Wheel-legged robot with ultra-lightweight wheel legs

Abstract

The present invention proposes a wheel-legged robot with ultra-lightweight, which is used to solve the problem that the leg structure of the existing wheel-legged robot is relatively complex and heavy. The wheel-legged robot mainly includes a trunk frame, a parallel leg mechanism and wheels, wherein the parallel leg mechanism is similar to a five-bar mechanism, mainly including leg bones, synchronous belts, pulleys, tensioning wheels and pressure pulleys; on the one hand, the motor of the trunk drives the synchronous belt transmission to output power to realize the rotation of the wheel; on the other hand, the motor of the trunk drives the rotation of the leg bones to realize motion control. The most important feature of the wheel-legged robot is that the leg structure adopts a synchronous belt transmission method, which is different from the use of a hub motor, which greatly reduces the leg mass and can move on a road surface with deep wading. It has a compact structure and agile movement. At the same time, it can easily replace different types of wheels to meet various complex movement environments, and has good stability.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and mainly to the design of a wheel-legged robot with ultra-lightweight wheel legs. Background Art

[0002] At present, common robots are mainly divided into wheeled robots, tracked robots, legged robots, wheel-legged robots, etc. Wheeled robots achieve movement through the continuous rolling of wheels and are mainly used on relatively flat ground, such as tracks and flat horizontal roads; but for some more complex road surfaces, such as ruins and stairs, the movement of wheeled robots will be limited. Compared with wheeled robots, bipedal robots have better adaptability to the environment. By imitating the movement of humans to achieve their own movement process, some human movement characteristics are added to the robot, making the movement of bipedal robots closer to humans, and meeting the needs of bipedal robots to adapt to human living and working environments. Bipedal wheel-legged robots combine the high speed and efficiency of wheeled robots with the strong adaptability of legged robots to complex terrain, enabling robots to move quickly on flat ground using wheeled movement, and at the same time improve their movement ability and obstacle crossing ability in the face of more complex environmental roads. Based on such functions and characteristics, higher requirements are placed on the leg design of the robot. The leg design needs to be ultra-lightweight to meet the maneuverability and flexibility of leg movement, and to be able to respond quickly when facing different environments. Summary of the invention

[0003] The purpose of the present invention is to provide a wheel-legged robot with ultra-lightweight wheel legs, whose legs are ultra-lightweight, compact in structure, high in speed, and have good adaptability and flexibility to complex terrain. The main parts of the wheel-legged robot are: a trunk frame, a parallel leg mechanism and wheels; the trunk frame includes a motor and a controller, and the parallel leg mechanism includes leg bones, synchronous belts, pulleys, tensioning wheels, and pressure pulleys; the motor drives the synchronous belt transmission to achieve power output, and the motor drives the rotation of the leg bones to achieve motion control; the most important feature of the wheel-legged robot is that the leg structure adopts a synchronous belt transmission method, which has a compact structure, light weight, and agile movement, and can meet more complex motion environments; different from the hub motor, it can work and operate in a wading environment, and has good stability, and the size of the wheels can be changed at any time to adapt to different environments and occasions.

[0004] In order to achieve the above invention purpose, the present invention adopts the following technical solution:

[0005] A wheel-leg robot with ultra-lightweight wheel legs comprises a trunk frame, and parallel leg mechanisms are symmetrically installed on both sides of the trunk frame;

[0006] The trunk frame mainly includes 6 motors, a controller and various electrical component modules, wherein the motor is used to control the movement of the synchronous belt and the leg bones, and finally the synchronous belt transmits the output power of the motor to the wheels, and the movement of the leg bones will be controlled in different environments; the motors are installed symmetrically on the left and right sides of the trunk frame, and 3 motors are installed on each side, and two of the motors on one side of the trunk frame are connected in series through an adapter, which ensures the movement of the synchronous belt inside the leg bones and controls the movement of the leg bones at the same time;

[0007] The parallel leg mechanism adopts a five-bar mechanism, which is composed of a frame and four leg bones, and is installed symmetrically on the left and right; the connecting parts between the leg bones all contain pulleys, and the entire leg mechanism is installed with a total of 5 pulleys, two of which are installed at the output end of the motor, two are installed at the connection of the leg bones, and one is installed at the rotating shaft end of the wheel; the leg bones use a synchronous belt transmission method to transmit the power output by the motor to the wheel movement; taking the leg structure on the left side as an example, the second pulley is installed inside the connection between one end of the first leg bone and one end of the second leg bone, and the other end of the first leg bone is connected to the first motor, and the first pulley is installed inside it; the third pulley is installed at the connection between the other end of the second leg bone and one end of the third leg bone, and the third pulley is connected to the wheel for synchronous rotation, and the fourth pulley is installed at the connection between the other end of the third leg bone and one end of the fourth leg bone, and the other end of the fourth leg bone is connected to the third motor, and the fifth pulley is installed inside it; the synchronous belt starts from the first pulley, passes through the second pulley, the third pulley and the fourth pulley in sequence, goes around to the fifth pulley, and then returns to the first pulley;

[0008] The first motor and the second motor control the rotation of the first pulley and the fifth pulley respectively, and the synchronous belt transmission and the rotation of the pulley make the wheel rotate; the third motor controls the movement of the fourth leg bone to achieve the change of the posture of the leg part and perform motion control at the same time; the first motor and the third motor have an axial series connection mode, firstly, the output end of the third motor is fixedly installed with the first motor through the adapter, and the output end of the first motor is fixedly connected to the first pulley, and the transmission principle is:

[0009] The third motor drives the movement of the first motor and the first leg bone, and the rotation of the output end of the first motor drives the movement of the synchronous belt; in the synchronous belt transmission, the positions of the tensioning mechanism and the pressure pulley need to be considered, and the tensioning pulley is used to keep the synchronous belt from loosening, and the pressure pulley is provided to increase the wrap angle of the pulley; the installation position of the tensioning pulley is located in the middle position of the synchronous belt transmission between the first pulley and the fifth pulley; the tensioning pulley mechanism mainly includes a pressure pulley bracket, a torsion spring bracket, a torsion spring, a torsion spring rotating shaft, a torsion spring rotating part, and a pressure pulley; the pressure pulley bracket is installed on the trunk frame and fixedly connected by bolts, and then the torsion spring bracket, the torsion spring and the torsion spring rotating shaft are installed in sequence, and finally the torsion spring rotating part and the pressure pulley are installed.

[0010] Preferably, a dust cover is also provided, which encapsulates the motor, the controller and various electrical component modules to form a sealed electrical box housing.

[0011] Preferably, the belt pressure roller bracket includes a first belt pressure roller bracket, a second belt pressure roller bracket and a third belt pressure roller bracket that are fixedly connected. The third belt pressure roller bracket is fixedly connected to the second belt pressure roller bracket and is fixedly connected to the first belt pressure roller bracket to form a fixed bracket of the belt pressure roller, which is used to fix the position of the rotating shaft of the belt pressure roller.

[0012] Preferably, the parallel leg mechanism always remains in one plane during the linear motion; when the robot is upright, the center of mass of the entire robot and the center of the wheel hub motor are connected to form a virtual straight line; when the entire robot moves up and down, the up and down motion is achieved by controlling the rotation of the leg bones through the motor, so that the motion trajectory of the center of mass of the entire robot is kept in the same straight line as much as possible with the virtual straight line; when turning, the turning process is achieved by controlling the different rotation angles of the motors of the left and right leg bones.

[0013] Preferably, in order to increase the wrap angle, a belt pressure wheel is installed inside the leg bone, and the installation position is between two belt wheels and close to the belt wheels. A tensioning mechanism is used between the two belt wheels at the motor end to increase the wrap angle.

[0014] The trunk frame of the present invention includes a motor and a controller, and a parallel leg mechanism symmetrically installed on both sides of the frame; the motors are symmetrically installed on the left and right sides of the frame, and a total of six motors are installed, three on each side; of the three motors on one side, two motors provide power for the movement of the synchronous belt, and the other motor drives the movement of the leg bone to control the movement. The leg adopts synchronous belt transmission to greatly reduce the weight of the leg. In the synchronous belt transmission, the position of the tensioning mechanism and the pressure wheel needs to be considered. The tensioning wheel is used to keep the synchronous belt from loosening, and the pressure wheel increases the wrap angle of the pulley; the installation position of the tensioning wheel is located at the middle position of the synchronous belt transmission between the pulley 1 and the pulley 5; the tensioning wheel mechanism mainly includes a pressure wheel bracket, a torsion spring bracket, a torsion spring, a torsion spring rotating shaft, a torsion spring rotating part, and a pressure wheel; the pressure wheel bracket is installed on the trunk frame, fixedly connected by bolts, and then the torsion spring bracket and the torsion spring are installed in sequence, and finally the torsion spring rotating part and the pressure wheel are installed. The installation method of the present invention, wherein two motors controlling the movement of the first leg bone and the pulley are connected in series and fixedly connected by an adapter, can simultaneously control the movement of the synchronous belt and the first leg bone. The present invention uses a parallel motion mechanism, and the joints between the leg bones all contain pulleys. A total of 5 pulleys are installed in the entire leg mechanism, two of which are installed at the output end of the motor, two are installed at the connection of the leg bones, and one is installed at the rotating shaft end of the wheel.

[0015] In the design and installation of the pressure pulley and the belt pulley, the sizes and types of all the belt pulleys are the same, and the installation positions are different. Two are placed and installed at the output end of the motor, and the other three are installed at the connection between the leg bones. One of them is installed at the connection of the wheel to output the power transmitted by the motor. In order to increase the wrap angle, it is necessary to add a pressure pulley between the two belt pulleys. A tensioning mechanism is used between the two belt pulleys at the motor end to increase the wrap angle, and a small pressure pulley is installed near the belt pulley in the synchronous belt drive inside the leg bone to reduce the transmission ratio, increase friction, and improve the carrying capacity.

[0016] Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant advantages:

[0017] 1. The wheel-legged robot of the present invention has ultra-lightweight legs, compact structure, high speed, and good adaptability and flexibility to complex terrain;

[0018] 2. The present invention adopts a small belt-pressing pulley mechanism in the transmission inside the leg bone, and fixes it near the pulley to increase the wrap angle and friction force, thereby improving the transmission efficiency;

[0019] 3. The invention has the advantage that the legs adopt a synchronous belt transmission mode, which avoids the situation that the legs are heavy due to the use of wheel hub motors, and can be applied to different environments and more complex environments; in addition, the wheel-legged robot can move on wading roads, and the size of the wheels can be changed at any time to meet different needs;

[0020] 4. The most important feature of the wheel-legged robot of the present invention is that the leg structure adopts a synchronous belt drive method, which is different from the use of hub motors. The leg mass is greatly reduced, and it can move on roads with deep water. It has a compact structure and agile movement. At the same time, different types of wheels can be easily replaced to meet various complex movement environments, and it has good stability performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a wheel-legged robot with quantized wheel-legs according to a preferred example of the present invention.

[0022] Figure 2 for Figure 1 Front view of .

[0023] Figure 3 for Figure 1 Side view of.

[0024] Figure 4 for Figure 1 Top view of the .

[0025] Figure 5 This is a schematic diagram of the structure of the tightening mechanism of the present invention according to a preferred example of the present invention.

[0026] Figure 6 It is a schematic diagram of the internal structure of the parallel leg mechanism of a preferred example of the present invention.

[0027] Among them, 1. the second motor; 2. the first motor; 3. the dust cover; 4. the third motor; 5. the fourth leg bone; 6. the third leg bone; 7. the wheel; 9. the trunk frame; 10. the first pressure roller bracket; 11. the second pressure roller bracket; 12. the bolt; 13. the tensioning wheel; 14. the synchronous belt; 15. the pressure roller; 16. the rotating shaft; 17. the torsion spring bracket; 18. the torsion spring rotating shaft; 19. the third pressure roller bracket; 23. the first pulley; 24. the first leg bone; 26. the second pulley; 27. the synchronous belt; 28. the second leg bone; 31. the fourth pulley; 33. the fifth pulley. DETAILED DESCRIPTION

[0028] In order to more clearly demonstrate the technology and method of the embodiments of the present disclosure, as well as the related advantages, the contents of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] The technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The words "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] According to the different modes of movement, mobile robots are divided into: wheeled robots, legged robots, tracked robots, snake robots, crawling robots, etc. Different types of robots are used in different occasions and adapt to different environments. Wheeled robots rely on rolling wheels to achieve movement, which is suitable for flat roads and has good stability, but its obstacle crossing performance is insufficient. Legged robots rely on movements similar to those of human or animal feet to achieve movement. They achieve their own movement process by imitating the movement of humans, and add some human movement characteristics to the robot, making the movement of bipedal robots closer to humans, satisfying the need for bipedal robots to adapt to human living and working environments.

[0031] Embodiment 1

[0032] In this embodiment, an ultra-lightweight wheel-legged robot comprises a trunk frame 9, and parallel leg mechanisms are symmetrically installed on both sides of the trunk frame 9;

[0033] The trunk frame 9 mainly includes 6 motors, a controller and various electrical component modules, wherein the motor is used to control the movement of the synchronous belt and the leg bone, and finally the synchronous belt transmits the output power of the motor to the wheel 7, and the movement of the leg bone will be controlled under different environments; the motors are installed symmetrically on the left and right sides of the trunk frame 9, and 3 motors are installed on each side of the trunk frame 9, and two of the motors on one side of the trunk frame 9 are connected in series through an adapter, which ensures the movement of the synchronous belt inside the leg bone and controls the movement of the leg bone at the same time;

[0034] The parallel leg mechanism adopts a five-bar mechanism, which is composed of a frame and four leg bones, which are installed symmetrically on the left and right; the joints between the leg bones all contain pulleys, and the entire leg mechanism is installed with a total of 5 pulleys, two of which are installed at the output end of the motor, two are installed at the connection of the leg bones, and one is installed at the rotating shaft end of the wheel; the leg bones use a synchronous belt 27 to transmit the power output by the motor to the wheel 7 for movement; taking the leg structure on the left side as an example, a second pulley 26 is installed inside the connection between one end of the first leg bone 24 and one end of the second leg bone 28, and the first leg bone The other end of 24 is connected to the first motor 2, and the first pulley 23 is installed inside the first motor 2; the third pulley is installed at the connection between the other end of the second leg bone 28 and one end of the third leg bone 6, and the third pulley is connected to the wheel 7 for synchronous rotation; the fourth pulley 31 is installed at the connection between the other end of the third leg bone 6 and one end of the fourth leg bone 5, and the other end of the fourth leg bone 5 is connected to the third motor 4, and the fifth pulley 33 is installed inside the third motor 4; the synchronous belt 27 starts from the first pulley 23, passes through the second pulley 26, the third pulley and the fourth pulley 31 in sequence, goes around to the fifth pulley 33, and then returns to the first pulley 23;

[0035] The first motor 2 and the second motor 1 respectively control the rotation of the first pulley 23 and the fifth pulley 33, and the synchronous belt 27 drives the rotation of the pulleys, so that the wheel 7 performs a rotational motion; the third motor 4 controls the movement of the fourth leg bone 5 to achieve the change of the posture of the leg part and perform motion control at the same time; the first motor 2 and the third motor 4 have an axial series connection mode, firstly, the output end of the third motor 4 is fixedly installed with the first motor 2 through the adapter, and the output end of the first motor 2 is fixedly connected to the first pulley 23, and its transmission principle is: the third motor 4 drives the movement of the first motor 2 and the first leg bone 24;

[0036] The output end of the first motor 2 rotates to drive the movement of the synchronous belt 27; in the synchronous belt transmission, the positions of the tensioning mechanism and the pressure pulley need to be considered, and the tensioning pulley 13 is used to keep the synchronous belt from loosening, and the pressure pulley 15 is provided to increase the wrap angle of the pulley; the installation position of the tensioning pulley 13 is located in the middle position of the synchronous belt transmission between the first pulley 23 and the fifth pulley 33; the tensioning pulley mechanism mainly includes a pressure pulley bracket, a torsion spring bracket 17, a torsion spring, a torsion spring rotating shaft 18, a torsion spring rotating member, and a pressure pulley 15; the pressure pulley bracket is installed on the trunk frame 9, fixedly connected by bolts 12, and then the torsion spring bracket 17, the torsion spring and the torsion spring rotating shaft 18 are installed in sequence, and finally the torsion spring rotating member and the pressure pulley 15 are installed.

[0037] This embodiment provides a wheel-legged robot with ultra-lightweight wheel legs. Its legs are ultra-lightweight, compact, high-speed, and have good adaptability and flexibility to complex terrain. The main parts of the wheel-legged robot are: a trunk frame, a parallel leg mechanism, and wheels; the trunk frame includes a motor and a controller, and the parallel leg mechanism includes a leg bone, a synchronous belt, a pulley, a tensioning wheel, and a pressure pulley; the synchronous belt transmission is driven by a motor to achieve power output, and the rotation of the leg bone is driven by a motor to achieve motion control.

[0038] Combine the following Figure 1 and Figure 6 As shown, the wheel-legged robot with ultra-lightweight wheel legs provided in this embodiment is described, which includes a trunk frame and a parallel leg mechanism with a synchronous belt drive method installed on the trunk frame.

[0039] like Figure 1 The figure shows the overall structure schematic diagram of the wheel-legged robot with ultra-lightweight wheel-legs provided by an embodiment of the present invention. The trunk frame includes a motor and a controller, as well as parallel leg mechanisms symmetrically installed on both sides of the frame. The motors are symmetrically installed on the left and right sides of the frame, and a total of six motors are installed, three on each side; of the three motors on one side, two motors provide power for the movement of the synchronous belt, and the other motor drives the movement of the leg bones for motion control. The advantage of this implementation is that, unlike the hub motor, all motors are installed in the trunk frame part, which greatly reduces the mass part of the leg, and the output power is transmitted to the wheels through the transmission method of the synchronous belt, and the wheels can run in a wading environment. The motor is fixed to the trunk by bolt connection, and two motors are connected in series through adapters.

[0040] like Figure 2 , Figure 3The figure shows the side view and top view of the wheel-legged robot with ultra-lightweight wheel legs. The parallel leg mechanism always remains in one plane during the linear motion. When the robot is upright, the center of mass of the entire robot and the center of the wheel hub motor form a virtual straight line; when the entire robot is doing pure up and down motion, the motor controls the rotation of the leg bones to achieve up and down motion, so that the motion trajectory of the center of mass of the entire robot is kept in the same straight line as much as possible with the virtual straight line. When turning, the turning process is achieved by controlling the different angles of rotation of the left and right leg bone motors.

[0041] The ultra-lightweight parallel leg mechanism of the robot in this embodiment is similar to a five-bar mechanism, which consists of a frame and four leg bones, which are symmetrically installed on the left and right. The leg bones use a synchronous belt transmission method to transmit the power output by the motor to the wheel movement; taking the leg structure on the left side as an example, a pulley 2 is installed inside the connection between the first leg bone and the second leg bone, and the other end of the first leg bone is connected to the motor 1, and the pulley 1 is installed inside it; the pulley 3 and the wheel are respectively installed at the connection between the other end of the second leg bone and the third leg bone, and the pulley 4 is installed at the connection between the other end of the third leg bone and the fourth leg bone, and the other end of the fourth leg bone is connected to the motor 3, and the pulley 5 is installed inside it; the synchronous belt goes from pulley 1 to pulley 5, and then returns to pulley 1. Motor 1 and motor 2 control the rotation of pulley 1 and pulley 5 respectively, and the rotation of the synchronous belt and the pulley makes the wheel rotate; motor 3 controls the movement of the first leg bone to achieve changes in the posture of the leg part and perform motion control at the same time; motor 1 and motor 3 are connected in series. First, the output end of motor 3 is fixedly installed with motor 1 through an adapter, and the output end of motor 1 is fixedly connected to pulley 1. The transmission principle is that motor 3 drives the movement of motor 1 and the first leg bone, and the rotation of the output end of motor 1 drives the movement of the synchronous belt.

[0042] In synchronous belt transmission, the positions of the tensioning mechanism and the pressure pulley need to be considered. The tensioning pulley is used to keep the synchronous belt from loosening, while the pressure pulley is used to increase the wrap angle of the pulley. The installation position of the tensioning pulley is located in the middle position of the synchronous belt transmission between pulleys 1 and 5. The tensioning pulley mechanism mainly includes a pressure pulley bracket, a torsion spring bracket, a torsion spring, a torsion spring rotating shaft, a torsion spring rotating part, and a pressure pulley. The pressure pulley bracket is installed on the trunk frame and fixedly connected by bolts, and then the torsion spring bracket, the torsion spring, and finally the torsion spring rotating part and the pressure pulley are installed in sequence. In the transmission inside the leg bone, a small pressure pulley mechanism is used and fixed near the pulley to increase the wrap angle and friction force and improve the efficiency of the transmission.

[0043] The wheel-legged robot with ultra-lightweight wheel legs provided in this embodiment has the combined mobility function of a wheeled robot and a footed robot. Its main advantage is that the legs adopt a synchronous belt transmission method, which avoids the situation where the leg mass is heavy due to the use of hub motors, and can be applied to different environments and more complex environments. In addition, the wheel-legged robot can move on wading roads, and the size of the wheels can be changed at any time to meet different needs.

[0044] Embodiment 2

[0045] This embodiment is basically the same as the first embodiment, except that:

[0046] In this embodiment, a dust cover 3 is provided, and the dust cover 3 encapsulates the motor, the controller, and various electrical component modules to form a sealed electrical box housing. The electrical equipment is better sealed and the electrical components are protected. The wheel-legged robot can better move on wading roads, and the size of the wheels can be changed at any time to meet different needs, thereby increasing the service life of the equipment and meeting the use requirements under complex conditions.

[0047] Embodiment 3

[0048] This embodiment is basically the same as the above embodiment, with the following features:

[0049] In this embodiment, the pinch roller bracket includes a first pinch roller bracket 10, a second pinch roller bracket 11 and a third pinch roller bracket 19 that are fixedly connected. The third pinch roller bracket 19 is fixedly connected to the second pinch roller bracket 11 and is fixedly connected to the first pinch roller bracket 10 to form a fixed bracket of the pinch roller 15, which is used to fix the position of the rotating shaft 16 of the pinch roller 15. The pinch roller bracket is used to protect the pinch roller 15 and improve the working stability of the device.

[0050] Embodiment 4

[0051] This embodiment is basically the same as the above embodiment, with the following features:

[0052] In this embodiment, the robot of this embodiment achieves balance during walking and standing by cooperating with the motor. The principle and method of balance are as follows: when the robot is standing still, the motor drives the leg bones to brake, and the motor stops the movement of the synchronous belt by controlling the synchronous belt, so that the center of mass is within the support range of the robot, and the robot can stand still; in the process of walking, the synchronous belt and the leg bones are coordinated and controlled, and the balance control algorithm is used to achieve a balanced walking posture during operation.

[0053] The above describes the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made according to the purpose of the invention. Any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention should be equivalent replacement methods. As long as they meet the purpose of the invention and do not deviate from the technical principles and inventive concepts of the present invention, they belong to the protection scope of the present invention.

Claims

1. A wheel-legged robot with ultra-lightweight wheel legs, characterized in that: It comprises a trunk frame (9), and parallel leg mechanisms are symmetrically mounted on both sides of the trunk frame (9); The trunk frame (9) includes six motors, a controller, and modules for placing various electrical components, wherein the motors are used to control the movement of the synchronous belt and the leg bones, and ultimately the synchronous belt transmits the output power of the motor to the wheel (7), while the movement of the leg bones is controlled under different environments; the motors are installed symmetrically on the left and right sides of the trunk frame (9), and three of the motors are installed on each side, and two of the motors located on one side of the trunk frame (9) are connected in series through an adapter, thereby ensuring the movement of the synchronous belt inside the leg bones and controlling the movement of the leg bones; The parallel leg mechanism adopts a five-bar mechanism, which is composed of a frame and four leg bones, which are symmetrically installed on the left and right. The joints between the leg bones all contain pulleys. The entire leg mechanism is equipped with a total of 5 pulleys, two of which are installed at the output end of the motor, two are installed at the connection of the leg bones, and one is installed at the rotating shaft end of the wheel. The leg bones use a synchronous belt (27) to transmit the power output by the motor to the wheel (7) for movement. Taking the leg structure on the left side as an example, a second pulley (26) is installed inside the connection between one end of the first leg bone (24) and one end of the second leg bone (28), and the other end of the first leg bone (24) is connected to the first motor. The machine (2) has a first pulley (23) installed inside the machine; a third pulley is installed at the connection between the other end of the second leg bone (28) and one end of the third leg bone (6), and the third pulley is connected to the wheel (7) for synchronous rotation; a fourth pulley (31) is installed at the connection between the other end of the third leg bone (6) and one end of the fourth leg bone (5); the other end of the fourth leg bone (5) is connected to the third motor (4), and a fifth pulley (33) is installed inside the third motor (4); the synchronous belt (27) starts from the first pulley (23), passes through the second pulley (26), the third pulley and the fourth pulley (31) in sequence, goes around to the fifth pulley (33), and then returns to the first pulley (23); The first motor (2) and the second motor (1) respectively control the rotation of the first pulley (23) and the fifth pulley (33), and the synchronous belt (27) drives the rotation of the pulleys, so that the wheel (7) performs a rotational motion; the third motor (4) controls the movement of the fourth leg bone (5) to achieve a change in the posture of the leg part and perform motion control at the same time; the first motor (2) and the third motor (4) have an axial series connection mode, firstly, the output end of the third motor (4) is fixedly mounted on the first motor (2) through an adapter, and the output end of the first motor (2) is fixedly connected to the first pulley (23), and the transmission principle is: the third motor (4) drives the movement of the first motor (2) and the first leg bone (24); The output end of the first motor (2) rotates to drive the synchronous belt (27) to move; in the synchronous belt transmission, the positions of the tensioning mechanism and the belt-pressing wheel need to be considered, the synchronous belt is kept from loosening by the tensioning wheel (13), and the belt-pressing wheel (15) is provided to increase the wrap angle of the belt wheel; the installation position of the tensioning wheel (13) is located at the middle position of the synchronous belt transmission between the first belt wheel (23) and the fifth belt wheel (33); the tensioning wheel mechanism includes a belt-pressing wheel bracket, a torsion spring bracket (17), a torsion spring, a torsion spring rotating shaft (18), a torsion spring rotating member, and a belt-pressing wheel (15); the belt-pressing wheel bracket is installed on the trunk frame (9) The belt-pressing roller bracket (15) is fixedly connected by bolts (12), and then the torsion spring bracket (17), the torsion spring and the torsion spring rotating shaft (18) are installed in sequence, and finally the torsion spring rotating member and the belt-pressing roller (15) are installed; the belt-pressing roller bracket comprises a first belt-pressing roller bracket (10), a second belt-pressing roller bracket (11) and a third belt-pressing roller bracket (19) which are fixedly connected, and the third belt-pressing roller bracket (19) is fixedly connected to the second belt-pressing roller bracket (11) and fixedly connected to the first belt-pressing roller bracket (10) to form a fixed bracket of the belt-pressing roller (15), which is used to fix the position of the rotating shaft (16) of the belt-pressing roller (15); The parallel leg mechanism always remains in a plane during the linear motion process; when the robot is standing upright, the center of mass of the entire robot and the center of the wheel hub motor of the wheel (7) are connected to form a virtual straight line; when the entire robot moves up and down, the motor controls the rotation of the leg bones to achieve the up and down motion, so that the motion trajectory of the center of mass of the entire robot and the virtual straight line remain in the same straight line; when turning, the turning process is achieved by controlling the motors of the left and right leg bones to rotate at different angles.

2. The wheel-legged robot with ultra-lightweight wheel-legs according to claim 1, characterized in that: A dust cover (3) is also provided, and the dust cover (3) encapsulates the motor, the controller, and various electrical component modules to form a sealed electrical box housing.

3. The wheel-legged robot with ultra-lightweight wheel-legs according to claim 1, characterized in that: In order to increase the wrap angle, a belt pressure wheel is installed inside the leg bone, and the installation position is between two belt wheels and close to the belt wheels. A tensioning mechanism is used between the two belt wheels at the motor end to increase the wrap angle.

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