A wheel-legged robot power switching module, leg and robot

Abstract

The application discloses a wheel-foot switching robot power switching module, a leg part and a robot, and the power switching module comprises a camshaft module and a central rotating shaft module; power is provided by a first power source to drive the camshaft module and the central rotating shaft module to cooperate to realize switching between a first working position and a second working position; when the first working position is reached, the camshaft module is in contact with the central rotating shaft module, power is provided by a second power source to enable a wheeled mechanism and a lower leg mechanism installed on the central rotating shaft module to obtain power; when the second working position is reached, the camshaft module is separated from the central rotating shaft module, power is provided by a second power source of the wheel-foot robot to enable the wheeled mechanism installed on the central rotating shaft module to obtain power and the lower leg mechanism to lose power. The thigh motor is used as the first power source to provide power, and then the camshaft module and the central rotating shaft module are combined in a skillful manner, so that power transmission under different working positions is realized.

Description

Technical Field

[0001] This invention relates to a power switching module, legs, and robot of a wheel-leg switching robot, belonging to the field of robotics. Background Technology

[0002] Currently, the mainstream robot mobility methods researched include wheeled, legged, and tracked robots, each with its own advantages in different working environments. Compared to legged robots, wheeled robots can move at high speeds on flat surfaces; compared to wheeled robots, legged robots can adapt to more complex working environments; compared to hexapod and octagonal robots, quadruped robots have simpler mechanical structures and controls; compared to bipod robots, quadruped robots have superior stability and load-bearing capacity, thus exhibiting better overall performance. Therefore, wheel-legged integrated quadruped robots have become a hot topic in the field of robotics research. Wheel-legged robots combine the advantages of legged robots—their adaptability to more complex working environments—with the advantages of wheeled robots—high-speed movement on flat surfaces—and share a single motor for power for both the wheels and the legs, saving energy and ensuring endurance while also reducing costs, indicating broad development prospects. However, most of the wheel-legged robots currently on the market with dual motor control suffer from one or more problems, such as complex mechanical structure, excessively long transmission chain, poor shock absorption performance, and large rigid impact of incomplete gears. Therefore, it is necessary to study new wheel-legged switching robots to provide reference and guidance for practice. Summary of the Invention

[0003] This invention provides a power switching module and legs for a wheel-leg switching robot. By engaging or disengaging a camshaft module and a central rotation axis module, the power can be switched, enabling the legs to have both legged and wheeled movement modes. Furthermore, the legs are used to construct a wheel-legged robot.

[0004] The technical solution of this invention is: a power switching module for a wheel-leg switching robot, comprising a camshaft module and a central rotation axis module; power is provided by a first power source of the wheel-leg robot to drive the camshaft module and the central rotation axis module to switch between a first working position and a second working position: in the first working position, the camshaft module is in contact with the central rotation axis module, and power is provided by a second power source of the wheel-leg robot to power the wheel mechanism 3 and the lower leg mechanism 4 installed on the central rotation axis module; in the second working position, the camshaft module is disengaged from the central rotation axis module, and power is provided by the second power source of the wheel-leg robot to power the wheel mechanism 3 installed on the central rotation axis module and de-power the lower leg mechanism 4.

[0005] Optionally, the camshaft module includes a camshaft 29, a first synchronous pulley 30, a cylindrical cam 43, a track bearing 42, a track bearing push rod 31, a lever push pin 32, a lever 33, and a push bearing 36. The first synchronous pulley 30 and the cylindrical cam 43, which are connected to the output end of the first power source, are fixed on the camshaft 29. The bearing end of the track bearing 42 is engaged with the groove on the cylindrical cam 43, and the screw end of the track bearing 42 is fastened to the track bearing push rod 31. The track bearing push rod 31 can move along the axial direction of the camshaft 29. The lever push pin 32 is installed on the track bearing push rod 31. One end of the lever 33 is engaged with the lever push pin 32, the center end of the lever 33 is rotatably engaged with the lever base 58 installed on the thigh mechanism 2, and the other end of the lever 33 is equipped with the push bearing 36.

[0006] Optionally, the track bearing push rod 31 is in the form of a stepped shaft, thick in the middle and thin at both ends. The thin end can slide in the copper sleeve 23 mounted on the thigh mechanism 2, and the thick end is used to install the lever push pin 32. The axial direction of the lever push pin 32 is perpendicular to the axial direction of the track bearing push rod 31 and parallel to the axial direction of the rotating joint at the center end of the lever 33.

[0007] Optionally, the upper end of the lever 33 is fitted with a double U-shaped groove to engage with the end of the track bearing push rod 31.

[0008] Optionally, the central rotating shaft module includes a central rotating shaft 35, an encoder 34, a friction clutch 37, and a second synchronous pulley 38. The central rotating shaft 35 is sequentially mounted from one end to the other with the encoder 34, a first central rotating shaft bearing 39, a second central rotating shaft bearing 39, a friction clutch 37, a clutch connecting plate 57, a second synchronous pulley 38, a third central rotating shaft bearing 39, a fourth central rotating shaft bearing 39, and a wheel mechanism 3. When the push bearing 36 in the camshaft module contacts the friction clutch 37, the friction clutch 37 rotates with the central rotating shaft 35. The rotation of the central rotating shaft 35 powers the wheel mechanism 3 mounted on the central rotating shaft 35 and the leg mechanism 4 mounted on the friction clutch 37. When the push bearing 36 in the camshaft module disengages from the friction clutch 37, the friction clutch 37 stops rotating with the central rotating shaft 35. The rotation of the central rotating shaft 35 powers the wheel mechanism 3 mounted on the central rotating shaft 35.

[0009] Optionally, the friction clutch 37 includes a clutch housing 65, a clutch friction plate 47, and a clutch pressure plate 48; wherein the clutch housing 65, the clutch friction plate 47, and the clutch pressure plate 48, which are alternately installed in the clutch housing 65, are coaxial, the clutch pressure plate 48 is connected to the central rotating shaft 35 by a spline, and the clutch friction plate 47 is connected to the clutch housing 65 by a spline.

[0010] According to another aspect of the present invention, a leg of a wheeled robot is provided, including a thigh mechanism 2, a wheel mechanism 3, a lower leg mechanism 4, a power mechanism, and a power switching module as described in any one of the above.

[0011] Optionally, the legs of a wheeled robot further include a shock-absorbing support mechanism 5; wherein, the shock-absorbing support mechanism 5 includes a sliding block 63 and a shock-absorbing spring 64, the sliding block 63 being fixed on the frame; and the shock-absorbing spring 64 being fixed on the top of the sliding groove of the sliding block 63.

[0012] According to another aspect of the present invention, a wheel-legged robot is provided, including a frame and a plurality of legs as described in any one of the above embodiments mounted on the frame.

[0013] The beneficial effects of this invention are:

[0014] First, this invention uses a thigh motor as the primary power source, and then achieves switching between two different working positions through the ingenious combination of a camshaft module and a central rotation axis module. A calf motor serves as the secondary power source, enabling power transmission between different working positions. Throughout the control process, the thigh motor is used as the power source for switching working positions, while the calf motor only needs to handle the motion control of the calf mechanism and the wheel mechanism, thus simplifying control. Furthermore, compared to traditional wheeled robots that use three drive motors per leg, this invention uses only two motors per leg, directly reducing the robot's manufacturing cost, energy consumption, and improving its endurance and range. This provides a constructive solution to the single movement mode and high energy consumption problems of traditional quadruped robots. The quadruped robot incorporating this invention is equipped with visual sensors such as a depth camera, LiDAR, and ultrasonic sensors, allowing it to switch between different forms based on detected road conditions, resulting in high energy utilization and enhanced endurance.

[0015] Secondly, the thigh-powered auxiliary system enables power switching between the wheels and legs. The entire power switching process is divided into two relatively simple parts: the first part is the central rotating shaft module, where the lower leg motor directly controls the movement of the central rotating shaft, thus achieving direct control of the wheel mechanism. In this case, the central rotating shaft provides a power source to the lower leg mechanism, and whether the lower leg mechanism receives power from the central rotating shaft depends on the position of the thigh. The second part is the camshaft module, which utilizes the thigh motor's power secondaryly. Based on standard parts such as synchronous pulleys and track bearings, and parts that can be easily manufactured such as cylindrical cams, track bearing push rods, and levers, it effectively and reliably converts rotational torque into parallel thrust. Simultaneously, the push bearing on the lever acts as a trigger module, more effectively squeezing the clutch pressure plate to determine whether the clutch receives power from the central rotating shaft. The lower leg motor's power transmission process is simple, and the transmission chain is clear; the thigh motor's power conversion process is clear, and the parts are easy to manufacture, directly reducing the overall weight of the robot, increasing its endurance, and facilitating its actual production deployment.

[0016] Third, the wheeled movement is equipped with a shock-absorbing support device, which not only reduces the vertical fluctuation of the chassis by a few centimeters during wheeled movement, but also forms a triangular stabilizing mechanism with the thigh and body, which is beneficial for force distribution and more in line with actual road conditions. This provides a better solution to the high energy consumption problem and limited working environment of traditional quadruped robots. Attached Figure Description

[0017] Figure 1 This is an isometric view of the invention applied to the wheeled motion of a four-legged wheeled robot;

[0018] Figure 2 This is an isometric view of the invention applied to the legged motion of a four-legged wheeled robot;

[0019] Figure 3 This is a front view of the power mechanism of the present invention;

[0020] Figure 4 This is an isometric exploded view of the power mechanism of the present invention;

[0021] Figure 5 Isometric views of the thigh mechanism, power switching module, and power mechanism assembly of the present invention;

[0022] Figure 6 for Figure 5 Front view of the structure;

[0023] Figure 7 This is an exploded view of the thigh mechanism, power switching module, and power mechanism of the present invention;

[0024] Figure 8This is an isometric view of the camshaft module of the present invention;

[0025] Figure 9 This is an isometric exploded view of the camshaft module of the present invention;

[0026] Figure 10 This is an isometric exploded view of the central rotating axis module of the present invention;

[0027] Figure 11 This is an isometric view of the central rotation axis of the present invention;

[0028] Figure 12 This is an isometric view of the friction clutch of the present invention;

[0029] Figure 13 This is an isometric exploded view of the friction clutch of the present invention;

[0030] Figure 14 This is an isometric view of the clutch housing of the present invention;

[0031] Figure 15 This is a front view of the cylindrical cam of the present invention;

[0032] Figure 16 This is an isometric view of the cylindrical cam of the present invention;

[0033] Figure 17 This is an isometric view of the trajectory bearing sliding push rod of the present invention;

[0034] Figure 18 This is an isometric view of the lever of the present invention;

[0035] Figure 19 This is a diagram illustrating the lever arm of the present invention when it presses against the clutch pressure plate.

[0036] Figure 20 This is a force arm analysis diagram of the lever of the present invention when it is far away from the clutch pressure plate;

[0037] Figure 21 This is an isometric view of the copper sleeve of the sliding push rod of the present invention;

[0038] Figure 22 This is an isometric view of the lever base of the present invention;

[0039] Figure 23 This invention relates to the lever and clutch states during foot-based motion.

[0040] Figure 24 This invention relates to the lever and clutch states during wheel-type motion.

[0041] Figure 25 Isometric view (left side of the machine body) of the fixing method of the fixed timing belt pulley of the present invention;

[0042] Figure 26 This is a front view (left side of the machine body) of the fixing method of the fixed timing pulley of the present invention;

[0043] Figure 27 A partial view (left side of the machine body) showing the fixing method of the timing belt pulley according to the present invention;

[0044] Figure 28 This is an isometric view of the lower leg mechanism of the present invention;

[0045] Figure 29 This is an isometric exploded view of the lower leg mechanism of the present invention;

[0046] Figure 30 This is an isometric view of the fuselage of the present invention;

[0047] Figure 31 This is an axial view of the shock-absorbing support mechanism of the present invention;

[0048] The labels in the diagram are as follows: 1-Body, 2-Thigh mechanism, 3-Wheel mechanism, 4-Lower leg mechanism, 5-Shock-absorbing support mechanism, 6-Thigh power motor, 7-Thigh power motor fixing screw, 8-Inner thigh plate fixing screw, 9-Thigh power motor synchronous shaft, 10-Lower leg motor synchronous shaft, 11-Lower leg motor fixing screw, 12-Lower leg and wheel power motor, 13-Motor positioning pin hole, 14-First fastener, 15-Second fastener 16-Synchronous belt pulley fixing plate, 17-Third fastener, 18-Fixed synchronous belt pulley, 19-Outer body plate, 20-Outer thigh plate, 21-Lower leg motor drive shaft bearing, 22-Mecanum wheel, 23-Copper sleeve, 24-Camshaft bearing, 25-Fourth fastener, 26-First synchronous belt, 27-Thigh strength rod, 28-Inner thigh plate, 29-Camshaft, 30-First synchronous belt pulley, 31-Trajectory bearing push rod, 32-Lever push 33-Lever, 34-Encoder, 35-Center rotating shaft, 36-Push bearing, 37-Friction clutch, 38-Second timing belt pulley, 39-Center rotating shaft bearing, 40-Mecanum wheel coupling, 41-Fifth fastener, 42-Trajectory bearing, 43-Cylindrical cam, 44-Third timing belt pulley, 45-Washer, 46-First timing belt pulley set screw, 47-Clutch friction plate, 48-Clutch pressure plate, 49-The... Two synchronous belts, 50-Second synchronous belt pulley set screw, 51-Third synchronous belt pulley set screw, 52-Lower leg front plate, 53-Lower leg connecting block, 54-Foot end, 55-Foot end limiting rod, 56-Lower leg strength rod, 57-Clutch connecting plate, 58-Lever base, 59-Outer side plate strength rod, 60-Ultrasonic sensor, 61-Depth camera, 62-LiDAR, 63-Slide block, 64-Shock-absorbing spring, 65-Clutch outer sleeve. Detailed Implementation

[0049] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0050] Example 1: As Figure 1-31 As shown, a power switching module for a wheel-leg switching robot includes a camshaft module and a central rotation axis module. Power is provided by a first power source of the wheel-leg robot to drive the camshaft module and the central rotation axis module to switch between a first working position and a second working position. In the first working position, the camshaft module is in contact with the central rotation axis module, and power is provided by a second power source of the wheel-leg robot, energizing the wheel mechanism 3 and the lower leg mechanism 4 mounted on the central rotation axis module. In the second working position, the camshaft module is disengaged from the central rotation axis module, and power is provided by the second power source of the wheel-leg robot, energizing the wheel mechanism 3 mounted on the central rotation axis module and de-energizing the lower leg mechanism 4.

[0051] Optionally, the camshaft module includes a camshaft 29, a first synchronous pulley 30, a cylindrical cam 43, a track bearing 42, a track bearing push rod 31, a lever push pin 32, a lever 33, and a push bearing 36. The first synchronous pulley 30 and the cylindrical cam 43, which are connected to the output end of the first power source, are fixed on the camshaft 29. The bearing end of the track bearing 42 is engaged with the groove on the cylindrical cam 43, and the screw end of the track bearing 42 is fastened to the track bearing push rod 31. The track bearing push rod 31 can move along the axial direction of the camshaft 29. The lever push pin 32 is installed on the track bearing push rod 31. One end of the lever 33 is engaged with the lever push pin 32, the center end of the lever 33 is rotatably engaged with the lever base 58 installed on the thigh mechanism 2, and the other end of the lever 33 is equipped with the push bearing 36.

[0052] Optionally, the track bearing push rod 31 is in the form of a stepped shaft, thick in the middle and thin at both ends. The thin end can slide in the copper sleeve 23 mounted on the thigh mechanism 2, and the thick end is used to install the lever push pin 32. The axial direction of the lever push pin 32 is perpendicular to the axial direction of the track bearing push rod 31 and parallel to the axial direction of the rotating joint at the center end of the lever 33.

[0053] Optionally, the upper end of the lever 33 is fitted with a double U-shaped groove to engage with the end of the track bearing push rod 31.

[0054] Optionally, the central rotating shaft module includes a central rotating shaft 35, an encoder 34, a friction clutch 37, and a second synchronous pulley 38. The central rotating shaft 35 is sequentially mounted from one end to the other with the encoder 34, a first central rotating shaft bearing 39, a second central rotating shaft bearing 39, a friction clutch 37, a clutch connecting plate 57, a second synchronous pulley 38, a third central rotating shaft bearing 39, a fourth central rotating shaft bearing 39, and a wheel mechanism 3. When the push bearing 36 in the camshaft module contacts the friction clutch 37, the friction clutch 37 rotates with the central rotating shaft 35. The rotation of the central rotating shaft 35 powers the wheel mechanism 3 mounted on the central rotating shaft 35 and the leg mechanism 4 mounted on the friction clutch 37. When the push bearing 36 in the camshaft module disengages from the friction clutch 37, the friction clutch 37 stops rotating with the central rotating shaft 35. The rotation of the central rotating shaft 35 powers the wheel mechanism 3 mounted on the central rotating shaft 35.

[0055] Optionally, the friction clutch 37 includes a clutch housing 65, a clutch friction plate 47, and a clutch pressure plate 48; wherein the clutch housing 65, the clutch friction plate 47, and the clutch pressure plate 48, which are alternately installed in the clutch housing 65, are coaxial, the clutch pressure plate 48 is connected to the central rotating shaft 35 by a spline, and the clutch friction plate 47 is connected to the clutch housing 65 by a spline.

[0056] According to another aspect of the present invention, a leg of a wheeled robot is provided, including a thigh mechanism 2, a wheel mechanism 3, a lower leg mechanism 4, a power mechanism, and a power switching module as described in any one of the above.

[0057] Optionally, the legs of a wheeled robot further include a shock-absorbing support mechanism 5; wherein, the shock-absorbing support mechanism 5 includes a sliding block 63 and a shock-absorbing spring 64, the sliding block 63 being fixed on the frame; and the shock-absorbing spring 64 being fixed on the top of the sliding groove of the sliding block 63.

[0058] According to another aspect of the present invention, a wheel-legged robot is provided, including a frame and a plurality of legs as described in any one of the above embodiments mounted on the frame.

[0059] Furthermore, referring to the accompanying drawings, taking the four legs as an example, an optional embodiment of the present invention will be described as follows:

[0060] A wheeled robot includes a frame and legs. The legs include a power mechanism, a thigh mechanism 2, a wheel mechanism 3, a lower leg mechanism 4, a power switching module, and may also include a shock-absorbing support mechanism 5.

[0061] like Figure 25-27As shown in Figure 30, the frame includes a body 1, an outer body plate 19, an outer body plate strength rod 59, a timing pulley fixing plate 16, and a fixed timing pulley; wherein the outer body plate 19 is connected to the body 1 by threaded fasteners; the timing pulley fixing plate 16 is fastened to the outer body plate 19 by M3x6 bolts as a second fastening member 15; the fixed timing pulley 18 is fastened to the timing pulley fixing plate 16 by M3x20 bolts as a third fastening member 17; the fixed timing pulley 18 is coaxial with the hip joint of the thigh mechanism 2; the frame is used to install the leg structure.

[0062] like Figure 3 , 4 As shown, the power mechanism includes a first power source and a second power source. The thigh power motor 6 is used as the first power source, and the calf and wheel power motor 12 is used as the second power source. The thigh power motor 6 and the calf and wheel power motor 12 are coaxial. The thigh power motor 6 is fastened to the body 1 by the thigh power motor fixing screw 7, and the calf and wheel power motor 12 is fastened to the outer side plate 19 of the body by the calf motor fixing screw 11. The thigh power motor 6 provides power to the thigh mechanism 2. The thigh motor synchronous shaft 9 is connected to the inner thigh plate 28 at the thigh hip joint by threaded fasteners to realize the control of the thigh mechanism 2. Since the camshaft 29 rotates relative to the hip joint when the thigh mechanism 2 swings, the power of the thigh power motor 6 can be transmitted to the camshaft 29 through the relative rotation between the fixed synchronous pulley 18 fixed to the body and the first synchronous pulley 30 on the camshaft 29. Then, the control of the lever 33 is realized through the design of the cylindrical cam 43. The lower leg and wheel motor 12 provides power to the wheel mechanism 3 and the lower leg mechanism 4. Power is transmitted to the central rotation axis 35 of the knee joint via the second and third synchronous pulleys. Switching between wheeled and footed motion is achieved through the cooperation of lever 33 and friction clutch 37. During footed motion, both the wheel mechanism 3 and the lower leg mechanism 4 receive power from the lower leg and wheel motor 12; during wheeled motion, only the wheel mechanism 3 receives power from the lower leg and wheel motor 12. The shock-absorbing support mechanism 5 is located in the middle of the robot body and is used to support the foot end 55 of the lower leg when the robot is in wheeled motion.

[0063] The power transmission principle between the fixed synchronous pulley 18 and the first synchronous pulley 30 is as follows: the fixed synchronous pulley 18 is part of the frame, and the first synchronous pulley 30 is part of the thigh mechanism 2 and is fixed in position relative to the thigh mechanism 2. The fixed synchronous pulley 18 and the hip joint of the thigh mechanism 2 are coaxial. When the thigh mechanism 2 moves with the hip joint as the center, the first synchronous pulley 30 has a certain angular displacement relative to the fixed synchronous pulley 18 (equivalent to making an arc motion with the hip joint as the center and the distance from the hip joint to the camshaft 29 as the radius. The fixed synchronous pulley 18 on the hip joint does not move, but the first synchronous pulley 30 on the camshaft 29 has an arc motion, that is, there is relative rotation between the two synchronous pulleys). In this way, the power of the thigh mechanism 2 is transmitted to the camshaft 29, realizing the power transmission process of the lever 33.

[0064] like Figure 5-7 As shown, the thigh mechanism 2 includes an inner thigh plate 28, an outer thigh plate 20, and a thigh strength rod 27. The thigh strength rod 27 is fastened to the inner thigh plate 28 and the outer thigh plate 20 at both ends using M6x12 screws as fourth fasteners 25. Additionally, two camshaft bearings 24 are interference-fitted to the inner thigh plate 28 and the outer thigh plate 20, respectively; two central rotary shaft bearings 39 are interference-fitted to the inner thigh plate 28 and the outer thigh plate 20, respectively; two copper sleeves 23 are threadedly fastened to the inner thigh plate 28 and the outer thigh plate 20, respectively; a lever base 58 is threadedly fastened to the inner thigh plate 28; and a calf motor drive shaft bearing 21 is interference-fitted to the outer thigh plate 20.

[0065] like Figure 8 , 9As shown, the camshaft module includes a camshaft 29, a first synchronous pulley 30, a cylindrical cam 43, a track bearing 42, a track bearing push rod 31, a lever push pin 32, a lever 33, and a push bearing 36. The two ends of the camshaft 29 are coaxially connected to camshaft bearings 24 fixed to the inner and outer thigh plates respectively via an interference fit. The first synchronous pulley 30 is fixed to the camshaft 29 by a first synchronous pulley set screw 46, thereby achieving synchronous rotation of the first synchronous pulley 30 and the camshaft 29, with axial positioning via a shoulder. The cylindrical cam 43 is fixed to the camshaft 29 via a key connection, thereby achieving synchronous rotation of the camshaft 29 and the cylindrical cam 43, with axial positioning via a shoulder. The two ends of the track bearing push rod 31 are coaxially connected to copper sleeves 23 via a clearance fit, allowing it to slide between the two copper sleeves 23. The bearing end of the track bearing 42 is clearance-fitted with the cylindrical cam groove. The screw end of the track bearing 42 is connected to the track bearing push rod 31 by threaded fastening, and the two are separated by a 1mm washer 45. The lever push pin 32 is connected to the track bearing push rod 31 by threaded fastening. The U-shaped groove end of the lever 33 is fitted with the lever push pin 32. The other end of the lever 33 is fixed to the push bearing 36 on the lever 33 by threaded fasteners. The center end of the lever 33 is fixed to the lever base 58 by threaded connection. The lever 33 is clearance-fitted with the screw used to fix it to the lever base 58, and the lever 33 can rotate around it.

[0066] like Figure 17 As shown, the trajectory bearing push rod 31 is generally in the form of a stepped shaft, slightly thinner at both ends to facilitate sliding within the copper sleeve 23. A flat surface is milled in the middle, and several holes are drilled as needed. The trajectory bearing push rod 31 is easy to manufacture and has high strength, making it extremely suitable for this invention.

[0067] like Figure 18 As shown, the upper end of the lever 33 adopts a double U-shaped groove, which facilitates a tight movement and engagement with the lever push pin 32, thereby completing the power transmission. This is extremely beneficial for the power transmission of the track bearing push rod 31 to the lever 33. The lower end is fixedly connected to it with two push bearings 36. Using push bearings 36 instead of lever 33 to bear the force is extremely beneficial for the transmission of force, while also reducing material wear and making the transmission more reliable.

[0068] like Figure 10 , 11As shown, the central rotating shaft module includes a central rotating shaft 35, an encoder 34, a friction clutch 37, and a second synchronous pulley 38. The central rotating shaft 35 is sequentially mounted from one end to the other with the encoder 34, a first central rotating shaft bearing 39, a second central rotating shaft bearing 39, a friction clutch 37, a clutch connecting plate 57, a second synchronous pulley 38, a third central rotating shaft bearing 39, a fourth central rotating shaft bearing 39, a Mecanum wheel coupling 40, and a Mecanum wheel 22. Both ends of the central rotating shaft 35 are respectively connected to the central rotating shaft bearings 39 on the inner thigh plate 28 and the outer thigh plate 20 via interference fits. The internal connection between the friction clutch 37 and the spline groove on the central rotating shaft 35 is a clearance fit, allowing the clutch friction plate 47 inside the friction clutch 37 to slide on the central rotating shaft 35. The encoder 34 is connected to the central rotating shaft 35 via its built-in clamping device.

[0069] like Figure 12-14 As shown, the friction clutch 37 includes a clutch housing 65, three clutch friction plates 47, and four clutch pressure plates 48. The clutch housing 65, the alternately arranged clutch friction plates 47, and the clutch pressure plates 48 are coaxial. The clutch friction plates 47 and clutch pressure plates 48 slide slightly within the keyway of the central rotating shaft 35, while being limited by the clutch housing 65 and the push bearing 36. The clutch housing 65 is axially positioned with the central rotating shaft 35 via a shoulder on the side near the second synchronous pulley 38. The working principle of the friction clutch 37 is as follows: since the clutch pressure plates 48 are splined to the central rotating shaft 35, and the clutch friction plates 47 are also splined to the clutch housing 65, the movement of the central rotating shaft 35 and the clutch pressure plates 48 is synchronous, and the movement of the clutch housing 65 and the clutch friction plates 47 is also synchronous. When lever 33 applies pressure to clutch pressure plate 48, there is a large friction between clutch friction plate 47 and clutch pressure plate 48. Clutch friction plate 47 and clutch pressure plate 48 rotate synchronously, that is, the central rotating shaft 35 and the clutch outer sleeve 65 move synchronously. The leg and wheel power motor 12 can control the wheel mechanism 3 and the leg mechanism 4. When lever 33 does not apply pressure to clutch pressure plate 48, there is no friction between clutch friction plate 47 and clutch pressure plate 48. Clutch friction plate 47 and clutch pressure plate 48 do not rotate synchronously, that is, the movement of the central rotating shaft 35 is unrelated to the movement of the clutch outer sleeve 65. The leg and wheel power motor 12 only controls the wheel mechanism 3.

[0070] like Figure 10As shown, the wheel mechanism 3 includes a Mecanum wheel coupling 40, a fifth fastener 41, and a 100mm Mecanum wheel 22. The other end of the central rotating shaft 35 is fixed to the central rotating shaft 35 by an M5X8 screw, which serves as the fifth fastener 41; the Mecanum wheel coupling 40 and the 100mm Mecanum wheel 22 are connected by threaded fasteners.

[0071] like Figure 28 , 29 As shown, the lower leg mechanism 4 includes a lower leg front plate 52, a lower leg connecting block 53, a foot end 54, a foot end limiting rod 55, a lower leg strength rod 56, and a clutch connecting plate 57. The large hole of the clutch connecting plate 57 is coaxial with the central rotating shaft 35 and connected to the clutch outer sleeve 65 via threaded fasteners. The two lower leg front plates 52 are coaxial with the central rotating shaft 35 and are respectively connected to the central rotating shaft bearing 39 via interference fit. The lower leg strength rod 56 is inserted into the pre-reserved through hole of the lower leg connecting block 53 and connected to the lower leg front plates 52 on both sides via threaded fasteners. The foot end limiting rod 55, the foot end 54, and the lower leg connecting block 53 are connected by threaded fasteners.

[0072] like Figure 31 As shown, the shock-absorbing support mechanism 5 includes a sliding block 63 and a shock-absorbing spring 64. The sliding block 63 is fixed to the frame by threaded fasteners; the shock-absorbing spring 64 is fixed in the rectangular groove of the sliding block 63.

[0073] The robot's power transmission process is as follows: Power is output from the thigh motor 6 to the thigh motor synchronous shaft 9. The thigh motor 6 and the thigh motor synchronous shaft 9 are coaxial and positioned through the motor positioning pin hole 13. Simultaneously, an M4x8 countersunk screw is used as the first fastening component 14 to connect the two. The thigh motor synchronous shaft 9 is fastened to the inner thigh plate 28 through the inner thigh plate fixing screw 8. Therefore, the power output from the thigh motor 6 is directly transmitted to the inner thigh plate 28. The inner thigh plate 28, the outer thigh plate 20, and the two thigh strength rods 27 are connected by threaded fasteners, making the thigh mechanism 2 a single unit. This allows the thigh motor to directly control the thigh mechanism 2. Due to the relative rotation of the thigh mechanism 2 relative to the hip joint, the power from the thigh motor 6 is transmitted from the first synchronous belt 26 to the camshaft 29 through the first synchronous pulley 30 and the fixed synchronous pulley 18, thereby controlling the cylindrical cam 43 and thus controlling whether the lever 33 is raised or lowered. This means that the engagement / disengagement state of the friction clutch 37 is controlled. The output end of the leg and wheel power motor 12 is coaxial with the leg motor synchronous shaft 10 and connected by threaded fasteners. The third synchronous pulley 44 is fixed to the leg motor synchronous shaft 10 by the second synchronous pulley set screw 50, and the second synchronous pulley 38 is fixed to the central rotating shaft 35 by the third synchronous pulley set screw 51. Power is then transmitted to the central rotating shaft 35 through the second synchronous belt 49 from the third synchronous pulley 44 on the leg motor synchronous shaft 10 and the second synchronous pulley 38 on the central rotating shaft 35. The wheel mechanism 3 is connected to the central rotating shaft by threaded fasteners, so the leg and wheel power motor 12 can directly control the state of the wheel mechanism 3. Since the clutch pressure plate 48 is connected to the central rotating shaft 35 by a spline, and the clutch friction plate 47 is also connected to the clutch outer sleeve 65 by a spline, the movement of the central rotating shaft 35 and the clutch pressure plate 48 is synchronous, and the movement of the clutch outer sleeve 65 and the clutch friction plate 47 is also synchronous. Figure 23 As shown, when lever 33 applies pressure to clutch pressure plate 48, there is a large frictional force between clutch friction plate 47 and clutch pressure plate 48. Clutch friction plate 47 and clutch pressure plate 48 rotate synchronously, that is, the central rotating shaft 35 and the clutch outer sleeve 65 move synchronously. The lower leg and wheel power motor 12 can control the wheel mechanism 3 and the lower leg mechanism 4; as Figure 24 As shown, when lever 33 does not apply pressure to clutch pressure plate 48, there is no friction between clutch friction plate 47 and clutch pressure plate 48, and clutch friction plate 47 and clutch pressure plate 48 do not rotate synchronously. That is, the movement of central rotating shaft 35 is unrelated to the movement of clutch outer sleeve 65, and the lower leg and wheel power motor 12 only controls wheel mechanism 3.

[0074] The formula for the frictional force inside the friction clutch 37 is:

[0075]

[0076] in, -Lever 33 U-slot end lever arm length -Lever arm length at the bearing end of lever 33; such as Figures 19-20 As shown; - The coefficient of friction between clutch friction plate 47 and clutch pressure plate 48; - The transmission ratio between the fixed synchronous pulley 18 and the first synchronous pulley 30; - The force transmission coefficient of the cylindrical cam 43; - Output torque of the thigh-powered motor 6.

[0077] like Figure 23 , 24 As shown, the switching between wheel-type motion and foot-type motion is achieved through the cooperation of lever 33 and friction clutch 37, specifically as follows:

[0078] like Figure 2 During the leg movement shown, the cylindrical cam 43 on the camshaft 29 is designed to ensure that the trajectory bearing 42 and the trajectory bearing push rod 31 do not move laterally within the swing range of the thigh mechanism 2. At this time, the push bearing 36 on the lever 33 always keeps the clutch pressure plate 48 pressed. Since the clutch pressure plate 48 is subjected to pressure by the lever 33, the friction plate 47 inside the clutch will generate huge friction force, thereby driving the clutch outer sleeve 65 to rotate with the central rotating shaft 35. The lower leg mechanism 4 is also fixedly connected to the clutch outer sleeve 65. Therefore, the lower leg mechanism 4 can always obtain power from the central rotating shaft 35, thereby realizing the leg movement.

[0079] When switching from foot-based to wheel-based motion, the thigh swing amplitude exceeds that of the foot-based motion. The cylindrical cam 43 drives the track bearing 42 and the track bearing push rod 31 to slide outward toward the thigh plate 20. After the foot end limit rod 55 at the end of the lower leg mechanism 4 enters the rectangular slide rail of the shock-absorbing support mechanism 5, the lever 33 just lifts up. The clutch pressure plate 47 loses the pressure applied by the push bearing 36, that is, the entire clutch loses friction. The clutch outer sleeve 65 does not rotate with the central rotating shaft 35. The lower leg mechanism 4 loses power, and only the wheel mechanism 3 receives power from the lower leg and wheel power motor 12. The frame, thigh mechanism 2 and lower leg mechanism 4 form a stable triangle. At this time, only the lower leg and wheel power motor 12 work, that is, it switches to wheel-based motion.

[0080] During wheel-like motion, the thigh motor 6 stops working, the camshaft 29 receives no power, so the cylindrical cam 43 does not rotate, the track bearing 42 remains within the inclined groove, and the track bearing push rod 31 does not move. At this time, the lever 33 is raised, the clutch pressure plate 48 has no pressure to push the bearing 36, the clutch outer sleeve 65 does not rotate with the central rotating shaft 35, and the lower leg mechanism 4 receives no power. Therefore, the power from the lower leg and wheel motors 12 only provides power to the wheel mechanism 3 fixed to the central rotating shaft 35, enabling wheel-like motion.

[0081] When switching to foot-type movement, the thigh motor 6 operates first. Before the thigh mechanism 2 reaches the critical point of the swing range of the foot-type movement thigh mechanism 2, the thigh mechanism 2 and the lower leg mechanism 4 are always a crank-slider mechanism. At the same time, the cylindrical cam 43 drives the track bearing 42 and the track bearing push rod 31 to slide inward toward the thigh plate 28. After the foot end limit rod 55 on the lower leg mechanism 4 disengages from the rectangular slide rail of the shock-absorbing support mechanism 5, the lever 33 just presses against the clutch pressure plate 47. The clutch pressure plate 47 receives the pressure applied by the push bearing 36, that is, the entire clutch receives friction. The clutch outer sleeve 65 rotates with the central rotating shaft 35, and the lower leg mechanism 4 receives... When power is obtained, the movement switches to foot motion. Specifically, when switching from wheel motion to foot motion, the thigh power motor 6 reverses, and the lower leg mechanism 4 begins to descend. Before the foot end limit rod 55 descends to the slide groove inlet of the slide block 63, the trajectory bearing 42 always slides in the inclined slide groove of the cylindrical cam 43. That is, there is relative displacement between the trajectory bearing 42 and the trajectory bearing push rod 31 and the thigh plates on both sides. The bearing 36 at the end of the lever 33 gradually approaches the clutch pressure plate 48, but does not make contact. At this time, the clutch outer sleeve 65 still cannot obtain the power transmitted from the lower leg and wheel power motor 12 at the central rotating shaft 35, and the lower leg mechanism 4 is still not controlled. When the foot-end limiting rod 55 is lowered to the inlet of the slide block 63, the track bearing 42 is about to disengage from the inclined slide of the cylindrical cam 43 and enter the parallel slide. This means there will be no relative displacement between the track bearing 42 and the track bearing push rod 31 and the two thigh plates. The lever 33 is about to be lowered, the clutch pressure plate 48 will receive pressure from the push bearing 36, and the clutch outer sleeve 65 will receive power, thus controlling the lower leg mechanism 4. When the foot-end limiting rod 55 exits the inlet of the slide block 63, the track bearing 42 disengages from the inclined slide of the cylindrical cam 43 and enters the parallel slide. There will be no relative displacement between the track bearing 42 and the track bearing push rod 31 and the two thigh plates. The lever 33 is lowered, the clutch pressure plate 48 receives pressure from the push bearing 36, and the clutch outer sleeve 65 receives power, thus controlling the lower leg mechanism 4. At this point, the movement has switched to foot motion.

[0082] like Figure 30As shown, the frame may also include a lithium battery, a depth camera 61, an ultrasonic sensor 60, a lidar 62, and a frame for mounting leg structures.

[0083] The working principle of this invention is as follows: By applying the leg structure of this invention to a wheel-legged integrated robot, the robot can be used in different situations:

[0084] When the robot works on the ground, it uses a series of sensors, such as LiDAR 62, depth camera 61, and ultrasonic sensor 60, to perceive the surrounding environment and transmit the data to the microcontroller for analysis and mapping. After the controller analyzes the road conditions, it sends signals to the thigh motor 6 and the lower leg and wheel motors 12, enabling wheeled and legged movements through the coordinated action of the two motors.

[0085] When the robot is working on the ground, if the microcontroller detects obstacles or uneven terrain, it will send a signal to switch the robot to legged motion and then resume legged motion. If the microcontroller detects that the ground is open and flat, it will send a signal to switch the robot to wheeled motion and then resume wheeled motion.

[0086] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A power switching module for a wheeled robot, characterized in that, It includes a camshaft module and a central rotating shaft module; the first power source of the wheel-legged robot provides power to drive the camshaft module and the central rotating shaft module to switch between the first working position and the second working position: in the first working position, the camshaft module is in contact with the central rotating shaft module, and the second power source of the wheel-legged robot provides power to the wheel mechanism (3) and the lower leg mechanism (4) installed on the central rotating shaft module; in the second working position, the camshaft module is disengaged from the central rotating shaft module, and the second power source of the wheel-legged robot provides power to the wheel mechanism (3) installed on the central rotating shaft module, and the lower leg mechanism (4) loses power. The camshaft module includes a camshaft (29), a first synchronous pulley (30), a cylindrical cam (43), a track bearing (42), a track bearing push rod (31), a lever push pin (32), a lever (33), and a push bearing (36). The camshaft (29) is fixed with the first synchronous pulley (30) and the cylindrical cam (43) connected to the output end of the first power source. The bearing end of the track bearing (42) is engaged with the groove on the cylindrical cam (43). The screw end of the track bearing (42) is fastened to the track bearing push rod (31). The track bearing push rod (31) can move along the axial direction of the camshaft (29). The lever push pin (32) is installed on the track bearing push rod (31). One end of the lever (33) is engaged with the lever push pin (32). The center end of the lever (33) is rotated with the lever base (58) installed on the thigh mechanism (2). The other end of the lever (33) is equipped with the push bearing (36).

2. The power switching module for the wheeled robot according to claim 1, characterized in that, The track bearing push rod (31) is in the form of a stepped shaft, thick in the middle and thin at both ends. The thin end can slide in the copper sleeve (23) installed on the thigh mechanism (2), and the thick end is used to install the lever push pin (32). The axial direction of the lever push pin (32) is perpendicular to the axial direction of the track bearing push rod (31) and parallel to the axial direction of the rotating joint at the center end of the lever (33).

3. The power switching module for the wheeled robot according to claim 1, characterized in that, The upper end of the lever (33) is fitted with a double U-shaped groove to cooperate with the end of the track bearing push rod (31).

4. The power switching module for the wheeled robot according to claim 1, characterized in that, The central rotating shaft module includes a central rotating shaft (35), an encoder (34), a friction clutch (37), and a second synchronous pulley (38); the central rotating shaft (35) is sequentially mounted from one end to the other with the encoder (34), the first central rotating shaft bearing (39), the second central rotating shaft bearing (39), the friction clutch (37), the clutch connecting plate (57), the second synchronous pulley (38), the third central rotating shaft bearing (39), the fourth central rotating shaft bearing (39), and the wheel mechanism (3); when the camshaft module pushes the bearing (3) 6) When in contact with the friction clutch (37), the friction clutch (37) can rotate with the central rotating shaft (35). Through the rotation of the central rotating shaft (35), the wheel mechanism (3) installed on the central rotating shaft (35) and the small leg mechanism (4) installed on the friction clutch (37) obtain power. When the push bearing (36) in the camshaft module disengages from the friction clutch (37), the friction clutch (37) does not rotate with the central rotating shaft (35). Through the rotation of the central rotating shaft (35), the wheel mechanism (3) installed on the central rotating shaft (35) obtains power.

5. The power switching module for the wheeled robot according to claim 4, characterized in that, The friction clutch (37) includes a clutch housing (65), a clutch friction plate (47), and a clutch pressure plate (48); wherein the clutch housing (65), the clutch friction plate (47), and the clutch pressure plate (48) are coaxially mounted alternately in the clutch housing (65), the clutch pressure plate (48) is connected to the central rotating shaft (35) by a spline, and the clutch friction plate (47) is connected to the clutch housing (65) by a spline.

6. The legs of a wheel-legged robot, characterized in that, It includes a thigh mechanism (2), a wheel mechanism (3), a lower leg mechanism (4), a power mechanism, and a power switching module as described in any one of claims 1-5.

7. The legs of the wheel-legged robot according to claim 6, characterized in that, It also includes a shock-absorbing support mechanism (5); wherein the shock-absorbing support mechanism (5) includes a slide block (63) and a shock-absorbing spring (64), the slide block (63) being fixed on the frame; the shock-absorbing spring (64) being fixed on the top of the slide of the slide block (63).

8. A wheel-legged robot, characterized in that: Includes a frame and multiple sets of legs as described in claim 6 mounted on the frame.

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