Transformable wheel, robot and control method thereof

Abstract

The present disclosure provides a transformable wheel and a robot, and belongs to the technical field of robots. The transformable wheel comprises a wheel body, at least two mechanical legs, a leg driving element, a first and a second energy storage element. The mechanical legs are connected to the wheel body and can be folded or unfolded relative to the wheel body. The mechanical legs comprise an arc-shaped leg rod and a connecting rod. The connecting rod comprises an arc-shaped section and a straight section connected to each other. The wheel body has a receiving cavity. The first end of the arc-shaped leg rod is hinged to the wheel body in the receiving cavity. The second end of the arc-shaped leg rod is hinged to the end of the arc-shaped section. The end of the straight section is hinged to the leg driving element. When the at least two mechanical legs are folded relative to the wheel body, the positions of the at least two mechanical legs are staggered. The leg driving element is located on the wheel body and is used to drive the mechanical legs to be folded or unfolded relative to the wheel body. The two ends of the first energy storage element are connected to the wheel body and the arc-shaped leg rod respectively. The two ends of the second energy storage element are connected to the connecting rod and the leg driving element respectively. The transformable wheel can switch between a round wheel state and a leg wheel state and has a bouncing ability, thereby improving the adaptability of the robot to various terrains.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to deformable wheels, robots, and control methods thereof. Background Technology

[0002] A robot is a mechanical device that can perform work tasks. Robots can assist or even replace humans in completing various types of work.

[0003] In related technologies, robots are generally designed with a leg-wheel structure or a wheel structure, so that the robot's movement is either walking or rotating.

[0004] However, when walking on flat terrain, wheeled robots move at a slower speed, while wheeled robots move at a slower speed and have a poorer ability to cross obstacles when facing complex terrain, especially uneven obstacles.

[0005] Public content

[0006] This disclosure provides a deformable wheel, a robot, and a control method thereof, which can solve the above-mentioned technical problems. The technical solution is as follows:

[0007] On one hand, this disclosure provides a deformable wheel, which includes: a wheel body, at least two mechanical legs, a leg drive component, a first energy storage element, and a second energy storage element;

[0008] The mechanical leg is connected to the wheel and can be retracted or extended relative to the wheel. The mechanical leg includes an arc-shaped leg rod and a connecting rod. The connecting rod includes a connected arc-shaped segment and a straight segment. The first end of the arc-shaped leg rod is hinged to the wheel. The second end of the arc-shaped leg rod is hinged to the end of the arc-shaped segment of the connecting rod. The straight segment of the connecting rod is hinged to the leg drive component. The arc-shaped openings of the arc-shaped leg rod and the arc-shaped segment of the connecting rod face the same direction. When the at least two mechanical legs are retracted relative to the wheel, the positions of the at least two mechanical legs are staggered.

[0009] The leg drive is located on the wheel body and is configured to drive the mechanical leg to retract or extend relative to the wheel body;

[0010] One end of the first energy storage element is connected to the wheel body, and the other end is connected to the arc-shaped leg rod. One end of the second energy storage element is connected to the connecting rod, and the other end is connected to the leg drive component.

[0011] In some possible implementations, the two opposite ends of the arc segment and the two opposite ends of the straight segment are located on the same straight line.

[0012] In some possible implementations, the leg drive includes: a transmission component and a drive component, the transmission component having an active end and at least two driven ends;

[0013] The active end of the transmission component is connected to the driving component, and the driven end of the transmission component is hinged to the end of the straight section of the mechanical leg.

[0014] The drive component acts on the mechanical leg through the transmission component.

[0015] In some possible implementations, the wheel body includes: a first wheel disk and a second wheel disk, the first wheel disk and the second wheel disk being fixedly connected and spaced apart to form a receiving cavity, and the at least two mechanical legs being movable relative to the wheel body to be received in the receiving cavity or extend from the receiving cavity to the wheel body;

[0016] The first end of the arc-shaped leg is hinged to the inner side edge of the first wheel.

[0017] In some possible implementations, the transmission component includes: a central rod, a central gear, a clutch gear, a slider, and a deformable gear;

[0018] The driven end is located on the central rod, and the number of driven ends corresponds one-to-one with the number of mechanical legs. The central rod is fixed to the end face of the central gear, and the central rod and the central gear are hinged to the center of the inner wall of the first wheel.

[0019] The slider is located in a groove on the first wheel, and the slider is connected to the clutch gear;

[0020] The deformable gear is hinged to the off-center position of the first wheel, and the deformable gear meshes with the clutch gear;

[0021] The drive shaft of the drive component is connected to the deformable gear. The drive component drives the deformable gear to rotate, which in turn drives the slider to move in the groove, thereby causing the clutch gear to mesh with or disengage from the center gear.

[0022] In some possible implementations, the groove has opposing first stop ends and second stop ends;

[0023] When the mechanical leg is fully extended into the receiving cavity, the slider abuts against the first stop end;

[0024] When the mechanical leg is fully housed in the receiving cavity, the slider abuts against the second stop end.

[0025] On the other hand, a robot is provided, the robot including any of the above-described deformable wheels and wheel drive components;

[0026] The wheel drive component is connected to the wheel body of the deformable wheel and is used to drive the deformable wheel to rotate.

[0027] In some possible implementations, the robot includes: two deformable wheels, two wheel drive components, and a base frame;

[0028] The two deformable wheels are symmetrically located on both sides of the base frame;

[0029] The two wheel drive components are symmetrically located on the base frame, and the two wheel drive components are also connected to the wheel bodies of the two deformable wheels in a one-to-one correspondence.

[0030] In some possible implementations, the robot further includes: a connector, the connector comprising: a connecting sleeve and a connecting disc connected together;

[0031] The wheel drive component is a motor, and the shaft of the wheel drive component is connected to the connecting sleeve;

[0032] The connecting disc is connected to the corresponding wheel.

[0033] In some possible implementations, the robot further includes a servo motor assembly connected to the base frame for balancing the rotational inertia of the base frame.

[0034] In some possible implementations, the servo assembly includes: a servo motor, a connecting frame, and a balance weight;

[0035] The servo motor is fixed to the center position of the side wall of the base frame;

[0036] One end of the connecting frame is hinged to the servo motor, and the other end of the connecting frame is connected to the balance block.

[0037] Furthermore, a robot control method is provided, which is applied to any of the aforementioned robots, and the method includes:

[0038] Acquire control commands for indicating motion mode switching of the deformable wheel, as well as the current state parameters of the leg drive and the wheel drive;

[0039] Based on the control command and the state parameters, the first control parameters corresponding to the wheel drive component and the second control parameters corresponding to the leg drive component are obtained when the deformable wheel is switched from the current motion mode to the target motion mode.

[0040] The first control parameter controls the wheel drive component to drive the wheel body to rotate, and the second control parameter controls the leg drive component to drive the mechanical leg to retract or unfold relative to the wheel body, thereby realizing the switching control of the motion mode of the deformable wheel.

[0041] In some possible implementations, when the target motion mode is an obstacle-crossing mode, controlling the wheel drive component to drive the wheel body to rotate according to the first control parameter, and controlling the leg drive component to drive the mechanical leg to retract or extend relative to the wheel body according to the second control parameter, includes:

[0042] When the deformable wheel is at a set distance from the obstacle, the wheel drive component is controlled to rotate the wheel body according to the first control parameter, causing the hinge end of the arc-shaped leg and the arc-shaped segment to rotate to a set position; and,

[0043] According to the second control parameter, the leg drive component is controlled to drive the mechanical leg to unfold relative to the wheel body, so that the motion mode of the deformable wheel is the obstacle crossing mode.

[0044] In some possible implementations, when the height of the obstacle is a first preset height, the obstacle-crossing mode of the deformable wheel is the leg wheel rolling mode;

[0045] The step of controlling the wheel drive component to drive the wheel body to rotate according to the first control parameter, so that the hinge end of the arc-shaped leg and the arc-shaped segment rotates to a set position, includes:

[0046] Rotate the hinged end of the arc-shaped leg and the arc-shaped segment until the line connecting the hinged end and the center of the wheel is parallel to the ground.

[0047] In some possible implementations, when the height of the obstacle is a second preset height, the obstacle-crossing mode of the deformable wheel is the leg-wheel bouncing mode;

[0048] The step of controlling the wheel drive component to drive the wheel body to rotate according to the first control parameter, so that the hinge end of the arc-shaped leg and the arc-shaped segment rotates to a set position, includes:

[0049] Rotate the hinged end of the arc-shaped leg and the arc-shaped segment until the line connecting the hinged end and the center of the wheel is perpendicular to the ground.

[0050] The beneficial effects of the technical solutions provided in this disclosure are:

[0051] The deformable wheel provided in this embodiment uses the wheel body as a circular wheel and the mechanical leg as a leg wheel. By hinged at both ends of the mechanical leg to the wheel body and the leg drive component respectively, when the leg drive component acts on the mechanical leg, the mechanical leg can rotate relative to both the wheel body and the leg drive component, allowing the mechanical leg to enter or exit the inner cavity of the wheel body. When the mechanical leg is inside the wheel body, the deformable wheel is in a circular wheel state, and movement is performed using the circular wheel formed by the wheel body; conversely, when the mechanical leg extends outside the wheel body, the deformable wheel switches to a leg wheel state accordingly, and movement is performed using the mechanical leg.

[0052] The above-described structural arrangement of the mechanical legs provided in this embodiment ensures that when at least two mechanical legs are retracted relative to the wheel body, their positions are staggered. That is, multiple mechanical legs do not overlap in the axial direction of the deformable wheel, preventing interference between them. Furthermore, the two mechanical legs do not interfere with the leg drive components, allowing the mechanical legs to be fully retracted into the wheel body. This enables the deformable wheel to achieve higher speed and more stable stroke in its circular wheel state, and also helps reduce the thickness of the deformable wheel in its axial direction. The structural design of the connecting rod, and the fact that the arc-shaped openings of the arc-shaped leg rod and connecting rod face the same direction (i.e., the ends of the arc-shaped leg rod and connecting rod that contact the ground are designed in an arc shape), provides strong gripping ability. This allows them to hook onto obstacles such as stones, steps, and ditches, providing a fulcrum for climbing obstacles during the overall rotation of the deformable wheel, achieving efficient obstacle-crossing functionality. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a schematic diagram of an exemplary deformable wheel provided in an embodiment of this disclosure. Figure 1 Not only is the overall structure of the deformable wheel shown, but also the structure of the remaining part of the deformable wheel after the second wheel disk is removed, so as to show the structural arrangement of the mechanical leg in a partially extended state;

[0055] Figure 2 A schematic diagram of the structure of the deformable wheel after the second disc is removed, according to an embodiment of this disclosure;

[0056] Figure 3 This is a schematic diagram of the structure of an exemplary first roulette wheel provided in an embodiment of this disclosure;

[0057] Figure 4This is a schematic diagram of the structure of an exemplary robot in a wheel state provided in an embodiment of this disclosure;

[0058] Figure 5 This is a schematic diagram of the structure of an exemplary robot in a leg-wheel state provided in an embodiment of this disclosure;

[0059] Figure 6 This is a schematic diagram of an exemplary deformable wheel in its circular wheel state, provided in an embodiment of this disclosure. Figure 6 The mechanical leg is shown in its fully retracted state;

[0060] Figure 7 This is a schematic diagram of an exemplary deformable wheel in its leg wheel state, provided in an embodiment of this disclosure. Figure 7 The mechanical leg is shown in its fully extended state;

[0061] Figure 8 This is a partial structural schematic diagram of the robot provided in an embodiment of this disclosure;

[0062] Figure 9 This is a schematic diagram of the deformable wheel provided in this embodiment of the present disclosure in an incompletely extended state, wherein, Figure 9 The quadrilateral structure enclosed by the dashed lines is used to illustrate the four-bar linkage;

[0063] Figure 10 This is a schematic diagram of the obstacle-crossing motion process of the robot in the leg wheel rolling mode provided in the embodiments of this disclosure;

[0064] Figure 11 This is a schematic diagram of the obstacle-crossing motion process of the robot in the leg-wheel bouncing mode provided in the embodiments of this disclosure.

[0065] The reference numerals in the attached figures represent:

[0066] 1-Wheel body,

[0067] 11-First roulette wheel, 12-Second roulette wheel, 13-Receiving cavity,

[0068] 110 - Slide groove, 1101 - First stop end, 1102 - Second stop end

[0069] 111 - Weight reduction hole, 112 - First pin hole, 113 - Second pin hole

[0070] 2-Mechanical Legs

[0071] 21-Arched leg post,

[0072] 22-Connecting rod, 221-Arc segment, 222-Straight segment

[0073] 3-Leg drive component,

[0074] 31-Transmission component, 32-Drive component,

[0075] 311 - Center rod, 312 - Center gear, 313 - Clutch gear

[0076] 314 - slider, 315 - deformable gear.

[0077] 41-First energy storage element, 42-Second energy storage element

[0078] 51 - First pin, 52 - Second pin, 53 - Third pin

[0079] 54 - Fourth pin, 55 - Fifth pin

[0080] 6-Connecting rod,

[0081] 100-Deformable wheel,

[0082] 200-wheel drive components,

[0083] 300-base frame,

[0084] 400 - Connector, 401 - Connecting sleeve, 402 - Connecting disc

[0085] 500 - Servo assembly, 501 - Servo, 502 - Connector bracket, 503 - Balance weight.

[0086] 600-Support frame. Detailed Implementation

[0087] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0088] With the improvement of intelligence, robots are widely used in various industries. A robot is a mechanical device that can perform work tasks. Robots can assist or even replace humans in completing various types of work.

[0089] In related technologies, robots are generally designed with a leg-wheel structure or a wheel structure, so that the robot's movement is either walking or rotating.

[0090] However, ordinary circular wheels, limited by their geometric characteristics, have weak obstacle-crossing capabilities and are often unable to adapt to rough terrain. In other words, wheeled robots are slow and have poor obstacle-crossing ability when facing complex terrain, especially uneven obstacles, making them unsuitable for use in wilderness, mountainous, or disaster areas. Legged wheeled robots have stronger obstacle-crossing capabilities, but their movement speed is slow when walking on flat terrain. It is evident that the robots provided by these technologies have relatively limited functionality and poor adaptability to complex terrain.

[0091] Appendix Figure 1 The diagram illustrates the structure of a deformable wheel according to an embodiment of this disclosure, and also shows the arrangement structure within the receiving cavity of the deformable wheel, as shown in the attached diagram. Figure 1 As shown, this embodiment of the present disclosure provides a deformable wheel 100, which includes: a wheel body 1, at least two mechanical legs 2, a leg drive component 3, a first energy storage element 41, and a second energy storage element 42.

[0092] Among them, the mechanical leg 2 is connected to the wheel body 1 and can be retracted or extended relative to the wheel body 1, as shown in the attached figure. Figure 1 As shown, the mechanical leg 2 includes an arc-shaped leg rod 21 and a connecting rod 22. The connecting rod 22 includes a connected arc-shaped segment 221 and a straight segment 222. The first end of the arc-shaped leg rod 21 is hinged to the wheel body 1, and the second end of the arc-shaped leg rod 21 is hinged to the end of the arc-shaped segment 221 of the connecting rod 22. The straight segment 222 of the connecting rod 22 is hinged to the leg drive member 3. The arc-shaped openings of the arc-shaped leg rod 21 and the arc-shaped segment 221 of the connecting rod 22 face the same direction, and when at least two mechanical legs 2 are retracted relative to the wheel body 1, the positions of at least two mechanical legs 2 are staggered.

[0093] The two mechanical legs 2 are staggered when retracted, that is, their projections along the axial direction are staggered and do not overlap. As a result, the two mechanical legs 2 can be located in the same axial position and will not generate shear force in the axial direction, which improves the structural balance and stability of the deformable wheel 100.

[0094] The leg drive unit 3 is located on the wheel body 1 and is configured to drive the mechanical leg 2 to retract or extend relative to the wheel body 1.

[0095] One end of the first energy storage element 41 is connected to the wheel body 1, and the other end is connected to the arc-shaped leg rod 21. One end of the second energy storage element 42 is connected to the connecting rod 22, and the other end is connected to the leg drive component 3.

[0096] The deformable wheel provided in this embodiment includes at least two mechanical legs 2, for example, two mechanical legs 2, three mechanical legs 2, four mechanical legs 2 or more mechanical legs 2, with at least two mechanical legs 2 distributed along the circumferential direction on the wheel body 1.

[0097] To enable the deformable wheel 100 to travel at a relatively high speed and with stable and smooth movement in its leg wheel configuration, and to simplify the structure of the deformable wheel 100, as an example, see the attached figure. Figure 1 As shown, the deformable wheel 100 includes two mechanical legs 2 evenly arranged along the circumferential direction, with the two mechanical legs 2 arranged opposite to each other on the wheel body 1.

[0098] The mechanical leg 2 includes an arc-shaped leg rod 21 and a connecting rod 22. For example, the arc-shaped leg rod 21 is arc-shaped, and the arrangement of the arc-shaped leg rod 21 on the wheel body 1 satisfies the following condition: when the mechanical leg 2 is completely retracted relative to the wheel body 1, the center of the circle containing the arc-shaped leg rod 21 coincides with the center of the circle of the wheel body 1.

[0099] When the mechanical leg 2 unfolds relative to the wheel 1, rotating the wheel 1 drives the arc-shaped leg rod 21 to rotate synchronously, thus enabling the mechanical leg 2 to walk. The arc-shaped design of the arc-shaped leg rod 21 makes its structure resemble an antelope leg. This not only helps to increase the walking speed of the mechanical leg 2 in the wheel state, but also gives the arc-shaped leg rod 21 a certain jumping function (i.e., jumping ability), improving the mechanical leg 2's ability to cross obstacles.

[0100] Link 22, acting as an intermediate component, transmits the force between the curved leg rod 21 and the leg drive component 3, thus establishing a connection between the leg drive component 3 and the curved leg rod 21. (See attached diagram) Figure 1 As shown, the connecting rod 22 includes a connected arc-shaped segment 221 and a straight segment 222. The first end of the arc-shaped leg 21 is hinged to the wheel body 1, and the second end of the arc-shaped leg 21 is hinged to the end of the arc-shaped segment 221 of the connecting rod 22. The straight segment 222 of the connecting rod 22 is hinged to the leg drive member 3. For example, the arc-shaped segment 221 can be circular or, more specifically, semi-circular.

[0101] The arrangement of the link 22 is illustrated by the deformable wheel 100 including two mechanical legs 2: as shown in the attached diagram. Figure 6 As shown, when the mechanical leg 2 is fully retracted relative to the wheel 1, the two connecting rods 22 can be located within the circle formed by the two arc-shaped leg rods 21; as shown in the attached figure. Figure 7 As shown, when the mechanical leg 2 is fully extended relative to the wheel 1, it is in a fully extended state, so that the line connecting the two ends of the connecting rod 22 passes through the center of the wheel 1. This allows the extension length of the arc-shaped leg rod 21 to reach its maximum, which is beneficial to improving the mechanical leg 2's ability to cross obstacles.

[0102] It should be noted that, in the embodiments of this disclosure, "the mechanical leg 2 is fully extended relative to the wheel 1" means that, except for the end of the mechanical leg 2 that serves as a connection within the wheel 1, all other parts of the mechanical leg 2 are located outside the wheel 1 (see Appendix). Figure 7 ).

[0103] As attached Figure 1 As shown, in this embodiment, the arc-shaped openings of the arc-shaped leg 21 and the arc-shaped segment 221 of the connecting rod 22 face the same direction, which makes the second end of the arc-shaped leg 21 and the first end of the connecting rod 22 arc-shaped structures with the same bending direction (see...). Figure 7 (Area A circled in the dashed circular frame). Thus, the ends of the curved leg 21 and connecting rod 22 that are in contact with the ground are designed in an arc shape. This arc-shaped end has a strong grip and can hook onto obstacles such as stones, steps, and ditches. It provides a fulcrum for climbing obstacles during the overall rotation of the deformable wheel 100, achieving efficient obstacle crossing.

[0104] In related technologies, when the mechanical legs retract into the wheel body, interference often occurs between the mechanical legs or with other components, preventing the mechanical legs from fully retracting and thus affecting their rolling stroke. However, the deformable wheel provided in this embodiment, based on the aforementioned structural arrangement of the mechanical legs 2, ensures that when at least two mechanical legs 2 are retracted relative to the wheel body 1, their positions are staggered. Figure 6 The structural arrangement shown is explained by the staggered positions of the aforementioned mechanical legs 2: When the mechanical legs 2 are retracted, they do not overlap in the axial direction of the deformable wheel, thus preventing interference. Furthermore, the two mechanical legs 2 do not interfere with the leg drive component 3 (specifically, its central rod 311). Therefore, the lack of interference between the multiple mechanical legs 2 and between the mechanical legs 2 and the leg drive component 3 allows the mechanical legs 2 to be fully retracted into the wheel body 1, enabling the deformable wheel to achieve higher speed and more stable stroke in its circular state.

[0105] In addition, since the mechanical leg 2 does not overlap its connecting rods 22 in the axial direction of the deformable wheel when it retracts, the thickness of the deformable wheel along its axial direction is reduced. Furthermore, the multiple connecting rods 22 are symmetrically arranged, which will not generate shear or torsional forces, thus making the force on the deformable wheel more symmetrical and the structure more stable.

[0106] Furthermore, for the mechanical leg 2, the two ends of the arc segment 221 and the two ends of the straight segment 222 are located on the same straight line. This implementation method, while ensuring that the mechanical leg 2 has the functions described above, also helps to make the mechanical leg 2 relatively small in size, which is conducive to the miniaturization of the deformable wheel.

[0107] In this embodiment, one end of the first energy storage element 41 is connected to the wheel body 1, and the other end is connected to the arc-shaped leg rod 21, for example, to the end of the arc-shaped leg rod 21. Thus, the two ends of the first energy storage element 41 act on the wheel body 1 and the arc-shaped leg rod 21 respectively. When the mechanical leg 2 moves relative to the wheel body 1 in different directions, it can compress or release the first energy storage element 41, allowing the elastic force of the first energy storage element 41 to react on the mechanical leg 2, thereby helping the mechanical leg 2 to extend quickly.

[0108] One end of the second energy storage element 42 is connected to the connecting rod 22, and the other end is connected to the leg drive 3. Thus, the two ends of the second energy storage element 42 act on the connecting rod 22 and the leg drive 3 of the mechanical leg 2, respectively. When the mechanical leg 2 moves in different directions relative to the wheel 1, it can compress or release the second energy storage element 42, so that the elastic force of the second energy storage element 42 can also act on the mechanical leg 2 to help the mechanical leg 2 to pop out quickly.

[0109] When the curved leg 21 and connecting rod 22 retract, the first energy storage element 41 and the second energy storage element 42 are also gradually compressed until the curved leg 21 and connecting rod 22 are fully retracted, causing the deformable wheel to reach a circular state. At this point, the torque of the first energy storage element 41 and the second energy storage element 42 is at its maximum, and the stored elastic potential energy is also at its maximum. It can be seen that when the deformable wheel 100 is... Figure 4 In the circular wheel state shown, the mechanical leg 2 is retracted relative to the wheel body 1, that is, housed inside the wheel body 1, and the mechanical leg 2 is pressed by the leg drive 3 to compress the first energy storage element 41 and the second energy storage element 42, which store elastic potential energy.

[0110] When the deformation wheel 100 is Figure 5 In the leg wheel state shown, the mechanical leg 2 is extended relative to the wheel body 1, that is, it extends to the outside of the wheel body 1. When the mechanical leg 2 extends from the wheel body 1 under the action of the leg drive 3, the first energy storage element 41 and the second energy storage element 42 are released. The elastic potential energy stored in the first energy storage element 41 and the second energy storage element 42 reacts to the mechanical leg 2, causing the mechanical leg 2 to extend rapidly. When the arc-shaped leg rod 21 and the connecting rod 22 are fully extended, the first energy storage element 41 and the second energy storage element 42 respectively return to their natural state.

[0111] The deformable wheel 100 provided in this embodiment uses a wheel body 1 as a circular wheel and a mechanical leg 2 as a leg wheel. By hinged at both ends of the mechanical leg 2 to the wheel body 1 and the leg drive member 3 respectively, when the leg drive member 3 acts on the mechanical leg 2, the mechanical leg 2 can rotate relative to both the wheel body 1 and the leg drive member 3, allowing the mechanical leg 2 to enter or exit the inner cavity of the wheel body 1. When the mechanical leg 2 is inside the wheel body 1, the deformable wheel 100 is in a circular wheel state, and movement is performed using the circular wheel formed by the wheel body 1; conversely, when the mechanical leg 2 extends outside the wheel body 1, the deformable wheel 100 switches to a leg wheel state accordingly, and movement is performed using the mechanical leg 2.

[0112] In particular, in this embodiment, the link 22 is designed as a sickle-shaped structure rather than a straight or arc-shaped one. This is because a straight link cannot use the hook-like structure at the end to catch obstacles, resulting in poor obstacle-crossing ability. An arc-shaped link will interfere with the central axis in the wheel mode, causing the link to be unable to retract completely.

[0113] As can be seen, the above-described structural arrangement of the mechanical legs 2 provided in this embodiment ensures that when at least two mechanical legs 2 are retracted relative to the wheel body 1, the positions of at least two mechanical legs 2 are staggered, that is, multiple mechanical legs 2 will not overlap in their axial direction, so that they do not interfere with each other. Moreover, the two mechanical legs 2 will not interfere with the leg drive component 3, and the mechanical legs 2 can be completely retracted into the wheel body 1, so that the deformable wheel can obtain higher movement speed and more stable movement stroke in the circular wheel state. Furthermore, the structural design of the connecting rod 22, and the fact that the arc-shaped openings of the arc-shaped leg rod 21 and the arc-shaped segment 221 of the connecting rod 22 face the same direction, that is, the ends of the arc-shaped leg rod 21 and the connecting rod 22 that are used to contact the ground are designed to be arc-shaped, the arc-shaped ends have strong gripping ability, can hook obstacles, such as stones, steps and ditches, etc., and provide a fulcrum for climbing obstacles during the overall rotation of the deformable wheel 100, realizing efficient obstacle crossing function.

[0114] When the deformable wheel 100 is in a circular wheel state, the mechanical leg 2 moves into the wheel body 1 under the action of the leg drive 3, and simultaneously squeezes the first energy storage element 41 and the second energy storage element 42, storing elastic potential energy. When the deformable wheel 100 switches from the circular wheel state to the leg wheel state, the mechanical leg 2 moves outward from the wheel body 1 under the action of the leg drive 3, releasing the first energy storage element 41 and the second energy storage element 42 (i.e., no longer squeezing the first energy storage element 41 and the second energy storage element 42). At this time, the elastic potential energy stored in the first energy storage element 41 and the second energy storage element 42 is also released, and reacts on the mechanical leg 2, causing the mechanical leg 2 to pop out, thus giving the mechanical leg 2 a jumping function.

[0115] As can be seen, the deformable wheel 100 provided in this embodiment, through the structural design of the mechanical leg 2, can be completely housed inside the wheel body 1, making the wheel body 1 a circular wheel. The deformable wheel 100 can switch between a circular wheel state and a leg wheel state. The robot fabricated using this deformable wheel 100 combines the characteristics of both a circular wheel robot and a leg wheel robot. Thus, when facing flat terrain, the robot can switch the deformable wheel 100 to the circular wheel state for rapid movement. When facing complex terrain, i.e., when road conditions are poor, the robot can switch the deformable wheel 100 to the leg wheel state. Due to the arc-shaped design and energy storage element of the mechanical leg 2, the leg wheel has a good ability to cross obstacles, better adapting to complex terrain. Furthermore, when facing higher obstacles, the jumping ability of the mechanical leg 2 is used to effectively cross the obstacles, effectively improving the robot's adaptability.

[0116] In the embodiments disclosed herein, as shown in the appendix Figure 1 As shown, the wheel body 1 includes a first disc 11 and a second disc 12. Both the first disc 11 and the second disc 12 are disc-shaped, and their structures and dimensions are identical. (See attached diagram.) Figure 3 As shown, the first disc 11 and the second disc 12 may have one or more weight-reducing holes 111 to achieve the purpose of reducing the weight of the deformable wheel 100. For example, Figure 3 The diagram shows that both the first disc 11 and the second disc 12 are designed with three evenly arranged weight-reducing holes 111.

[0117] The first disc 11 and the second disc 12 are fixedly connected and spaced apart from each other, so that the first disc 11 and the second disc 12 can cooperate to form the hub of the deformable wheel 100. When the deformable wheel 100 is in a circular state, the hub formed by the first disc 11 and the second disc 12 can rotate on the ground to obtain a high speed.

[0118] The first disc 11 and the second disc 12 are spaced apart and face each other, forming a cavity 13 between them. The surfaces of the first disc 11 and the second disc 12 serve as the walls of the cavity 13, as shown in the attached diagram. Figure 1 As shown, the first end of the arc-shaped leg 21 is hinged to the inner wall side edge of the first wheel 11. The receiving cavity 13 is the inner cavity of the wheel body 1. In this embodiment, at least two mechanical legs 2 are movable relative to the wheel body 1 to be received in the receiving cavity 13 or extend from the receiving cavity 13 to the outside of the wheel body 1. "Retracted" means that the mechanical leg 2 is received inside the receiving cavity 13; "extended" means that the mechanical leg 2 extends from the receiving cavity 13 to the outside of the wheel body 1.

[0119] For example, as shown in the appendix Figure 2As shown, the first wheel 11 and the second wheel 12 are fixedly connected by at least two connecting rods 6 and are spaced apart from each other. The first end of the connecting rod 6 is perpendicularly connected to the surface of the first wheel 11, and the second end of the connecting rod 6 is perpendicularly connected to the surface of the second wheel 12. The length of the connecting rod 6 represents the depth of the accommodating cavity 13.

[0120] To improve the tightness of the connection between the first disc 11 and the second disc 12, at least two connecting rods 6 are evenly distributed within the receiving cavity 13. For example, Figure 1 The example uses two connecting rods 6, and the line connecting these two connecting rods 6 passes through the center of the first wheel 11.

[0121] In this embodiment, the first energy storage element 41 and the second energy storage element 42 are components capable of contraction and change. For example, these include, but are not limited to, torsion springs, compression springs, rubber bands, etc. The specific arrangement of the energy storage elements is adaptively determined according to the specific type of elastic element. As long as it is ensured that the deformable wheel 100 is in the wheel state, these energy storage elements can be compressed and store a certain amount of elastic potential energy. When the deformable wheel 100 is in the leg wheel state, the elastic potential energy stored in these energy storage elements can be released and act on the mechanical leg 2, so that the mechanical leg 2 can quickly extend to the outside of the receiving cavity 13 and has a bouncing ability.

[0122] For example, both the first energy storage element 41 and the second energy storage element 42 are torsion springs. The torsion spring has two arms, which can be referred to as the first arm and the second arm.

[0123] In some examples, the first end of the arc-shaped leg rod 21 of the mechanical leg 2 is hinged to the inner wall edge of the first wheel 11 via a first pin 51, allowing the first energy storage element 41 to be sleeved on the first pin 51. The two arms of the first energy storage element 41 abut against the first end of the arc-shaped leg rod 21 and the second wheel 12, respectively. That is, the first arm of the first energy storage element 41 is connected to the first end of the mechanical leg 2, and the second arm of the first energy storage element 41 is connected to the second wheel 12. In this way, the first energy storage element 41 can store energy during the movement of the mechanical leg 2.

[0124] For example, the first pin 51 can be fixed to the wall of the first wheel 11 facing the second wheel 12 (correspondingly, as shown in the attached diagram). Figure 3As shown, the first wheel 11 has a first pin hole 112 for connecting with the first pin 51, so that the first end of the mechanical leg 2 is designed as a sleeve and sleeved on the first pin 51. At the same time, the first energy storage element 41 is also sleeved on the first pin 51. The first end of the mechanical leg 2 is located between the first wheel 11 and the first energy storage element 41, which is located between the first end of the mechanical leg 2 and the second wheel 12. In this way, the two arms of the first energy storage element 41 abut against the first end of the mechanical leg 2 and the second wheel 12, respectively. The first end of the mechanical leg 2 and the second wheel 12 can provide the first energy storage element 41 with a fulcrum, so that the first energy storage element 41 can be squeezed or released with the movement of the mechanical leg 2.

[0125] In some examples, such as the attached Figure 2 As shown, the second end of the mechanical leg 2 is hinged to the leg drive member 3 via the second pin 52. The second energy storage element 42 is sleeved on the second pin 52, and the two arms of the second energy storage element 42 abut against the second end of the mechanical leg 2 and the leg drive member 3 respectively. That is, the first arm of the second energy storage element 42 is connected to the second end of the mechanical leg 2, and the second arm of the second energy storage element 42 is connected to the leg drive member 3.

[0126] For example, the second pin 52 can be fixed to the wall of the first wheel 11 facing the second wheel 12, so that the second end of the mechanical leg 2 and the hinge end of the leg drive 3 are both designed as sleeves and simultaneously sleeved on the second pin 52. At the same time, the second energy storage element 42 is also sleeved on the second pin 52. The hinge end of the leg drive 3 is located between the first wheel 11 and the second energy storage element 42, and the second energy storage element 42 is located between the second end of the mechanical leg 2 and the hinge end of the leg drive 3. In this way, the two arms of the second energy storage element 42 are connected to the second end of the mechanical leg 2 and the hinge end of the leg drive 3, respectively. The second end of the mechanical leg 2 and the hinge end of the leg drive 3 can then provide a fulcrum for the second energy storage element 42, allowing the second energy storage element 42 to be compressed or released as the mechanical leg 2 moves.

[0127] For leg drive component 3, see attached Figure 2 As shown, it includes: a transmission component 31 and a drive component 32. The transmission component 31 has an active end and at least two driven ends. The active end of the transmission component 31 is connected to the drive component 32. The driven end of the transmission component 31 is hinged to the end of the straight section 222 of the mechanical leg 2. The drive component 32 acts on the mechanical leg 2 through the transmission component 31.

[0128] The working principle of the above scheme is illustrated by an example of a deformable wheel 100 including two mechanical legs 2 and a transmission component 31 having two driven ends. In application, the driving component 32 acts directly on the transmission component 31, and the transmission component 31 applies driving force to the two mechanical legs 2 respectively through its two driven ends, causing the two mechanical legs 2 to rotate relative to the transmission component 31, thereby extending or retracting from the accommodating cavity 13. Furthermore, a single leg drive component 3 can simultaneously drive the movement of both mechanical legs 2, enabling the two mechanical legs 2 to move in tandem and improving the reliability of the driving operation.

[0129] The transmission method of the transmission component 31 can be of various types, such as gear transmission, crank transmission, hydraulic transmission, belt rotation, etc. In some examples, the transmission method of the transmission component 31 is gear transmission, and correspondingly, the drive component 32 is a motor. The drive component 32 is used to deform the deformable wheel 100 to switch between a round wheel state and a leg wheel state.

[0130] Gear transmission has advantages such as simple structure, small space occupation, high transmission efficiency, strong transmission reliability, and certain self-locking ability. The transmission component 31 designed with gear transmission in this embodiment is conducive to simplifying the structural layout of the deformable wheel 100 and improving its transmission reliability.

[0131] In some examples, such as the attached Figure 1 As shown, the transmission component 31 includes: a central rod 311, a central gear 312, a clutch gear 313, a slider 314, and a deformable gear 315.

[0132] The central rod 311 is fixed to the end face of the central gear 312. The central rod 311 and the central gear 312 are hinged to the center position of the first wheel 11, and the driven end is located on the central rod 311.

[0133] The center rod 311 is fixed to the end face of the center gear 312, and the center of the center rod 311 and the center of the center gear 312 are on the same straight line, and the line connecting the two centers passes perpendicularly through the end face of the center gear 312.

[0134] The driven ends are located on the central rod 311. The number of driven ends is the same as the number of mechanical legs 2, and the driven ends are hinged to the mechanical legs 2 in a one-to-one correspondence. For example, when the transmission component 31 has two driven ends, each driven end corresponds to one mechanical leg 2, with one driven end hinged to one mechanical leg 2 and the other driven end hinged to the other mechanical leg 2. The structure of the central rod 311 is adaptively determined according to the number of driven ends. For example, see attached... Figure 1As shown, when there are two driven ends, the central rod 311 is designed as a straight rod-shaped structure, such as a rectangular rod-shaped structure, so that the two ends of the central rod 311 can serve as two driven ends. For example, when there are three driven ends, the central rod 311 can be designed as a three-pronged type, for example, it includes: a central part, and three rod-shaped parts that are perpendicularly connected to the central part and extend in the radial direction. These three rod-shaped parts can be evenly distributed in the circumferential direction (not shown in the figure).

[0135] Of course, when the transmission component 31 does not include the central rod 311, a specific position on the end face of the central gear 312 can be used as a driven end to be hinged to the mechanical leg 2. Depending on the number of mechanical legs 2, a corresponding number of driven ends can be arranged on the end face of the central gear 312 along the circumferential direction.

[0136] In some examples, the central rod 311 and the central gear 312 can be fixedly connected using screws. For instance, a threaded hole is provided on each end face of the central gear 312 located on both sides of its center, and the two threaded holes can be symmetrically located on both sides of the center. Correspondingly, threaded holes are also provided on the rod body of the central rod 311 located on both sides of its center. By simultaneously threading screws into the threaded holes on both the central rod 311 and the central gear 312, the relative fixation between the central rod 311 and the central gear 312 can be achieved.

[0137] Taking the deformable wheel 100, which includes two mechanical legs 2, as an example, see attached... Figure 2 As shown, the two ends of the central rod 311 serve as the two driven ends of the transmission component 31. Specifically, the first end of the central rod 311 is hinged to the second end of a connecting rod 22 via a second pin 52. The first arm of the second energy storage element 42 with a torsion spring structure abuts against the side wall of the second end of the connecting rod 22, and the second arm abuts against the side wall of the first end of the central rod 311. The second end of the central rod 311 is hinged to the second end of another connecting rod 22 via another second pin 52. The first arm of the second energy storage element 42 with a torsion spring structure abuts against the side wall of the second end of the connecting rod 22, and the second arm abuts against the side wall of the second end of the central rod 311.

[0138] When the mechanical leg 2 is fully extended outside the accommodating cavity 13, the two ends of the arc-shaped section 221 of the connecting rod 22, the two ends of the straight section 222, and the two ends of the central rod 311 are aligned on the same straight line, which helps to maximize the extension length of the arc-shaped leg rod 21.

[0139] In this embodiment of the present disclosure, as shown in the accompanying drawings, the arc-shaped leg 21, the connecting rod 22, and the central rod 311 cooperate to form a four-bar linkage (see...). Figure 9(A quadrilateral structure formed by dotted lines in the middle) This transmission method has the advantages of simple structure and fast and reliable transmission. While satisfying the deformation purpose of the deformable wheel 100, it is conducive to simplifying the structure of the deformable wheel 100.

[0140] For example, the central rod 311 and the central gear 312 are integrally hinged to the center position of the first wheel 11 via the fourth pin 54, as shown in the attached figure. Figure 3 As shown, a second pin hole 113 is designed at the center of the first wheel 11, so that the fourth pin 54 is fixedly connected to the second pin hole 113, thereby fixing the fourth pin 54 to the first wheel 11. The center rod 311 and the center gear 312 have a through hole at their centers, which passes through the fourth pin 54 to achieve a hinged connection between the center rod 311 and the center gear 312 on the first wheel 11. The center rod 311 and the center gear 312 can only rotate and cannot move axially along the fourth pin 54. Therefore, a limiting structure, such as a limiting nut, can be installed on the fourth pin 54 to axially limit the center rod 311 and the center gear 312.

[0141] The clutch gear 313 is coaxially connected to the slider 314, which is located in the groove 110 on the first wheel 11. The deformable gear 315 is hinged to the off-center position of the first wheel 11 and meshes with the clutch gear 313.

[0142] The slider 314 is located at least at the center of the end face of the clutch gear 313 facing the first wheel 11, or it can pass through the center of the clutch gear 313. For example, the slider 314 is cylindrical and is fixed inside the center hole of the clutch gear 313, and partially extends to the outside of the center hole. The part outside the center hole enters the groove 110 on the first wheel 11, so that the clutch gear 313 can be assembled at a non-central position on the first wheel 11.

[0143] The deformable gear 315 is rotatably mounted on the first wheel disk 11. The deformable gear 315 is always engaged with the clutch gear 313. This engagement is ensured by making the distance between any point on the slide groove 110 along its length direction and the center of the deformable gear 315 equal. For example, the slide groove 110 is an arc-shaped slide groove, and the center of the circle containing the arc-shaped slide groove is on the same straight line (i.e., coincident) with the center of the circle of the deformable gear 315, so that the distance between any point on the slide groove 110 along its arc length direction and the center of the deformable gear 315 is equal.

[0144] The first end of the slide 110 is close to the central gear 312, and the second end of the slide 110 is far away from the central gear 312. When the deformable gear 315 rotates, it can drive the clutch gear 313 to move, so that the slider 314 on it moves in the slide 110. By changing the rotation direction of the deformable gear 315, it can be determined whether the slider 314 moves towards the second end of the slide 110 or towards the first end of the slide 110.

[0145] In some examples, such as the attached Figure 3 As shown, the slide 110 has a first stop end 1101 and a second stop end 1102 opposite to each other; when the mechanical leg 2 is fully extended into the receiving cavity 13, the slider 314 abuts against the first stop end 1101; when the mechanical leg 2 is fully received in the receiving cavity 13, the slider 314 abuts against the second stop end 1102.

[0146] By limiting the slide 110 as described above, it is possible to guide the slider 314 to move while also effectively limiting the slider 314 at the first stop end 1101 and the second stop end 1102 respectively.

[0147] In this embodiment of the present disclosure, the driving component 32 is connected to the deformable gear 315. The driving component 32 drives the deformable gear 315 to rotate, thereby causing the slider 314 to move in the slide groove 110, which in turn causes the clutch gear 313 to mesh or disengage from the center gear 312.

[0148] For example, when the deformable gear 315 rotates clockwise, it can cause the slider 314 to move away from the central gear 312, so that the clutch gear 313 no longer meshes with the central gear 312; conversely, when the deformable gear 315 rotates counterclockwise, it can cause the slider 314 to move closer to the central gear 312, so that the clutch gear 313 meshes with the central gear 312.

[0149] By designing the diameters of the central gear 312, clutch gear 313, and deformable gear 315, such as the base circle diameter, root circle diameter, and tip circle diameter, a suitable reduction ratio is obtained, so that each gear obtains a suitable rotational speed when driven by the drive component 32 (motor). In this embodiment, the diameter of the central gear 312 is larger than that of the clutch gear 313 and the deformable gear 315.

[0150] In this embodiment, the drive component 32 is a motor, with its output shaft coaxially connected to the deformable gear 315. In order to make reasonable use of the space of the deformable wheel 100, the deformable gear 315 is located on the first wall surface of the first wheel 11 facing the second wheel 12, and the outer shell of the drive component 32 is on the second wall surface of the first wheel 11 (the second wall surface is opposite to and away from the first wall surface). In this way, the drive component 32 and the deformable gear 315 are located on both sides of the first wheel 11, which is conducive to the miniaturization of the deformable wheel 100.

[0151] Based on the above-described structure of the transmission component 31, the working principle of the deformable wheel 100, which includes two mechanical legs 2, will be described in detail:

[0152] When the deformable wheel 100 is in the circular wheel state, the central gear 312, clutch gear 313, and deformable gear 315 mesh with each other. Relying on the self-locking function between the gears, the mechanical leg 2, under the action of the leg drive 3, presses against the first energy storage element 41 and the second energy storage element 42. Both the first energy storage element 41 and the second energy storage element 42 store a certain amount of elastic potential energy. When the deformable wheel 100 switches from the leg wheel state to the circular wheel state, the rotating deformable gear 315 actuates the clutch gear 313, causing the slider 314 on the clutch gear 313 to move within the groove 110 on the first wheel disk 11. For example, the clutch gear 313 moves towards... Figure 2 Move to the right as shown until it engages with the center gear 312.

[0153] When the deformable wheel 100 switches from the round wheel state to the leg wheel state, the drive component 32 drives the deformable gear 315 to rotate (e.g., clockwise). The rotating deformable gear 315 engages the clutch gear 313, causing the slider 314 on the clutch gear 313 to move within the groove 110 on the first wheel 11 (e.g., the clutch gear 313 moves towards...). Figure 2 As shown, the wheel moves to the left until it is no longer engaged with the central gear 312. The clutch gear 313 also moves accordingly, thus the clutch gear 313 no longer engages with the central gear 312, and the central gear 312 is no longer locked by the clutch gear 313. This allows the central gear 312 and the central rod 311 to rotate freely, thereby driving the mechanical leg 2 to rotate. The mechanical leg 2 no longer compresses the first energy storage element 41 and the second energy storage element 42. The elastic potential energy of the first energy storage element 41 and the second energy storage element 42 is released and reacts on the mechanical leg 2. Under the elastic force of the first energy storage element 41 and the second energy storage element 42, the mechanical leg 2 can quickly pop out of the receiving cavity 13 until it is fully extended, switching to the leg wheel state. Conversely, when the deformable wheel 100 needs to switch from the leg wheel state to the round wheel state, the drive component 32 drives the deformable gear 315 to rotate in the opposite direction (e.g., counterclockwise).

[0154] When the deformable wheel 100 switches to the leg wheel state, if its jumping function is not needed, the first wheel 11 and the second wheel 12 should be rotated to a position where the ends of the two mechanical legs 2 (i.e. the ends that are in contact with the ground) are parallel to the ground before the deformable wheel 100 switches from the round wheel state to the leg wheel state. In this way, the two mechanical legs 2 will be parallel to the ground when they extend, and will not contact the ground, thus avoiding interference between the curved leg rod 21 and the ground during the ejection process, which helps to improve the service life of the mechanical legs 2.

[0155] When the transforming wheel 100 switches to the leg wheel state, if the jumping function is required, before the transforming wheel 100 switches from the round wheel state to the leg wheel state, the first wheel 11 and the second wheel 12 are rotated so that the end of one of the mechanical legs 2 faces the ground and the end of the other mechanical leg 2 is directly above the ground. In this way, when the mechanical leg 2 pops out, the end of the mechanical leg 2 facing the ground contacts and pushes the ground, and the jumping is achieved by using the reaction force of the ground.

[0156] On the other hand, this disclosure also provides a robot that includes any of the deformable wheels 100 described above.

[0157] By using the aforementioned deformable wheel 100, the robot provided in this embodiment combines the characteristics of both a wheeled robot and a legged robot. Thus, when facing flat terrain, the robot can switch the deformable wheel 100 to wheel mode for rapid movement; when facing complex terrain, i.e., rough road conditions, the robot can switch the deformable wheel 100 to legged mode, leveraging the legged wheel's excellent obstacle-crossing ability to better adapt to complex terrain. Furthermore, when facing higher obstacles, the robot utilizes the jumping ability of its mechanical legs 2 to effectively cross obstacles, significantly improving its adaptability.

[0158] In some possible implementations, embodiments of this disclosure provide a robot that has advantages such as simple structure and reliable operation. Exemplarily, as shown in the appendix... Figure 4 Or attach Figure 5 As shown, the robot includes: two deformable wheels 100, two wheel drive components 200, and a base frame 300; the two deformable wheels 100 are symmetrically located on both sides of the base frame 300; the two wheel drive components 200 are symmetrically located on the base frame 300, and the two wheel drive components 200 are also connected one-to-one with the first wheel disk 11 of the two deformable wheels 100 to drive the corresponding deformable wheels 100 to rotate.

[0159] For example, the base frame 300 is a frame structure, such as a rectangular frame structure, which includes a rectangular base plate and four side plates perpendicularly connected to the four sides of the bottom of the rectangle. Furthermore, one or more weight-reduction holes are designed on both the base plate and the side plates to reduce the weight of the robot.

[0160] The housings of the two drive components 200 are respectively fixed inside the base frame 300 to the inner walls of the two opposite side plates of the base frame 300.

[0161] The wheel drive component 200 is a motor, and its output shaft passes through the side wall of the base frame 300 and is correspondingly connected to the first disc 11 of the deformable wheel 100. The wheel drive component 200 is used to drive the first disc 11 to rotate, and the rotating first disc 11 drives the second disc 12 connected to it to rotate together, thereby causing the two deformable wheels 100 on both sides of the robot to rotate.

[0162] To improve the reliability of the aforementioned connections and make the robot's structure more stable, in some examples, the robot provided in this disclosure embodiment further includes: a connector 400, as shown in the attached figure. Figure 8 As shown, the connector 400 includes: a connecting sleeve 401 and a connecting disc 402 connected to each other; the wheel drive 200 is a motor, and the shaft of the wheel drive 200 is connected to the connecting sleeve 401; the connecting disc 402 is connected to the corresponding first wheel disc 11.

[0163] The structure of the connector 400 is similar to that of a flange. It is fixedly connected to the shaft of the wheel drive component 200 via a connecting sleeve 401, making the sleeve fixing method more reliable. It is connected to the surface of the first wheel 11 facing the base frame 300 via a connecting plate 402 (the first wheel 11 is closer to the base frame 300 than the second wheel 12), using a panel fixing method to increase connection reliability and convenience. For example, multiple screws are used to connect the connecting plate 402 to the first wheel 11.

[0164] In some examples, such as the attached Figure 4 As shown, a smaller support frame 600 can also be connected to the outer wall of the side plate of the base frame 300. The support frame 600 is, for example, a cuboid frame structure, with only 8 support rods arranged at the positions of the 8 sides of the cuboid.

[0165] One end of the support frame 600 is connected to the outer wall of the side plate of the base frame 300, and the other end of the support frame 600 is connected to the end face of the connecting sleeve 401. The output shaft of the wheel drive component 200 passes through the side wall of the base frame 300 and the support frame 600 and is connected to the sleeve hole of the connecting sleeve 401.

[0166] By using a support frame 600 with a volume smaller than that of the base frame 300, the structural stability of the robot is further improved while ensuring the robot's lightweight design.

[0167] Among some possible implementations, as shown in the appendix Figure 4 Or attach Figure 5 As shown, the robot provided in this embodiment of the present disclosure also includes: a servo motor assembly 500, which is connected to the base frame 300 and is used to balance the rotational inertia of the base frame 300, so that the robot is stable during operation and reduces the probability of accidents such as tipping over.

[0168] As attached Figure 4 Or attach Figure 5 As shown, the servo assembly 500 includes: servo 501, connecting frame 502, and balance block 503; servo 501 is fixed to the center of the side wall of the base frame 300; one end of the connecting frame 502 is hinged to the servo 501, and the other end of the connecting frame 502 is connected to the balance block 503.

[0169] The housing of the servo motor 501 is connected to the center of one side wall of the base frame 300, and this side wall of the base frame 300 connected to the servo motor 501 is located between two side walls connected to the two deformable wheels 100.

[0170] For example, the connecting frame 502 includes a connecting plate and a connecting block, a first end of the connecting plate being connected to the housing of the servo motor 501, a second end of the connecting plate being connected to the connecting block, and the connecting block being connected to the balance block 503.

[0171] In some examples, the balance block 503 includes a balance bar and a parallel plate connected together, the free end of the parallel bar away from the parallel plate being connected to the connecting frame 502, for example, to the connecting block of the connecting frame 502, and the plate surface direction of the parallel plate being perpendicular to the disc surface direction of the first disc 11 and the second disc 12.

[0172] When the robot bounces, the servo motor 501 adaptively adjusts the posture of the balance block 503 according to the bounce angle of the deformable wheel 100 to balance the rotational inertia of the base frame 300, ensuring that the base frame 300 does not rotate with the deformable wheel 100, so that the robot is in a balanced state during movement and avoids accidents such as tipping over.

[0173] In the robot provided in this embodiment, the deformable wheel 100 can switch between two states: a circular wheel state and a leg wheel state. Based on the robot provided in this embodiment, the working principle of the robot will be exemplarily described below with reference to the accompanying drawings:

[0174] (1) The robot is in a circular shape.

[0175] When the robot faces terrain with good road conditions, the deformable wheel 100 is in a circular wheel state (see...). Figure 4 The wheel drive component 200 drives the hub composed of the first wheel disc 11 and the second wheel disc 12 to rotate, so as to obtain faster speed and greater flexibility.

[0176] When the deformable wheel 100 switches from the leg wheel state to the round wheel state, the drive component 32 drives the deformable gear 315 to rotate (for example, in a counterclockwise direction). The counterclockwise rotating deformable gear 315 pushes the clutch gear 313 to move until the clutch gear 313 meshes with the central gear 312. The central gear 312 also rotates under the drive of the wheel drive component 200 until it drives the mechanical leg 2 (arc-shaped leg rod 21 and connecting rod 22) to retract into the receiving cavity 13, and the deformable wheel 100 switches to the round wheel state. In the round wheel state, the central gear 312, clutch gear 313, and deformable gear 315 are meshed with each other. Relying on the self-locking function between the gears, the mechanical leg 2 is able to compress the first energy storage element 41 and the second energy storage element 42 under the action of the leg drive component 3, so that the elastic potential energy stored in the first energy storage element 41 and the second energy storage element 42 is maximized.

[0177] (2) The robot is in leg wheel mode, which includes leg wheel rolling mode and leg wheel bouncing mode.

[0178] When the robot encounters an obstacle, the deformable wheel 100 switches from the round wheel state to the leg wheel state. First, the wheel drive component 200 drives the first wheel disk 11 and the second wheel disk 12 to rotate until the line connecting the ends of the two arc-shaped leg rods 21 on each deformable wheel 100 is parallel to the ground, so as to avoid interference with the ground during the ejection process of the arc-shaped leg rods 21.

[0179] Then, the drive component 32 drives the deformable gear 315 to rotate (e.g., clockwise). The rotating deformable gear 315 engages the clutch gear 313, causing the slider 314 on the clutch gear 313 to move within the groove 110 on the first wheel 11. That is, the clutch gear 313 also moves accordingly. Thus, the clutch gear 313 no longer engages the central gear 312, and the central gear 312 is no longer locked by the clutch gear 313, allowing the central gear 312 and the central rod 311 to rotate freely, thereby driving the mechanical leg 2 to rotate. At the same time, the mechanical leg 2 no longer compresses the first energy storage element 41 and the second energy storage element 42. The elastic potential energy of the first energy storage element 41 and the second energy storage element 42 is released and reacts on the mechanical leg 2. Under the elastic force of the first energy storage element 41 and the second energy storage element 42, the mechanical leg 2 can quickly pop out of the receiving cavity 13 until it is fully extended, switching to the leg wheel state. At the same time, the first energy storage element 41 and the second energy storage element 42 also return to their natural state.

[0180] When the deformable wheel 100 is in the leg wheel state, the curved ends of the arc-shaped leg 21 and connecting rod 22 have gripping properties, enabling them to hook onto obstacles such as rocks, steps, and ditches. In this way, the deformable wheel 100 can provide a fulcrum for climbing obstacles during rotation, thus achieving the function of overcoming obstacles.

[0181] The robot's wheel configuration is determined by the height of the obstacle it encounters: either a rolling wheel configuration or a bouncing wheel configuration.

[0182] As attached Figure 10 As shown, when the height of the obstacle allows the robot's leg wheels to directly hook onto it and cross it, the leg wheels are in a rolling mode. This causes the hinged ends of the curved leg rod 21 and the curved segment 221 to rotate until the line connecting the hinged end and the center of the wheel body 1 is parallel to the ground, preventing interference with the ground when the mechanical leg 2 pops out. Then, the above process is repeated to switch the robot from the wheel state to the leg wheel state, allowing the curved ends of the curved leg rod 21 and the connecting rod 22 to hook onto the obstacle, thus achieving obstacle crossing.

[0183] As attached Figure 11 As shown, when the height of an obstacle prevents the robot from crossing it by hooking onto it, the leg wheel configuration is in a leg wheel bouncing mode. Utilizing the robot's bouncing function, firstly, the wheel drive 200 drives the first wheel 11 and the second wheel 12 to rotate until the end of one mechanical leg 2 in the deformable wheel 100 faces the ground, while the end of the other mechanical leg 2 is directly above the ground. Then, the drive component 32 drives the deformable gear 315 to rotate (e.g., clockwise). The rotating deformable gear 315 engages the clutch gear 313, causing the slider 314 on the clutch gear 313 to move within the groove 110 on the first wheel 11. That is, the clutch gear 313 also moves accordingly. Thus, the clutch gear 313 no longer meshes with the central gear 312, and the central gear 312 is no longer locked by the clutch gear 313, allowing the central gear 312 and the central rod 311 to rotate freely, thereby driving the mechanical leg 2 to rotate. Simultaneously, the mechanical leg 2 ceases to compress the first energy storage element 41 and the second energy storage element 42. The elastic potential energy of the first energy storage element 41 and the second energy storage element 42 is released and reacts on the mechanical leg 2. Under the elastic force of the first energy storage element 41 and the second energy storage element 42, the mechanical leg 2 can quickly pop out of the receiving cavity 13 until it is fully extended. When the mechanical leg 2 pops out, the end of the mechanical leg 2 facing the ground contacts and pushes the ground, achieving a bounce with the help of the ground's reaction force. At the same time, the curved leg 21 generates a backward frictional force on the ground when it rotates, ensuring that the robot bounces forward as a whole under the ground's reaction force, ultimately enabling the robot to effectively cross the aforementioned higher obstacles.

[0184] When the robot bounces, the servo motor 501 adaptively adjusts the posture of the balance block 503 according to the bounce angle of the deformable wheel 100 to balance the rotational inertia of the base frame 3, ensuring that the base frame 3 does not rotate with the deformable wheel 100, so that the robot is in a balanced state during movement and avoids accidents such as tipping over.

[0185] After the robot completes the obstacle crossing, it can switch from the leg wheel state to the wheel state. The mechanical leg 2 retracts into the cavity 13 of the deformable wheel 100, completing the process of transforming from the leg wheel state to the wheel state.

[0186] In summary, the robot provided in this disclosure has at least the following advantages:

[0187] (1) The robot provided in this embodiment has a simple structure and high reliability of movement. By using a four-bar linkage, gear mechanism, and elastic element in cooperation, it completes the deformation wheel deformation and jumping functions. Thus, the robot provided in this embodiment has the combined functions of wheel motion, leg wheel motion, and jumping ability, and can adapt to various terrains, especially complex terrains. When the terrain is good, it can move quickly through the wheel state, and when the road conditions are bad, it transforms into the leg wheel state, using the end of the mechanical leg 2 as a fulcrum for climbing obstacles, thus achieving adaptability to rugged terrain. No related technology discloses a robot that can simultaneously have the three functions of wheel motion, leg wheel motion, and jumping ability.

[0188] (2) The design of the curved leg 21 allows for a larger distance between the end of the curved leg 21 and the center of the deformable wheel when fully extended, resulting in a stronger ability to overcome obstacles. In particular, the curved ends of the curved leg 21 and the connecting rod 22 can hook onto obstacles such as rocks, steps, and ditches. This provides a fulcrum for climbing obstacles during the rotation of the deformable wheel 100, enabling obstacle-crossing.

[0189] (3) By changing the rotation direction of the drive component 32, i.e., the motor, the clutch gear 313 is driven to move clockwise or counterclockwise, thereby achieving engagement or disengagement with the central gear 312, and thus extending or retracting the mechanical leg 2. Two motion effects are achieved using one degree of freedom, and the control method is simple and reliable. Through the design of the elastic element, the mechanical leg 2 can quickly extend and push off the ground in a very short time to promote the robot's jumping.

[0190] (4) The present invention effectively improves the attitude stability and reliability of the robot during the jumping process through the design of the servo component 500.

[0191] Furthermore, this disclosure also provides a robot control method, which is applied to any of the robots described above. The control method includes:

[0192] Obtain control commands for indicating the switching of motion modes of the deformable wheel 100, as well as the current state parameters of the leg drive 3 and the wheel drive 200.

[0193] Based on the control command and state parameters, the first control parameter corresponding to the wheel drive component 200 and the second control parameter corresponding to the leg drive component 3 are obtained when the deformable wheel 100 is switched from the current motion mode to the target motion mode.

[0194] The first control parameter controls the wheel drive component 200 to drive the wheel body 1 to rotate, and the second control parameter controls the leg drive component 3 to drive the mechanical leg 2 to retract or extend relative to the wheel body 1 (i.e., drive the mechanical leg 2 to extend or retract into the receiving cavity 13), thereby realizing the switching control of the motion mode of the deformable wheel 100.

[0195] In some examples, when the target motion mode is a wheel mode, the wheel drive component 200 is controlled to drive the wheel body 1 to rotate according to the first control parameter, and the leg drive component 3 is controlled to drive the mechanical leg 2 to retract or extend relative to the wheel body 1 according to the second control parameter, including:

[0196] The first control parameter controls the wheel drive 200 to drive the wheel body 1 to rotate, and the second control parameter controls the leg drive 3 to drive the mechanical leg 2 to retract to the receiving cavity 13, so that the deformable wheel 100 keeps rolling, thereby switching the motion mode of the deformable wheel 100 to the wheel mode.

[0197] In some examples, when the target motion mode is an obstacle-crossing mode, the wheel drive component 200 is controlled to drive the wheel body 1 to rotate according to the first control parameter, and the leg drive component 3 is controlled to drive the mechanical leg 2 to retract or extend relative to the wheel body 1 according to the second control parameter, including:

[0198] When the deformable wheel 100 is at a set distance from the obstacle, the wheel drive component 200 is controlled to drive the wheel body 1 to rotate according to the first control parameter, so that the hinge end of the arc-shaped leg 21 and the arc-shaped segment 221 rotates to a set position; and,

[0199] According to the second control parameter, the control leg drive 3 drives the mechanical leg 2 to unfold relative to the wheel body 1, so that the motion mode of the deformable wheel 100 is the obstacle crossing mode.

[0200] Furthermore, when the height of the obstacle is the first set height, the obstacle-crossing mode of the deformable wheel 100 is the leg wheel rolling mode;

[0201] According to the first control parameter, the wheel drive component 200 drives the wheel body 1 to rotate, so that the hinge end of the arc-shaped leg 21 and the arc-shaped segment 221 rotates to a set position, including:

[0202] As attached Figure 10 As shown, the hinge end of the arc-shaped leg 21 and the arc-shaped segment 221 is rotated until the line connecting the hinge end and the center of the wheel body 1 is parallel to the ground.

[0203] The first set height satisfies the following condition: the tail end of the robot's mechanical leg 2 can hook onto an obstacle, using the obstacle as a fulcrum to cross it. This method of crossing obstacles makes the obstacle-crossing mode of the deformable wheel 100 a leg-wheel rolling mode.

[0204] Furthermore, when the height of the obstacle is the second set height, the obstacle-crossing mode of the deformable wheel 100 is the leg wheel bouncing mode;

[0205] According to the first control parameter, the wheel drive component 200 drives the wheel body 1 to rotate, so that the hinge end of the arc-shaped leg 21 and the arc-shaped segment 221 rotates to a set position, including:

[0206] As attached Figure 11 As shown, the hinge end of the arc-shaped leg 21 and the arc-shaped segment 221 is rotated until the line connecting the hinge end and the center of the wheel body 1 is perpendicular to the ground.

[0207] The second set height is greater than the first set height, and the second set height satisfies the following condition: the tail end of the robot's mechanical leg 2 cannot hook onto the obstacle, and it must jump over the obstacle. This method of crossing the obstacle makes the obstacle-crossing mode of the deformable wheel 100 the leg-wheel jumping mode.

[0208] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A deformable wheel, characterized by, The deformed wheel (100) comprises a wheel body (1), at least two mechanical legs (2), a leg driving element (3), a first energy storage element (41), and a second energy storage element (42). The mechanical leg (2) is connected to the wheel body (1) and can be folded or unfolded relative to the wheel body (1). The mechanical leg (2) comprises an arc-shaped leg rod (21) and a connecting rod (22). The connecting rod (22) comprises an arc-shaped section (221) and a straight section (222) connected to each other. The opposite ends of the arc-shaped section (221) and the opposite ends of the straight section (222) are located on the same straight line. The first end of the arc-shaped leg rod (21) is hinged to the wheel body (1). The second end of the arc-shaped leg rod (21) is hinged to the end of the arc-shaped section (221) of the connecting rod (22). The straight section (222) of the connecting rod (22) is hinged to the leg driving element (3). The arc-shaped opening of the arc-shaped leg rod (21) and the arc-shaped section (221) of the connecting rod (22) face the same direction. When the at least two mechanical legs (2) are folded relative to the wheel body (1), the positions of the at least two mechanical legs (2) are staggered. The leg driving element (3) is located on the wheel body (1). The leg driving element (3) is configured to drive the mechanical leg (2) to fold or unfold relative to the wheel body (1). One end of the first energy storage element (41) is connected to the wheel body (1), and the other end is connected to the arc-shaped leg rod (21). One end of the second energy storage element (42) is connected to the connecting rod (22), and the other end is connected to the leg driving element (3).

2. The transform wheel of claim 1, wherein, The leg driving element (3) comprises a transmission component (31) and a driving component (32). The transmission component (31) has a driving end and at least two driven ends. The driving end of the transmission component (31) is connected to the driving component (32). The driven end of the transmission component (31) is hinged to the end of the straight section (222) of the mechanical leg (2). The driving component (32) acts on the mechanical leg (2) through the transmission component (31).

3. The transform wheel of claim 2, wherein, The wheel body (1) comprises a first wheel disc (11) and a second wheel disc (12). The first wheel disc (11) and the second wheel disc (12) are fixedly connected and spaced apart to form a receiving cavity (13). The at least two mechanical legs (2) can move relative to the wheel body (1) to be accommodated in the receiving cavity (13) or to extend out of the receiving cavity (13) to the outside of the wheel body (1). The first end of the arc-shaped leg rod (21) is hinged to the inner wall side edge of the first wheel disc (11).

4. The transform wheel of claim 3, wherein, The transmission component (31) comprises a center rod (311), a center gear (312), a clutch gear (313), a sliding block (314), and a deformed gear (315). The driven end is located on the center rod (311), the number of the driven end corresponds to the number of the mechanical legs (2), the center rod (311) is fixed on the end face of the center gear (312), and the center rod (311) and the center gear (312) are hinged to the center position of the inner wall of the first wheel disc (11); The sliding block (314) is located in the sliding groove (110) on the first wheel disc (11), and the sliding block (314) is connected with the clutch gear (313); The deformation gear (315) is hinged to the non-center position of the first wheel disc (11), and the deformation gear (315) is meshed with the clutch gear (313); The driving shaft of the driving part (32) is connected with the deformation gear (315), the driving part (32) can drive the sliding block (314) to move in the sliding groove (110) by driving the deformation gear (315) to rotate, so that the clutch gear (313) is meshed with or disengaged from the center gear (312).

5. The transform wheel of claim 4, wherein, The sliding groove (110) has opposite first and second stop ends (1101) and (1102); When the mechanical legs (2) are completely extended to the accommodating cavity (13), the sliding block (314) abuts against the first stop end (1101); When the mechanical legs (2) are completely accommodated in the accommodating cavity (13), the sliding block (314) abuts against the second stop end (1102).

6. A robot, characterized in that The robot comprises the deformation wheel (100) and the wheel driving part (200) according to any one of claims 1-5. The wheel driving part (200) is connected with the wheel body (1) of the deformation wheel (100) and is used for driving the deformation wheel (100) to rotate.

7. The robot of claim 6, wherein, The robot comprises two deformation wheels (100), two wheel driving parts (200), and a base frame (300). The two deformation wheels (100) are symmetrically located on two sides of the base frame (300). The two wheel driving parts (200) are symmetrically located on the base frame (300), and the two wheel driving parts (200) are also connected with the wheel bodies (1) of the two deformation wheels (100) one by one.

8. The robot of claim 7, wherein, The robot further comprises a connecting part (400), wherein the connecting part (400) comprises a connecting sleeve (401) and a connecting disc (402) connected with each other. The wheel driving part (200) is a motor, and a rotating shaft of the wheel driving part (200) is connected with the connecting sleeve (401). The connecting disc (402) is connected with the corresponding wheel body (1).

9. The robot according to claim 7 or 8, characterized in that, The robot further comprises a rudder assembly (500), wherein the rudder assembly (500) is connected with the base frame (300) and is used for balancing the rotational inertia of the base frame (300).

10. The robot of claim 9, wherein, The rudder assembly (500) comprises a rudder (501), a connecting frame (502), and a balancing block (503). The rudder (501) is fixed to the center position of the side wall of the base frame (300). One end of the connecting frame (502) is hinged to the steering engine (501), and the other end of the connecting frame (502) is connected to the balance block (503).

11. A control method of a robot characterized by comprising: The control method of the robot is applied to the robot of any one of claims 6-10, and the method comprises: obtaining a control instruction for indicating switching of a motion mode of the transformable wheel (100), and current state parameters of the leg driving member (3) and the wheel driving member (200); obtaining, according to the control instruction and the state parameters, a first control parameter corresponding to the wheel driving member (200) and a second control parameter corresponding to the leg driving member (3) when the transformable wheel (100) is switched from a current motion mode to a target motion mode; controlling the wheel driving member (200) to drive the wheel body (1) to rotate according to the first control parameter, and controlling the leg driving member (3) to drive the mechanical leg (2) to be folded or unfolded relative to the wheel body (1) according to the second control parameter, so as to realize switching control of the motion mode of the transformable wheel (100).

12. The control method of the robot according to claim 11, characterized by, When the target motion mode is an obstacle-crossing mode, the controlling the wheel driving member (200) to drive the wheel body (1) to rotate according to the first control parameter, and the controlling the leg driving member (3) to drive the mechanical leg (2) to be folded or unfolded relative to the wheel body (1) according to the second control parameter, comprises: when the transformable wheel (100) is at a set distance from an obstacle, controlling the wheel driving member (200) to drive the wheel body (1) to rotate according to the first control parameter, so that the articulated end of the arc-shaped leg rod (21) and the arc-shaped section (221) is rotated to a set position; and controlling the leg driving member (3) to drive the mechanical leg (2) to be unfolded relative to the wheel body (1) according to the second control parameter, so as to realize that the motion mode of the transformable wheel (100) is the obstacle-crossing mode.

13. The control method of the robot according to claim 12, characterized by, When the height of the obstacle is a first set height, the obstacle-crossing mode of the transformable wheel (100) is a leg-wheel rolling mode; the controlling the wheel driving member (200) to drive the wheel body (1) to rotate according to the first control parameter, so that the articulated end of the arc-shaped leg rod (21) and the arc-shaped section (221) is rotated to a set position, comprises: rotating the articulated end of the arc-shaped leg rod (21) and the arc-shaped section (221) to a line between the articulated end and the center of the wheel body (1) parallel to the ground.

14. The control method of the robot according to claim 12, characterized by, When the height of the obstacle is a second set height, the obstacle-crossing mode of the transformable wheel (100) is a leg-wheel bouncing mode; the controlling the wheel driving member (200) to drive the wheel body (1) to rotate according to the first control parameter, so that the articulated end of the arc-shaped leg rod (21) and the arc-shaped section (221) is rotated to a set position, comprises: rotating the articulated end of the arc-shaped leg rod (21) and the arc-shaped section (221) to a line between the articulated end and the center of the wheel body (1) perpendicular to the ground.

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