fig.16 It is a schematic diagram of the obstacle crossing of the highly adaptable walking mechanism in the climbing mode;

[0041] Fig.17 The existing wheel-foot walking mechanism described in the background technology;

[0042] In the figure: 1. driven crank; 2. bearing support; 3. DC motor; 4. creeping end small gear; 5. creeping end large gear; 61. first transmission crank extending connecting rod; 62. second transmission crank extending connecting rod; 71. first transmission crank; 72. second transmission crank; 8. triangular translation connecting rod; 9. driving end large gear; 10. driving end small gear; 11. universal wheel; 12. translation connecting rod; 13. driven wheel; 14. small pulley; 15. driving wheel; 16. large pulley; 17. stepping motor; 18. base. DETAILED DESCRIPTION

[0043] In order to explain the technical content, structural features, achieved objectives and effects of the technical solution in detail, the following is a detailed description in conjunction with specific embodiments and accompanying drawings.

[0044] See also Figure 1-3 This embodiment discloses a highly adaptable walking mechanism of a wheeled mobile robot, including a base 18, a translation connecting rod 12 ( Figure 4 , the structure of the translation connecting rod is similar to the lattice structure), the driven crank 1 ( Figure 5 )、The first transmission crank 71( Figure 6 ), the first transmission crank extension connecting rod 61 ( Figure 7 )、The second transmission crank 72 ( Figure 6 ), the second transmission crank extension connecting rod 62 ( Figure 7 )、Triangular translation connecting rod 8( Figure 8 ), driving wheel 15, a stepper motor 17, a DC motor 3 and a plurality of bearing seats are installed on the base 18, a universal wheel 11 is installed at the front lower end of the translation connecting rod 12 (the existing connection method is adopted, and the present embodiment will not be described in detail), a plurality of bearings are installed on the translation connecting rod 12, one end of the driven crank 1 is connected to the bearing seat by a plug screw plus a nut, and the other end passes through the bearing provided on the translation connecting rod 12 and is connected to the translation connecting rod 12 (with a shaft elastic retaining ring for limiting); the output shaft of the DC motor 3 is connected to the creeping end pinion 4, and the output shaft of the DC motor 3 is connected to the creeping end pinion 4 by an expansion ring, and the gear box shaft ( Fig. 9), one end of the gearbox shaft is connected to the creeping end gear 5, and the other end is connected to the first transmission crank 71 through the bearing provided on the bearing seat, and the creeping end pinion 4 is meshed with the creeping end gear 5; the first transmission crank 71 is connected to the first transmission crank extension connecting rod 61 through the bearing provided on the translation connecting rod 12; one end of the second transmission crank 72 is connected to the bearing seat, and the other end is connected to the second transmission crank extension connecting rod 62 through the bearing provided on the translation connecting rod 12, the first transmission crank extension connecting rod 61 and the second transmission crank extension connecting rod 62 are both connected to the triangular translation connecting rod 8 (connected by a plug screw plus a nut), and a driven wheel is installed at the lower end of the triangular translation connecting rod 8 (using the existing connection method, which is not described in detail in this embodiment); the output shaft of the stepping motor 17 is connected to the driving end pinion 10, and the output shaft of the stepping motor 17 is connected to the driving end pinion 10 by a tightening ring, and the driving end shaft is also installed on the translation connecting rod 12 ( Fig.10 ), a bearing is provided on the driving end shaft and is installed on the translation connecting rod 12 through the bearing, one end of the driving end shaft is connected to the driving end large gear 9, and the other end passes through the translation connecting rod 12 and is connected to the small pulley 14, the driving wheel 15 is installed at the rear lower end of the translation connecting rod 12, the driving wheel shaft of the driving wheel 15 passes through the translation connecting rod 12 and is connected to the large pulley 16, the driving wheel shaft of the driving wheel 15 ( Fig.11 ) is provided with a bearing and is installed on the translation connecting rod 12 through the bearing. The small pulley 14 is connected to the large pulley 16 through a synchronous belt, and the driving end small gear 10 is meshed with the driving end large gear 9.

[0045] In this embodiment, the center distance between the connecting positions at both ends of the transmission crank is equal to the center distance between the connecting positions at both ends of the driven crank 1, and the center distance between the connecting positions at both ends of the transmission crank is equal to the distance from the center of the driving end large gear 9 to the center of the driving end small gear 10; the center distance between the connecting positions at both ends of the transmission crank extension connecting rod is twice the center distance between the connecting positions at both ends of the transmission crank. The base, the first transmission crank, the second transmission crank, and the translation connecting rod are combined into a parallelogram mechanism. On this basis, the driven crank, the translation connecting rod, the base, and the first transmission crank are combined into a second parallelogram mechanism. Similarly, on this basis, the translation connecting rod, the first transmission crank extension connecting rod, the second transmission crank extension connecting rod, and the triangular translation connecting rod are combined into a third parallelogram mechanism. The driving wheel power transmission mode of the entire highly adaptable walking mechanism is a power transmission mode in which the position of the driving source is constantly changing, the vertical transmission distance is long, and the power is transmitted through external gears and synchronous pulleys.

[0046] As a preferred solution of this embodiment, reinforcing ribs are provided under the base 18; reinforcing ribs are provided on the driven crank 1, the first transmission crank 71, the first transmission crank extending connecting rod 61, the second transmission crank 72, and the second transmission crank extending connecting rod 62.

[0047] The highly adaptable walking mechanism provided in this embodiment has a transmission route divided into a driving part controlled by a stepper motor and a crawling part controlled by a DC motor when working. Each part will produce different functions when the walking chassis walks in different ways.

[0048] The driving part is responsible for the main power output. The driving force is generated by the stepper motor, which is transmitted from the small gear at the driving end to the large gear at the driving end, and then transmitted to the small pulley through the shaft, and then transmitted from the small pulley to the large pulley through the synchronous belt, and the large pulley transmits the power to the driving wheel through the shaft. Steering is completed by two stepper motors controlling different speeds.

[0049] The control part is mainly controlled by a DC motor. The power is generated by a stepper motor and transmitted to the small gear at the crawling end through a tightening ring connection; after a first-stage reduction in meshing with the large gear at the crawling end, it is transmitted to the first transmission crank through a shaft and a key; the first transmission crank is then connected to the first transmission crank extension connecting rod through a shaft and a key, and then transmitted to the triangular translation connecting rod, the second transmission crank extension connecting rod, and the second transmission crank in turn. At this time, the transmission crank and the transmission crank extension connecting rod are fixed into a part similar to a crankshaft. At the same time, the power of the transmission crank is also transmitted to the translation connecting rod by passing through the bearing. If the base is assumed to be a fixed frame, the translation connecting rod can perform translational motion.

[0050] At the same time, for the convenience of explanation, Fig.12 As shown, Fig.12 The movement of the transmission crank is represented by the position of the transmission crank, such as Fig.12 The transmission crank position shown is in the third quadrant (the upper right is the first quadrant, the upper left is the second quadrant, the lower left is the third quadrant, and the lower right is the fourth quadrant), and the quadrant angle is 225°.

[0051] When the terrain is mainly open and flat, the chassis can be driven mainly in four-wheel drive mode. In this mode, for the convenience of explanation, it is assumed that the drive part is not working, the drive wheel is locked, and the translation link can be regarded as a fixed frame to the ground. At this time, the output of the connecting rod mechanism power lies in the rotation of the DC motor output. Corresponding to the parallelogram mechanism, Fig.13 As shown: the translation connecting rod is the frame, the transmission crank and the transmission crank extension connecting rod are fixed into a crank, and the base is a connecting rod that performs translational motion. The DC motor rotates to adjust the position of the base, and the stepper motor rotates to drive the driving wheel to make the mechanism move forward.

[0052] When the terrain is undulating and it is difficult to drive with a conventional four-wheel drive, or the range of the four-wheel drive is limited by steps, the crawling obstacle mode can be used to pass. The crawling obstacle mode is to arrange the first and second transmission cranks on the left and the first and second transmission cranks on the right 180° apart symmetrically. Fig.14 At this time, the first and second transmission cranks on the left are in the first quadrant, and the first and second transmission cranks on the right are in the third quadrant, 180° apart. As long as the DC motor keeps rotating, the translation link / triangular translation link can be used as the frame alternately, and 3 of the 6 wheels are always supported on the ground. The state in creeping mode is as follows Fig.15 (climbing stairs) as shown.

[0053] The Climbing Obstacle Mode is generally used for terrain with small ground undulations. However, in real life, high platforms (such as 400mm above the ground) or single steps with large undulations are also very common. In this case, we can use the Climbing Mode to overcome obstacles. Fig.16 As shown in (high platform climbing), the biggest feature of the climbing mode is that different wheels are used to contact the ground through the control of the connecting rod and the center of gravity, and the support of the ground is repeatedly changed to send the wheels and the body to a higher place step by step.

[0054] Step 1 to Step 2: Preparatory action, the DC motor drives the two transmission cranks to the starting position at the same time.

[0055] From the second to the third step: the DC motor continues to drive the two transmission cranks, which drive the triangular translation connecting rod to support the base. According to the position of the center of gravity of the mechanism and the principle of leverage, the front wheel will be lifted.

[0056] Steps 3 to 4: The stepper motor rotates, driving the driving wheel to move the mechanism forward and place the front wheel on the platform.

[0057] Steps 4 to 5: The DC motor rotates to drive the triangular translational connecting rod to lift the middle wheel, and the front wheel continues to serve as support.

[0058] Steps 5 to 6: The motor continues to drive the triangular translational connecting rod to rotate the driven wheel clockwise, while the rear wheel accelerates.

[0059] Steps 6 to 7: The driven wheel is propped up clockwise. At this time, the center of gravity falls on the supporting surfaces of the front and rear wheels, so the rear wheel will be propped up.

[0060] Steps 7 to 8: After sliding forward for a distance, the motor drives the translational connecting rod to lower the driving wheel, and the climbing is completed.

[0061] 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 the process, method, article or terminal 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "include..." or "comprise..." do not exclude the existence of other elements in the process, method, article or terminal device including the elements. In addition, in this article, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself.

[0062] Although the above embodiments have been described, once those skilled in the art know the basic creative concepts, they can make additional changes and modifications to these embodiments. Therefore, the above description is only an embodiment of the present invention and does not limit the patent protection scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A highly adaptable walking mechanism of a wheeled-foot mobile robot, characterized in that: The invention comprises a base, a translation connecting rod, a driven crank, a first transmission crank, a first transmission crank extending connecting rod, a second transmission crank, a second transmission crank extending connecting rod, a triangular translation connecting rod and a driving wheel, wherein a stepping motor, a DC motor and a plurality of bearing seats are installed on the base, a universal wheel is installed on the front lower end of the translation connecting rod, a plurality of bearings are installed on the translation connecting rod, one end of the driven crank is connected to the bearing seat, and the other end is connected to the translation connecting rod through the bearing provided on the translation connecting rod; a crawling end pinion is connected to the output shaft of the DC motor, a gear box shaft is also installed on the base, one end of the gear box shaft is connected to the crawling end large gear, and the other end is connected to the first transmission crank through the bearing provided on the bearing seat, and the crawling end pinion is meshed with the crawling end large gear; the first transmission crank passes through the A bearing is provided and connected with the first transmission crank extending connecting rod; one end of the second transmission crank is connected with the bearing seat, and the other end passes through the bearing provided on the translation connecting rod and is connected with the second transmission crank extending connecting rod. The first transmission crank extending connecting rod and the second transmission crank extending connecting rod are both connected with the triangular translation connecting rod, and a driven wheel is installed at the lower end of the triangular translation connecting rod; a driving end pinion is connected to the output shaft of the stepping motor, and a driving end shaft is also installed on the translation connecting rod, one end of the driving end shaft is connected to the driving end large gear, and the other end passes through the translation connecting rod and is connected to a small pulley, and the driving wheel is installed at the rear lower end of the translation connecting rod, and the driving wheel shaft of the driving wheel passes through the translation connecting rod and is connected to the large pulley, the small pulley is connected to the large pulley by a synchronous belt, and the driving end pinion is meshed with the driving end large gear.

2. According to claim 1, a highly adaptable walking mechanism of a wheeled-foot mobile robot is characterized in that: The driving end shaft and the driving wheel shaft of the driving wheel are both provided with bearings and are mounted on the translation connecting rod through the bearings.

3. The highly adaptable walking mechanism of a wheeled-foot mobile robot according to claim 1, characterized in that: The center distance between the connection positions at both ends of the transmission crank is equal to the center distance between the connection positions at both ends of the driven crank, and the center distance between the connection positions at both ends of the transmission crank is equal to the distance from the center of the large gear at the driving end to the center of the small gear at the driving end; the center distance between the connection positions at both ends of the transmission crank's extended connecting rod is twice the center distance between the connection positions at both ends of the transmission crank.

4. A highly adaptable walking mechanism of a wheeled-foot mobile robot according to claim 1, 2 or 3, characterized in that: The structure of the translation connecting rod is similar to a lattice structure.

5. The highly adaptable walking mechanism of a wheeled-foot mobile robot according to claim 1, 2 or 3, characterized in that: The first transmission crank is connected to the first transmission crank extending connecting rod, and the second transmission crank is connected to the second transmission crank extending connecting rod, and they are combined into a device similar to a crankshaft.

6. A highly adaptable walking mechanism of a wheeled-legged mobile robot according to claim 1, 2 or 3, characterized in that: The first transmission crank extending connecting rod, the second transmission crank extending connecting rod and the triangular translation connecting rod are connected by a connection method of plug screws and nuts; the second transmission crank, the driven crank and the bearing seat are connected by a connection method of plug screws and nuts.

7. The highly adaptable walking mechanism of a wheeled-foot mobile robot according to claim 6, characterized in that: The screw is a plug screw.

8. The highly adaptable walking mechanism of a wheeled-foot mobile robot according to claim 1, 2 or 3, characterized in that: Reinforcing ribs are arranged under the base; reinforcing ribs are arranged on the driven crank, the first transmission crank, the first transmission crank extending connecting rod, the second transmission crank, and the second transmission crank extending connecting rod.

9. A highly adaptable walking mechanism of a wheeled-foot mobile robot according to claim 1, 2 or 3, characterized in that: The output shaft of the DC motor is connected to the creeping end pinion by an expansion ring; the output shaft of the stepping motor is connected to the driving end pinion by an expansion ring.

Images