Leg-wheel power switching actuator, leg, wheel-legged robot and working method

Abstract

The application discloses a wheel-foot power switching executing mechanism, a leg, a wheel-foot robot and a working method. The wheel-foot power switching executing mechanism comprises a traction device and a shift fork clutch device. The first power source of the wheel-foot robot drives the rotation of the thigh mechanism and the traction device to realize the conversion between the first state and the second state. In the first state, the traction device cooperates with the shift fork clutch device, and the wheel mechanism and the lower leg mechanism jointly obtain the power of the second power source. In the second state, the traction device cooperates with the shift fork clutch device, and the wheel mechanism obtains the power of the second power source. The motion of the leg is no longer dependent on the gear, so that the weight of the whole body is greatly reduced. The manufacturing process of the power switching core mechanism is simple, and the switching principle is simple and reliable. The practical problems such as the top tooth or the meshing failure do not occur. The wheel-foot robot has higher implementability, reliability and economy.

Description

Technical Field

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

[0002] Currently, the mainstream robot locomotion methods researched include wheeled, legged, and tracked locomotion, 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, quadruped robots with integrated wheel and leg locomotion have become a hot topic in robotics research. These robots combine the advantages of legged robots (adaptability to more complex working environments) with the advantages of wheeled robots (high-speed movement on flat surfaces), while sharing a single motor for power for both wheels and legs, saving energy and ensuring endurance, and reducing costs, thus showing broad development prospects. Enabling these robots to switch between wheeled and legged locomotion modes according to different environments is a pressing issue that needs to be addressed.

[0003] By controlling different motion modes through the toothed and toothless parts of an incomplete gear, the design and manufacturing of this gear are difficult. Furthermore, the switching between the toothed and toothless motion modes is particularly prone to tooth collision, leading to switching failure.

[0004] Different motion modes are controlled by changing the meshing of different power gears. However, attempting to make the gears mesh during motion can easily lead to gear meshing failure, resulting in motion switching failure. Summary of the Invention

[0005] This invention provides a wheel-leg power switching actuator, a leg, a wheel-legged robot, and a working method. The power switching of the wheel-legged robot is achieved through the cooperation of a traction device and a fork clutch device. The leg transmission is realized through two power sources and the cooperating power actuator. This leg structure constructs a wheel-legged robot. The leg in the robot is limited by the swing angle of the thigh. Different swing angles of the thigh cause changes in the physical state of the traction device, thereby allowing the fork clutch device to transmit power from the lower leg motor to the lower leg mechanism or the wheel mechanism under different force conditions, thus achieving the switching between legged and wheeled movements.

[0006] The technical solution of this invention is:

[0007] According to one aspect of the present invention, a wheel-leg power switching actuator is provided, comprising a traction device 41 and a shift fork clutch device; the first power source 7 of the wheel-leg robot drives the thigh mechanism 3 to rotate, thereby driving the traction device 41 to achieve the switching between a first state and a second state; in the first state, the traction device 41 cooperates with the shift fork clutch device, and the wheel mechanism 4 and the lower leg mechanism 5 jointly obtain power from the second power source 15; in the second state, the traction device 41 cooperates with the shift fork clutch device, and the wheel mechanism 4 obtains power from the second power source 15.

[0008] One end of the traction device 41 is connected to the shift fork clutch device, and the other end of the traction device 41 is connected to the machine body 1.

[0009] The shift fork clutch device includes a clutch device 29 and a push-pull device 30. In the first state, the pulling force of the traction device 41 on the push-pull device 30 is less than the pushing force of the push-pull device 30. The pushing force of the push-pull device 30 drives the clutch device 29 to rotate with the central rotating shaft 32. The wheel mechanism 4 mounted on the central rotating shaft 32 and the small leg mechanism 5 mounted on the clutch device 29 obtain power from the second power source 15. In the second state, the pulling force of the traction device 41 on the push-pull device 30 is greater than the pushing force of the push-pull device 30. The clutch device 29 does not rotate with the central rotating shaft 32. The wheel mechanism 4 obtains power from the second power source 15. The second power source 15 is connected to the central rotating shaft 32 through a transmission device.

[0010] The clutch device 29 includes a clutch-push ring 45, a well-shaped turntable 46, a clutch-rotor 47, a friction block 48, and an outer turntable 49. The clutch-push ring 45 is installed on the splined part of the central rotating shaft 32. The two ends of the clutch-rotor 47 are connected to the clutch-push ring 45 and the friction block 48, respectively, so that the friction block 48 slides in the well-shaped turntable 46 when it is pushed by the clutch-push ring 45, thereby causing the friction block 48 to disengage from / contact with the outer turntable 49. The well-shaped turntable 46 and the outer turntable 49 are loosely fitted on the central rotating shaft 32.

[0011] The push-pull device 30 includes a conversion block 37, a fork 38, a thrust spring 39, a constraint block 40, and a sliding sleeve 44; wherein the thrust spring 39 is installed between the upper end of the fork 38 and the constraint block 40; the sliding sleeve 44 is fitted with the spline portion of the central rotating shaft 32; the conversion block 37 is loosely fitted on the sliding sleeve 44; the lower end of the fork 38 cooperates with the sliding groove of the conversion block 37 to convert the thrust of the thrust spring 39 into the thrust of the sliding sleeve 44 sliding axially along the central rotating shaft 32.

[0012] According to another aspect of the present invention, a leg of a wheel-legged robot is provided, comprising a thigh mechanism 3, a wheel mechanism 4, a lower leg mechanism 5, a power module, and a wheel-leg power switching actuator as described in any one of the above.

[0013] According to another aspect of the present invention, a wheel-legged robot is provided, comprising a body 1 and a plurality of said legs mounted on the body 1.

[0014] It also includes a suspension device 6; the suspension device 6 includes a connecting plate 63, a suspension beam 64, a suspension clamp 65, a suspension thrust spring 66, and a suspension baffle 67; wherein, the suspension beam 64 is installed obliquely on the connecting plate 63, and two left and right symmetrical suspension clamps 65 are installed on the suspension beam 64 to form an upper opening and a lower opening that are arranged vertically and communicate with each other, with the entrance of the upper opening being smaller than the entrance of the lower opening; suspension baffles 67 are installed at both ends of the suspension beam 64, and a suspension thrust spring 66 is installed between the suspension baffle 67 and the suspension clamp 65.

[0015] According to another aspect of the present invention, a method for operating a wheel-legged robot is provided, comprising:

[0016] Foot movement phase:

[0017] When the traction device 41 is in the first state, the pulling force of the traction device 41 on the push-pull device 30 is less than the pushing force of the push-pull device 30. The pushing force of the push-pull device 30 drives the clutch device 29 to rotate with the central rotating shaft 32. The wheel mechanism 4 installed on the central rotating shaft 32 and the small leg mechanism 5 installed on the clutch device 29 obtain the power of the second power source 15.

[0018] Foot-based movement rotation phase:

[0019] The first power source drives the thigh mechanism 3 to rotate to a preset angle. At this time, the traction device 41 is in the first state. The push force of the push-pull device 30 drives the clutch device 29 to rotate with the central rotating shaft 32. The wheel mechanism 4 installed on the central rotating shaft 32 and the lower leg mechanism 5 installed on the clutch device 29 obtain the power of the second power source 15, so that the lower leg mechanism 5 is lifted upward around the central rotating shaft 32 to the preset position. The first power source 7 restarts, so that the thigh mechanism 3 swings to the set angle again, so that the relative distance between the hook seat I 42 and the hook seat II 85 at both ends of the traction device 41 becomes greater than the length of the traction device 41. The traction device 41 is in the second state. The pulling force of the traction device 41 on the push-pull device 30 is greater than the pushing force of the push-pull device 30. The wheel mechanism 4 obtains the power of the second power source 15, and the lower leg mechanism 5 loses the power of the second power source 15.

[0020] Wheel-like motion phase:

[0021] The traction device 41 is in the second state, the pulling force of the traction device 41 on the push-pull device 30 is greater than the pushing force of the push-pull device 30, the clutch device 29 does not rotate with the central rotating shaft 32, and the wheel mechanism 4 obtains power from the second power source 15.

[0022] Wheel-like movement and foot-turning movement phases:

[0023] After the first power source 7 reverses and crosses the critical position, the relative distance between the hook seat I 42 and hook seat II 85 at both ends of the traction device 41 is less than the length of the traction device 41, the state of the traction device 41 changes to the first state, the pulling force of the traction device 41 on the push-pull device 30 is less than the pushing force of the push-pull device 30, and the wheel mechanism 4 installed on the central rotating shaft 32 and the small leg mechanism 5 installed on the clutch device 29 obtain power from the second power source 15.

[0024] The beneficial effects of this invention are:

[0025] 1. This invention uses a combination of a steel wire rope and a shift fork clutch device. With the thigh swing angle as the limit, the physical state of the steel wire rope changes when the thigh swings at different angles. This causes the shift fork clutch device to transmit the power of the calf motor to the calf mechanism or wheel mechanism under different force conditions, thereby realizing the switching between wheel-type movement and foot-type movement. This makes the leg movement no longer dependent on gears, greatly reducing the weight of the overall machine body.

[0026] 2. This invention utilizes two power sources to achieve overall leg rotation while simultaneously switching between footed and wheeled motions. This provides a constructive solution to the single motion mode and high energy consumption issues of traditional quadruped robots. The invention features separate power transmission routes for the thigh and fork / wheel, and through the cooperation of a steel cable and a fork clutch device, these two independent power transmission routes are linked under specific conditions to complete the motion mode transition. The core power switching mechanism has a simple manufacturing process and a simple and reliable switching principle; it avoids the practical problems of misalignment or failure to mesh, and offers higher feasibility, reliability, and economy.

[0027] 3. This invention features a novel suspension system. When the lower legs lose power and switch to wheeled motion, the lower legs, thighs, and body form a stable triangular structure, facilitating smooth wheeled movement and better adapting to real-world road conditions. This provides a better solution to the high energy consumption and limited working environments of traditional quadruped robots. Furthermore, it is equipped with depth cameras, LiDAR, and ultrasonic sensors, allowing it to switch between different modes based on detected road conditions, resulting in high energy efficiency and extended battery life.

[0028] In summary, this invention significantly reduces the overall weight of the machine by eliminating the reliance on gears for leg movement. Furthermore, the core power switching mechanism has a simple manufacturing process and a simple and reliable switching principle, avoiding the aforementioned problems of gear misalignment or failure to mesh. It boasts higher feasibility, reliability, and economy. Attached Figure Description

[0029] Figure 1 This is an isometric view of the invention applied to the wheeled motion of a four-legged wheeled robot;

[0030] Figure 2 This is an isometric view of the invention applied to the legged motion of a four-legged wheeled robot;

[0031] Figure 3 This is a front view of the power module of the present invention;

[0032] Figure 4 This is an exploded view of the power module of the present invention;

[0033] Figure 5 This is a front view of the thigh mechanism of the present invention;

[0034] Figure 6 This is an exploded view of the thigh mechanism of the present invention;

[0035] Figure 7 This is a front view of the wheel-foot power switching actuator and wheel mechanism of the present invention;

[0036] Figure 8 This is an exploded view of the wheel-foot power switching actuator and wheel mechanism of the present invention;

[0037] Figure 9 This describes the cooperative state of the push-pull device and the clutch device during foot movement according to the present invention.

[0038] Figure 10 This is state one of the push-pull device during the foot movement of the present invention.

[0039] Figure 11 This is state one of the clutch device operating during foot movement according to the present invention;

[0040] Figure 12 This describes the cooperative state of the push-pull device and the clutch device during wheel-type motion in this invention.

[0041] Figure 13 This is state two of the push-pull device during the operation of the wheeled motion of the present invention;

[0042] Figure 14 This is state two of the clutch device during wheel-type motion of the present invention.

[0043] Figure 15 This is an isometric view of the lower leg mechanism of the present invention;

[0044] Figure 16 This is an exploded view of the lower leg mechanism of the present invention;

[0045] Figure 17 This is an exploded view of the connection between the outer turntable and the lower leg in the clutch device of the present invention;

[0046] Figure 18 This is a front view of the suspension mechanism of the present invention;

[0047] Figure 19 This is an isometric view of the fuselage of the present invention;

[0048] Figure 20 This is an exploded view of the fuselage of the present invention;

[0049] Figure 21 This invention studies the initial state of foot movement in single-leg motion planning;

[0050] Figure 22 This invention studies the critical state at which foot-based movement begins to switch to wheel-based movement in single-leg motion planning.

[0051] Figure 23 This invention studies the process of switching from foot-based movement to wheel-based movement in single-leg motion planning.

[0052] Figure 24 This invention studies the critical state of a single-leg movement planning process, which is about to switch from foot-based movement to wheel-based movement.

[0053] Figure 25 This invention studies the wheel-like motion state of single-leg motion planning;

[0054] Figure 26 This is a schematic diagram of the constraint block structure of the present invention;

[0055] The labels in the diagram are as follows: 1-Fuse, 2-Power Module, 3-Thigh Mechanism, 4-Wheel Mechanism, 5-Lower Leg Mechanism, 6-Suspension Mechanism, 7-First Power Source, 8-Motor Bracket I, 9-Support Plate I, 10-Synchronous Belt Pulley I, 11-Thigh Driveshaft, 12-Synchronous Belt Pulley II, 13-Support Plate II, 14-Corner Piece I, 15-Second Power Source, 16-Motor Bracket II, 17-Synchronous Belt Pulley III, 18-Lower Leg Driveshaft, 19-Synchronous Belt Pulley IV, 20-Synchronous Belt Pulley V, 21- 22-Key I, 23-Key II, 24-Bearing I, 25-Key III, 26-Bearing II, 27-Inner thigh plate, 28-Outer thigh plate, 29-Clutch device, 30-Push-pull device, 31-Synchronous pulley VI, 32-Central rotating shaft, 33-Encoder, 34-Bolt I, 35-Bolt II, 36-Key IV, 37-Converter block, 38-Shift fork, 39-Thrust spring, 40-Constraint block, 41-Traction device, 42-Hook seat I, 43-Converter block bearing, 44- - Sliding sleeve, 45- Clutch- Push ring, 46- Well-shaped turntable, 47- Clutch- Rotating rod, 48- Friction block, 49- Outer turntable, 50- Fixing bolt, 51- Mecanum wheel, 52- Mecanum wheel coupling, 53- Outer turntable bearing, 54- Well-shaped turntable bearing, 55- Lower leg outer front plate, 56- Lower leg inner front plate, 57- Connecting bolt, 58- Lower leg connecting block, 59- Foot end fixing bolt, 60- Foot end limiting rod, 61- Foot end, 62- Bolt III, 63- Connecting plate, 64- 65-Suspension-beam, 66-Suspension-clamp, 67-Suspension-thrust spring, 68-Suspension-baffle, 69-Strength bar I, 70-Upper front baffle, 71-Depth camera, 72-Lithium battery, 73-LiDAR, 74-Body cover, 75-Strength bar II, 76-Lower rear baffle, 77-Lower side plate, 78-Ultrasonic sensor, 79-Upper side plate, 80-Bottom plate, 81-Battery pressure plate, 82-Bearing plate, 83-Lower front plate, 84-Strength bar III, 85-Hook seat II. Detailed Implementation

[0056] 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.

[0057] Example 1: As Figure 1-26 As shown, according to one aspect of the present invention, a wheel-leg power switching actuator is provided, including a traction device 41 and a shift fork clutch device; the first power source 7 of the wheel-leg robot drives the thigh mechanism 3 to rotate, thereby driving the traction device 41 to achieve the switching between a first state and a second state; in the first state, the traction device 41 cooperates with the shift fork clutch device, and the wheel mechanism 4 and the lower leg mechanism 5 jointly obtain power from the second power source 15; in the second state, the traction device 41 cooperates with the shift fork clutch device, and the wheel mechanism 4 obtains power from the second power source 15.

[0058] Furthermore, one end of the traction device 41 is connected to the shift fork clutch device, and the other end of the traction device 41 is connected to the machine body 1. In an embodiment of the present invention, a steel wire rope is used as the traction device.

[0059] Furthermore, the shift fork clutch device includes a clutch device 29 and a push-pull device 30. In the first state, the pulling force of the traction device 41 on the push-pull device 30 is less than the pushing force of the push-pull device 30. The pushing force of the push-pull device 30 drives the clutch device 29 to rotate with the central rotating shaft 32. The wheel mechanism 4 mounted on the central rotating shaft 32 and the small leg mechanism 5 mounted on the clutch device 29 obtain power from the second power source 15. In the second state, the pulling force of the traction device 41 on the push-pull device 30 is greater than the pushing force of the push-pull device 30. The clutch device 29 does not rotate with the central rotating shaft 32, and the wheel mechanism 4 obtains power from the second power source 15. The second power source 15 is connected to the central rotating shaft 32 through a transmission device. The transmission device is a synchronous belt pulley.

[0060] Furthermore, the clutch device 29 includes a clutch-push ring 45, a well-shaped turntable 46, a clutch-rotor 47, a friction block 48, and an outer turntable 49; wherein the clutch-push ring 45 is installed on the splined part of the central rotating shaft 32, and the two ends of the clutch-rotor 47 are respectively connected to the clutch-push ring 45 and the friction block 48, so that the friction block 48 slides in the well-shaped turntable 46 when it is pushed by the clutch-push ring 45, thereby causing the friction block 48 to disengage from / contact with the outer turntable 49; the well-shaped turntable 46 and the outer turntable 49 are loosely fitted on the central rotating shaft 32.

[0061] Furthermore, the push-pull device 30 includes a conversion block 37, a fork 38, a thrust spring 39, a constraint block 40, and a sliding sleeve 44; wherein the thrust spring 39 is installed between the upper end of the fork 38 and the constraint block 40; the sliding sleeve 44 is fitted with the spline portion of the central rotating shaft 32; the conversion block 37 is loosely fitted on the sliding sleeve 44; the lower end of the fork 38 cooperates with the sliding groove of the conversion block 37 to convert the thrust of the thrust spring 39 into the thrust of the sliding sleeve 44 sliding axially along the central rotating shaft 32.

[0062] According to another aspect of the present invention, a leg of a wheeled robot is provided, including a thigh mechanism 3, a wheel mechanism 4, a lower leg mechanism 5, a power module, and a wheel-leg power switching actuator as described in any one of the above.

[0063] According to another aspect of the present invention, a wheel-legged robot is provided, including a body 1 and a plurality of legs of the wheel-legged robot mounted on the body 1.

[0064] Furthermore, it also includes a suspension device 6; the suspension device 6 includes a connecting plate 63, a suspension beam 64, a suspension clamp 65, a suspension thrust spring 66, and a suspension baffle 67; wherein, the suspension beam 64 is installed obliquely on the connecting plate 63, and two left-right symmetrical suspension clamps 65 installed on the suspension beam 64 form an upper opening and a lower opening arranged vertically and communicating with each other, with the entrance of the upper opening being smaller than the entrance of the lower opening; suspension baffles 67 are installed at both ends of the suspension beam 64, and a suspension thrust spring 66 is installed between the suspension baffle 67 and the suspension clamp 65.

[0065] Using the leg structure of this invention in a wheel-legged integrated robot allows the robot to be used in different situations:

[0066] When the robot works on the ground, it can perceive its surrounding environment through a series of sensors such as LiDAR 72, depth camera 70, and ultrasonic sensor 78, and transmit the data to the microcontroller for analysis and mapping. After the controller analyzes the road conditions, it sends signals to the first power source 7 and the second power source 15, and realizes wheeled and legged movement through the coordinated action of the two motors.

[0067] 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.

[0068] According to another aspect of the present invention, a method for operating a wheel-legged robot is provided, characterized in that it includes:

[0069] Foot movement phase:

[0070] When the traction device 41 is in the first state, the pulling force of the traction device 41 on the push-pull device 30 is less than the pushing force of the push-pull device 30. The pushing force of the push-pull device 30 drives the clutch device 29 to rotate with the central rotating shaft 32. The wheel mechanism 4 installed on the central rotating shaft 32 and the small leg mechanism 5 installed on the clutch device 29 obtain the power of the second power source 15.

[0071] Foot-based movement rotation phase:

[0072] The first power source drives the thigh mechanism 3 to rotate to a preset angle. At this time, the traction device 41 is in the first state. The push force of the push-pull device 30 drives the clutch device 29 to rotate with the central rotating shaft 32. The wheel mechanism 4 installed on the central rotating shaft 32 and the lower leg mechanism 5 installed on the clutch device 29 obtain the power of the second power source 15, so that the lower leg mechanism 5 is lifted upward around the central rotating shaft 32 to the preset position. The first power source 7 restarts, so that the thigh mechanism 3 swings to the set angle again, so that the relative distance between the hook seat I 42 and the hook seat II 85 at both ends of the traction device 41 becomes greater than the length of the traction device 41. The traction device 41 is in the second state. The pulling force of the traction device 41 on the push-pull device 30 is greater than the pushing force of the push-pull device 30. The wheel mechanism 4 obtains the power of the second power source 15, and the lower leg mechanism 5 loses the power of the second power source 15.

[0073] Wheel-like motion phase:

[0074] The traction device 41 is in the second state, the pulling force of the traction device 41 on the push-pull device 30 is greater than the pushing force of the push-pull device 30, the clutch device 29 does not rotate with the central rotating shaft 32, and the wheel mechanism 4 obtains power from the second power source 15.

[0075] Wheel-like movement and foot-turning movement phases:

[0076] After the first power source 7 reverses and crosses the critical position, the relative distance between the hook seat I 42 and hook seat II 85 at both ends of the traction device 41 is less than the length of the traction device 41, the state of the traction device 41 changes to the first state, the pulling force of the traction device 41 on the push-pull device 30 is less than the pushing force of the push-pull device 30, and the wheel mechanism 4 installed on the central rotating shaft 32 and the small leg mechanism 5 installed on the clutch device 29 obtain power from the second power source 15.

[0077] Furthermore, the following optional implementation methods are provided:

[0078] like Figure 19 and Figure 20As shown, the body 1 includes: strength rod I 68, upper front baffle 69, cover plate 73, strength rod II 74, upper rear baffle 75, lower rear baffle 76, lower side plate 77, upper side plate 79, bottom plate 80, battery pressure plate 81, load-bearing plate 82, lower front plate 83, and strength rod III 84. Strength rods I 68, II 74, and III 84 serve as support rods and are bolted to the cover plate 73, bottom plate 80, and load-bearing plate 82, dividing the body 1 into upper and lower layers. This significantly improves space utilization, and the layered design allows for a more rational and organized circuit layout. The partition design, including the upper front baffle 69, upper rear baffle 75, lower rear baffle 76, lower side plate 77, upper side plate 79, and lower front plate 83, protects the internal wiring while significantly reducing the weight of the body 1. The device is equipped with a depth camera 70, a lithium battery 71, a lidar 72, an ultrasonic sensor 78, and a hook mount II 85.

[0079] like Figure 3 and Figure 4As shown, the power module 2 includes two power sources: a first power source 7 and a second power source 15. The thigh motor serves as the first power source 7, and the calf motor serves as the second power source 15. To ensure the stability of its movement, the power module 2 is fixed to the body 1 by bolts through support plate I 9, support plate II 13, corner piece I 14, and corner piece II 21. The first power source 7 and the second power source 15 are fixed to the body 1 by bolts through motor brackets I 8 and II 16, which are adapted to their size. The first power source 7 serves as the power source for the thigh mechanism 3. The inner rotor of the first power source 7 is positioned on one side of the thigh motor drive shaft 9 via a protruding pin. Torque is transmitted through the protruding pin and bolts screwed into the motor, thus providing power input to the thigh mechanism 3. Synchronous pulleys I10 and II12 are mounted on the thigh drive shaft 11 using keys I22 and II23 and set screws. Synchronous pulleys III17 and V20 are loosely fitted onto the calf drive shaft 18 via bearings I24 and II26, ensuring that the transmission of thigh power does not affect the movement of the calf. Simultaneously, synchronous pulleys III17 and V20 are fixedly connected to the inner thigh plate 27 and the outer thigh plate 28 via bolts I34 and II35, synchronizing the movement of synchronous pulleys III17 and V20 with those of the inner and outer thigh plates 27 and 28. In summary, the power from the first power source 7 is transmitted through the thigh drive shaft 11 to the synchronous pulleys I10 and II12, then from the synchronous pulleys I10 and II12 to the synchronous pulleys III17 and V20, and then from the synchronous pulleys III17 and V20 to the inner thigh plate 27 and outer thigh plate 28, thus controlling the thigh mechanism 3. The second power source 15 is the power source for the calf mechanism 5 and the wheel mechanism 3. The inner rotor of the second power source 15 is positioned on one side of the calf motor drive shaft 18 by the motor protruding pin. The torque is transmitted through the motor protruding pin and the bolt screwed into the motor, thus realizing the power input to the calf mechanism 5. The synchronous pulleys IV19 and VI31 are respectively mounted on the calf drive shaft 18 and the central rotating shaft 32 by means of key III25, key IV36 and set screw. The power from the second power source 15 is transmitted from the motor output end to the central rotation axis 32 of the knee joint via synchronous pulleys IV19 and VI31, thereby controlling the wheel mechanism 4 and the lower leg mechanism 5. Specifically, foot movement refers to the shared power from the second power source 15 to both the wheel mechanism 4 and the lower leg mechanism 5, while wheel movement refers solely to the power from the second power source 15 to the wheel mechanism 4.

[0080] like Figure 5 and Figure 6As shown, the thigh mechanism 3 includes an inner thigh plate 27, an outer thigh plate 28, a synchronous pulley VI 31 for the calf motor, a central rotating shaft 32, and an encoder 33. Synchronous pulleys III 17 and V 20 are loosely mounted on the calf drive shaft 18 via bearings I 24 and II 26, ensuring that the transmission of thigh power does not affect the movement of the calf. Simultaneously, synchronous pulleys III 17 and V 20 are connected to the inner thigh plate 27 and outer thigh plate 28 via bolts I 34 and II 35, synchronizing their movement with that of the inner thigh plate 27 and outer thigh plate 28. This power transmission design allows the power from the first power source 7 to drive the thigh mechanism 3 without affecting the calf mechanism 4. The power from the second power source 15 is transmitted from the motor output to the central rotating shaft 32 of the knee joint via synchronous pulleys IV 19 and VI 31, thereby controlling the wheel mechanism 4 and the lower leg mechanism 5. The encoder 33 is connected to the central rotating shaft 32 via its own clamping device; the clutch device 29 and the push-pull device 30 are mounted on the central rotating shaft 32, and the constraint block 40 in the push-pull device 30 is fixed to the inner side of the outer thigh plate 28 by bolts.

[0081] like Figure 15 , 16 and Figure 17 As shown, the calf mechanism 5 includes an outer front plate 55, an inner front plate 56, connecting bolts 57, a calf connecting block 58, a foot end fixing bolt 59, a foot end limiting rod 60, and a foot end 61. The outer front plate 55 and the inner front plate 56 are fixed to one end of the calf connecting block 58 by three connecting bolts 57. The design of the upper and lower parts is mainly for ease of processing and to reduce the weight of the calf. The outer turntable 49 in the clutch device 29 is fixed to the outer front plate 55 by bolt III 62. When power is transmitted to the outer turntable 49, the calf simultaneously receives power from the second power source 15. The foot end 61 is installed on the other end of the calf connecting block 58 by the foot end limiting rod 60. The foot end fixing bolt 59 and the foot end 61 are installed oppositely to prevent the foot end 61 from rotating around the axis and to prevent slippage during foot movement.

[0082] like Figure 7 , Figure 8 , Figure 26As shown, the power switching mechanism comprises three main parts: a clutch device 29, a push-pull device 30, and a traction device 41. The clutch device 29 includes a clutch-push ring 45, a well-shaped turntable 46, a clutch-rotor 47, a friction block 48, an outer turntable 49, an outer turntable bearing 53, and a well-shaped turntable bearing 54. The clutch-push ring 45 is mounted on the splined portion of the central rotating shaft 32, allowing it to rotate with the central rotating shaft 32 and slide along its axis when subjected to thrust. The clutch-rotor 47 is bolted to the clutch-push ring 45 and the friction block 48, respectively, allowing the friction block 48 to slide along a set trajectory within the well-shaped turntable 46 when subjected to thrust from the clutch-push ring 45. The well-shaped turntable 46 and the outer turntable 49 are loosely fitted onto the central rotating shaft 32 via the outer turntable bearing 53 and the well-shaped turntable bearing 54. The push-pull device 30 includes a shift fork 38, a thrust spring 39, a constraint block 40, a conversion block 37, a hook seat I 42, a conversion block bearing 43, and a sliding sleeve 44. The top pin of the shift fork 38 is coaxially mounted with the internal pin hole of the constraint block 40. The thrust spring 39 is coaxially placed around the internal pin hole of the constraint block 40, with its two ends abutting against the shift fork 38 and the constraint block 40 respectively, thus providing thrust for the movement of the shift fork 38 along its trajectory. The sliding sleeve 44 is fitted with the spline portion of the central rotating shaft 32, allowing the sliding sleeve 44 to rotate with the central shaft. While rotating, the shaft 32 can also slide along the axis of the central rotating shaft 32. The conversion block 37 is loosely fitted onto the sliding sleeve 44 through the conversion block bearing 43, allowing the conversion block 37 to slide along the axis of the central rotating shaft 32 without being affected by its rotation. The short pin on the inner side of the shift fork 38 engages with the sliding groove of the conversion block 37 to convert the thrust of the thrust spring 39 into the axial sliding thrust of the sliding sleeve 44. The traction device 41 is connected to the shift fork 38 and the machine body 1 through hook seat I 42 and hook seat II 85. Through this connection method, the interaction force between the traction device 41 and the shift fork 38 varies when the thigh is at different swing angles, thereby enabling the conversion of the movement mode. The wheel mechanism 4 includes a fixing bolt 50, a Mecanum wheel 51, and a Mecanum wheel coupling 52. The 100mm Mecanum wheel 51 is mounted on one end of the central rotating shaft 32 through the Mecanum wheel coupling 52, a set screw, and the fixing bolt 50.

[0083] like Figure 18As shown, the suspension device 6 includes a connecting plate 63, a suspension beam 64, a suspension clamp 65, a suspension thrust spring 66, and a suspension baffle 67. The suspension beam 64 is bolted to the connecting plate 63 at an angle. Two symmetrically positioned suspension clamps 65 form a larger lower opening and a smaller upper opening. This design facilitates easier entry of the foot-end limiting rod 55 into the suspension mechanism 6 and provides more stable suspension of the lower leg mechanism 5. Suspension baffles 67 are installed at both ends of the suspension beam 64, and suspension thrust springs 66 are installed between the suspension baffles 67 and the suspension clamps 65. The symmetrical installation of suspension thrust springs 66 on both sides allows the suspension clamps 65 to slide in two directions, corresponding to the lifting and unlifting of the lower leg mechanism 5, respectively. The top of the connecting plate 63 is bolted to the body 1. When switching to wheel mode, the thigh swings to a preset angle and then remains stationary. The lower leg mechanism 5 is raised, and the foot end limit rod 60 approaches the smaller upper opening, slowly pushing open the suspension-thrust spring 66. At the moment it is about to enter the upper opening, the thigh continues to swing at a certain angle, and the power of the lower leg mechanism 5 is cut off (at this time, the lower leg power 15 can only control the movement of the wheel mechanism (4)). At the same time, the foot end limit rod 60 is sent into the upper opening, and the suspension-thrust springs 66 on both sides provide thrust to close the upper opening, completing the suspension action. When switching from wheel mode to foot mode, the thigh swings back a small angle, pushing open the suspension-thrust spring 66, the lower leg mechanism 5 regains power, the lower leg is lowered, and continues to be lowered until the disengagement action is completed.

[0084] like Figure 9 , 10 As shown in Figures 11, 21, and 22, during foot-based movements, the length of the traction device 41 is designed to ensure that the thigh mechanism 3 is within its set swing amplitude (e.g., ...). Figure 21 , 22 (As shown by the angle of thigh swing), when the traction device 41 is in a relaxed or bent state, the pulling force of the traction device 41 on the shift fork 38 is less than the pushing force of the thrust spring 39 on the shift fork 38. Furthermore, when the traction device 41 is bent, it provides a pushing force in the same direction as the thrust spring 39. At this time, the shift fork 38 is affected by the combined force of the two, i.e., a larger pushing force, and slides downward along the grooves set on both sides of the conversion block 37. This transmits the force to the sliding sleeve 44, pushing the sliding sleeve 44 to slide laterally towards the side with the wheel mechanism 4. The sliding sleeve 44 then transmits the force to the clutch-push ring 45, pushing the clutch-push ring 45 to slide laterally in the same direction, causing the friction block 48 to slide along the groove of the well-shaped turntable 46. This causes the friction block 48 to adhere to the inner wall of the outer turntable 49, generating a huge frictional force, thereby driving the outer turntable 49 to rotate with the central rotation axis 32. Since the lower leg front plate 55 and the outer turntable 49 are fixedly connected by bolts 62 (e.g., ...), Figure 17 (As shown) Therefore, the lower leg mechanism 5 can always obtain power from the second power source 15 from the central rotation axis 32, which is a foot-type movement.

[0085] like Figure 10 , 11 As shown in Figures 23 and 24, when switching from foot-based to wheel-based motion, the first power source 7 stops rotating, and the thigh stops at a critical position. At this time, the traction device 41 is taut, but the pulling force of the traction device 41 on the shift fork 38 is still less than the pushing force of the thrust spring 39 on the shift fork 38. At this time, the sliding sleeve 44 and the clutch-push ring 45 are still subjected to the pushing force, causing the friction block 48 to adhere to the inner wall of the outer turntable 49, generating a huge friction force. The lower leg mechanism 5 obtains the power from the second power source 15, causing the lower leg mechanism 5 to lift upward around the central rotation axis 32. When the foot end limiting rod 60 in the lower leg mechanism 5 is about to overcome the pushing force of the suspension-push spring 66 and push open the suspension-clamp 65, as... Figure 13 , 14 The first power source 7 shown in Figure 25 restarts, causing the thigh mechanism 3 to swing at a certain angle. This angle causes the relative distance between the hook seats I 42 and II 85 at both ends of the wire rope to increase beyond the length of the traction device 41. The traction device 41 instantly generates a huge pulling force on the shift fork 38, which is greater than the pushing force of the push spring 39 on the shift fork 38. In an instant, the sliding sleeve 44 and the clutch-push ring 45 lose the pushing force from the shift fork 38, and the friction block 48 also loses the pushing force from the clutch-rotating rod 47. Without this pushing force, the friction block 48 and the outer turntable 49... The friction disappears, the outer turntable 49 no longer rotates with the central rotating shaft 32, and the lower leg mechanism 5, which is fixed to the outer turntable 49 by bolt 62, no longer receives power from the second power source 15. At this time, the power of the second power source 15 can only drive the wheel mechanism 4. The foot end limit rod 60 also successfully overcomes the thrust of the suspension-thrust spring 66 and is clamped by the suspension-clamp 65 due to the angle of the second swing of the thigh mechanism 3. After the suspension is completed, the thigh motor stops working again, and only the second power source 15 drives the wheel structure 4 to move. At this time, it is a stable wheel movement.

[0086] like Figure 12 , 13 As shown in Figures 14 and 25, during wheeled motion, the first power source 7 stops working, the pulling force of the traction device 41 on the shift fork 38 is greater than the pushing force of the thrust spring 39 on the shift fork 38, the sliding sleeve 44 and the clutch-push ring 45 both lose the thrust from the shift fork 38, thus the friction block 48 also loses the thrust from the clutch-rotating rod 47, the friction between the friction block 48 and the outer turntable 49 disappears, the outer turntable 49 no longer rotates with the central rotating shaft 32, and the small leg mechanism 5, which is fixed to the outer turntable 49 by bolts 62, no longer receives power from the second power source 15. At this time, the power of the second power source 15 can only drive the wheel mechanism 4 to realize wheeled motion.

[0087] Depend on Figure 25 The state shown has passed Figure 24 , 23 , back Figure 22 The state shown; the transition state of the push-pull device is as follows: Figure 13 Return Figure 10 The state shown; the state of the clutch device is determined by... Figure 14 Return Figure 11 The state shown is as follows. When switching from wheeled to legged motion, the first power source 7 reverses, and the lower leg mechanism 5 begins to descend and disengage from the suspension mechanism 6 under the drag force of the thigh. Within a small angle of the thigh mechanism 3 swinging in the opposite direction, the pulling force of the traction device 41 on the shift fork 38 is greater than the pushing force of the thrust spring 39 on the shift fork 38. The sliding sleeve 44 and the clutch-push ring 45 still do not receive the pushing force from the shift fork 38, and the friction block 48 also does not receive the pushing force from the clutch-rotor 47. There is still no friction between the friction block 48 and the outer turntable 49, and the outer turntable 49 does not rotate with the central rotation axis 32. The lower leg mechanism 5, which is fixed to the outer turntable 49 by bolt 62, does not receive power from the second power source 15. The thigh mechanism 3 continues to swing in the opposite direction. After passing the critical position, the relative distance between the hook seat I 42 and the hook seat II 85 at both ends of the wire rope is less than the length of the traction device 41. When the traction device 41 is relaxed or bent, the pulling force of the traction device 41 on the shift fork 38 is less than the pushing force of the thrust spring 39 on the shift fork 38, or it provides a pushing force in the same direction as the thrust spring 39. At this time, the shift fork 38 is affected by the combined force of the two, that is, the larger pushing force, and slides down again along the sliding grooves set on both sides of the conversion block 37, thereby transmitting the force to the sliding sleeve 44 and pushing the sliding sleeve 44 to slide laterally towards the side with the wheel mechanism 4. The sliding sleeve 44 then transmits the force to the clutch-push ring 45 and pushes the clutch-push ring 45 to slide laterally in the same direction, causing the friction block 48 to slide along the groove of the well-shaped turntable 46, causing the friction block 48 to adhere to the inner wall of the outer turntable 49 and generate huge friction again, thereby driving the outer turntable 49 to rotate with the central rotating shaft 32. Since the lower leg outer front plate 55 and the outer turntable 49 are fixedly connected by bolt III 62 (e.g. Figure 17 (As shown) Therefore, the lower leg mechanism 5 can once again obtain power from the second power source 15 from the central rotation axis 32, and has now successfully switched to foot movement.

[0088] 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 wheel-foot power switching actuator, characterized by, Includes a traction device (41) and a shift fork clutch device; the first power source (7) of the wheel-legged robot drives the thigh mechanism (3) to rotate and drives the traction device (41) to achieve the conversion between the first state and the second state; in the first state, the traction device (41) cooperates with the shift fork clutch device, and the wheel mechanism (4) and the lower leg mechanism (5) jointly obtain the power of the second power source (15); in the second state, the traction device (41) cooperates with the shift fork clutch device, and the wheel mechanism (4) obtains the power of the second power source (15); One end of the traction device (41) is connected to the shift fork clutch device, and the other end of the traction device (41) is connected to the machine body (1); The shift fork clutch device includes a clutch device (29) and a push-pull device (30). In the first state, the pulling force of the traction device (41) on the push-pull device (30) is less than the pushing force of the push-pull device (30). The push force of the push-pull device (30) drives the clutch device (29) to rotate with the central rotating shaft (32). The wheel mechanism (4) installed on the central rotating shaft (32) and the leg mechanism (5) installed on the clutch device (29) obtain the power of the second power source (15). In the second state, the pulling force of the traction device (41) on the push-pull device (30) is greater than the pushing force of the push-pull device (30). The clutch device (29) does not rotate with the central rotating shaft (32). The wheel mechanism (4) obtains the power of the second power source (15). The second power source (15) is connected to the central rotating shaft (32) through a transmission device.

2. The wheel-foot power switching actuator of claim 1, wherein, The clutch device (29) includes a clutch-push ring (45), a well-shaped turntable (46), a clutch-rotor (47), a friction block (48), and an outer turntable (49); wherein the clutch-push ring (45) is installed on the spline part of the central rotating shaft (32), and the two ends of the clutch-rotor (47) are connected to the clutch-push ring (45) and the friction block (48) respectively, so that the friction block (48) slides in the well-shaped turntable (46) when it is pushed by the clutch-push ring (45), thereby causing the friction block (48) to disengage / contact with the outer turntable (49); the well-shaped turntable (46) and the outer turntable (49) are loosely fitted on the central rotating shaft (32).

3. The wheel-foot power switching actuator of claim 1, wherein, The push-pull device (30) includes a conversion block (37), a shift fork (38), a thrust spring (39), a constraint block (40), and a sliding sleeve (44); wherein the thrust spring (39) is installed between the upper end of the shift fork (38) and the constraint block (40); the sliding sleeve (44) is fitted with the spline part of the central rotating shaft (32); the conversion block (37) is loosely fitted on the sliding sleeve (44); the lower end of the shift fork (38) cooperates with the groove of the conversion block (37) to convert the thrust of the thrust spring (39) into the thrust of the sliding sleeve (44) sliding axially along the central rotating shaft (32).

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

5. A wheel-legged robot, characterized in that: Includes a body (1) and multiple sets of legs of the wheel-footed robot as described in claim 4 mounted on the body (1).

6. The wheel-legged robot according to claim 5, characterized in that, It also includes a suspension device (6); the suspension device (6) includes a connecting plate (63), a suspension beam (64), a suspension clamp (65), a suspension thrust spring (66), and a suspension baffle (67); wherein, the suspension beam (64) is installed at an incline on the connecting plate (63), and two left and right symmetrical suspension clamps (65) installed on the suspension beam (64) form an upper opening and a lower opening arranged vertically and communicating with each other, and the entrance of the upper opening is smaller than the entrance of the lower opening; suspension baffles (67) are installed at both ends of the suspension beam (64), and a suspension thrust spring (66) is installed between the suspension baffle (67) and the suspension clamp (65).

7. A method for operating the wheeled robot of claim 5, characterized in that, include: Foot movement phase: When the traction device (41) is in the first state, the pulling force of the traction device (41) on the push-pull device (30) is less than the pushing force of the push-pull device (30). The pushing force of the push-pull device (30) drives the clutch device (29) to rotate with the central rotating shaft (32). The wheel mechanism (4) installed on the central rotating shaft (32) and the leg mechanism (5) installed on the clutch device (29) obtain the power of the second power source (15). Foot-based movement rotation phase: The first power source drives the thigh mechanism (3) to rotate to a preset angle. At this time, the traction device (41) is in the first state. The push-pull device (30) drives the clutch device (29) to rotate with the central rotating shaft (32). The wheel mechanism (4) installed on the central rotating shaft (32) and the lower leg mechanism (5) installed on the clutch device (29) obtain the power of the second power source (15), so that the lower leg mechanism (5) is lifted up around the central rotating shaft (32) to the preset position. The first power source (7) restarts, so that the thigh mechanism (3) swings to the set angle again, so that the relative distance between the hook seat I (42) and hook seat II (85) at both ends of the traction device (41) becomes greater than the length of the traction device (41). The traction device (41) is in the second state. The pulling force of the traction device (41) on the push-pull device (30) is greater than the pushing force of the push-pull device (30). The wheel mechanism (4) obtains the power of the second power source (15), and the lower leg mechanism (5) loses the power of the second power source (15). Wheel-like motion phase: The traction device (41) is in the second state. The pulling force of the traction device (41) on the push-pull device (30) is greater than the pushing force of the push-pull device (30). The clutch device (29) does not rotate with the central rotating shaft (32). The wheel mechanism (4) obtains power from the second power source (15). Wheel-like movement and foot-turning movement phases: After the first power source (7) reverses and crosses the critical position, the relative distance between the hook seat I (42) and hook seat II (85) at both ends of the traction device (41) is less than the length of the traction device (41), the state of the traction device (41) changes to the first state, the pulling force of the traction device (41) on the push-pull device (30) is less than the pushing force of the push-pull device (30), and the wheel mechanism (4) installed on the central rotating shaft (32) and the leg mechanism (5) installed on the clutch device (29) obtain the power of the second power source (15).

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