Integrated wheel-leg structure reconfigurable deformable wheel

Abstract

The present invention relates to the technical field of robot chassis, and specifically to an integrated wheel-foot structure reconfigurable and deformable wheel. It includes a support device, a wheel-foot form switching device, a legged motion device, and a driving motor; the wheel-foot form switching device, the legged motion device, and the driving motor are all arranged inside the support device. The present invention can meet the requirements of two motion modes and has a simple structure. By controlling the rotational speeds of two driving motors, the mutual conversion between the foot form state and the wheel form state can be achieved, making its operation simpler and faster. At the same time, the cooperation of multiple driving ends and connecting rods enables the device to be in a stable state during use.

Description

Technical Field

[0001] The present invention relates to the technical field of robot chassis, and particularly to an integrated wheel-foot structure and a reconfigurable deformable wheel. Background Art

[0002] With the increasing demand for natural exploration, traditional mobile robots such as wheeled mobile robots can achieve very high movement speeds on structured terrains, but they cannot move on unstructured terrains and thus cannot well meet the needs of people for natural exploration. On the other hand, legged robots, especially quadruped robots, exhibit very good movement performance on unstructured terrains, but their movement speeds are often low and thus cannot meet the needs of people for efficient work.

[0003] Considering the needs of people for efficient movement on structured terrains and adaptability on unstructured terrains, integrating legged movement modes and wheeled movement modes has become a hot issue in the scientific research field. The structural form of deformable wheels is often used to enhance the obstacle-crossing ability in wheeled movement. Integrating legged movement, wheeled movement, and deformable wheel design is worthy of in-depth research. Existing wheel-legged robots can generally be divided into two categories: one is the wheel-legged robots that add wheels at the feet, body, or other joints of legged robots; the other is the wheel-legged robots that perform special-shaped design on the wheel structure to enhance the obstacle-crossing ability of the robots. The first type of wheel-legged robots introduce more drives while introducing wheels for the robots, making the control of the entire robot more complex. The second type of wheel-legged robots only change the shape of the wheels, and their improvement in the environmental adaptability of the robots is limited.

[0004] A wheel-leg mechanism applied to a wheel-leg composite robot disclosed in Patent CN105711675B realizes the switching of the wheel-leg mode of the robot and the corresponding movement through the coordinated control of two motors. The power machine of this wheel-leg mechanism is installed on the body to reduce the instability of movement in the legged movement mode. A torsion spring is installed at the knee joint of the leg to slow down the collision between the mechanical leg and the ground. However, its second motor is only used for wheel-leg deformation, with a single function and an increase in the overall weight of the robot. The exposed rope structure used during deformation results in insufficient stability of wheel-leg deformation.

[0005] A wheel-leg composite robot disclosed in Patent CN109229228B. The robot includes two wheel-leg conversion mechanisms. Each wheel-leg conversion mechanism consists of two wheel-leg mechanisms and a four-link deformation mechanism. The legged motion mode of the mechanism can be realized through a traveling motor. The height of the robot during walking can be adjusted through a deformation motor. The robot can also be converted from the legged motion to the wheeled motion through the deformation motor, and then the robot can travel in the wheeled motion mode through a wheel motor. However, its overall mechanical leg adopts a connecting rod structure, which is only suitable for small robots or light-load robots. Moreover, the wheel diameter is too small, the connecting rod structure is complex, and the requirement for road surface flatness is relatively high in the wheeled motion mode.

[0006] A deformable wheel and a mobile device disclosed in Patent CN113910829A. The device includes a wheel disc, a deformation disc, and a plurality of deformable wheel spokes. The driving motor drives the deformation disc to rotate, thereby driving the movement of the deformable wheel spokes, so as to realize the switching between the wheeled form and the spoke form of the deformable wheel spokes. Through the form transformation, the robot can have a certain obstacle-crossing ability, but the phenomenon of unstable fuselage often occurs due to impact during the movement process.

[0007] The following several defects exist in the above-mentioned prior arts: 1. The stability of the wheel and leg deformation during deformation is insufficient; 2. The connecting rod structure is complex, and the requirement for road surface flatness is relatively high in the wheeled motion mode; 3. The phenomenon of unstable fuselage occurs due to impact during the movement process. Summary of the Invention

[0008] The purpose of the present invention is to provide a wheel-foot structure integrated reconfigurable deformable wheel aiming at the deficiencies of the prior art. By setting six driving ends, good support and movement can be achieved in the wheel state, and the switching between the six driving ends and the legged motion device can be quickly carried out. At the same time, each connecting rod can support the legged motion device to increase the support at the foot end.

[0009] To achieve the above-mentioned invention purpose, the present invention provides the following technical solutions:

[0010] The present invention provides an integrated wheel-foot structure reconfigurable deformable wheel, which comprises a support device, a wheel-foot form switching device, a legged motion device and a driving motor; the wheel-foot form switching device, the legged motion device and the driving motor are all arranged inside the support device; the support device comprises a central shaft, a motor fixing frame and a connecting frame; two motor fixing frames and two connecting frames are connected and combined into a rectangular frame structure, and two ends of the motor fixing frame are respectively connected with one end of the two connecting frames; the driving motor is arranged in the middle of the motor fixing frame, and output ends of the two driving motors are symmetrically arranged. Two ends of the central shaft are respectively connected with the central shaft supports of two first driving ends, and the central shaft is located in the opposing space of the two motor fixing frames. The central shaft supports of the first driving ends do not drive the central shaft to rotate; the wheel-foot form switching device comprises a first driving end, a second driving end, a third driving end, a fourth driving end, a fifth driving end, a sixth driving end, a first active connecting rod, a second active connecting rod, a first driven connecting rod, a second driven connecting rod, a third driven connecting rod, a fourth driven connecting rod, a fifth driven connecting rod and a sixth driven connecting rod; the first driving end, the third driving end, the fourth driving end, the second driving end, the fifth driving end and the sixth driving end are connected with the central shaft; the first driving end and the second driving end have the same structure, and both are provided with an extension rod on one outer wall; the third driving end and the sixth driving end have the same structure, and both are provided with extension rods on both outer walls and are provided with a sliding groove on the side; the fourth driving end and the fifth driving end have the same structure, and both are provided with an extension rod on one outer wall and are provided with a sliding groove on the side; the first end of the first driving end is connected with the legged motion device, the second end of the first driving end is provided with an arc surface, the central position of the first driving end is connected with the central shaft, the first end of the first active connecting rod is sleeved on the extension rod of the first driving end, the second end of the first active connecting rod is inserted into the sliding groove of the fourth driving end, and the second end of the first active connecting rod is connected with the first end of the first driven connecting rod; the first end of the third driving end is connected with the central shaft, and the second end of the third driving end is provided with an arc surface; the first end of the fourth driving end is connected with the central shaft, and the second end of the fourth driving end is provided with an arc surface. The first end of the second driven connecting rod is sleeved on the extension rod of the fourth driving end, the second end of the second driven connecting rod is arranged in the sliding groove of the third driving end and is sleeved and connected with the first end of the third driven connecting rod, and the second end of the third driven connecting rod is connected with the second extension rod of the sixth driving end; the second end of the first driven connecting rod is connected with the first extension rod of the third driving end; the second extension rod of the third driving end is connected with the first end of the sixth driven connecting rod;The first end of the fifth driving end is connected to the central axis. An arc surface is provided at the second end of the fifth driving end. The second end of the second active connecting rod is inserted into the sliding groove of the fifth driving end, and the second end of the second active connecting rod is connected to the first end of the fourth driven connecting rod. The second end of the fourth driven connecting rod is connected to the first extension rod of the sixth driving end. The first end of the second active connecting rod is connected to the extension rod of the second driving end. The first end of the sixth driving end is connected to the central axis. An arc surface is provided at the second end of the sixth driving end. The second end of the fifth driven connecting rod is arranged in the sliding groove of the sixth driving end and is connected to the second end of the sixth driven connecting rod. The first end of the fifth driven connecting rod is sleeved on the extension rod of the fifth driving end. The middle part of the second driving end is connected to the central axis. The first end of the second driving end is connected to the legged motion device. An arc surface is provided at the second end of the second driving end. The legged motion device includes a foot end and leg connecting rods. Both sides of the foot end are respectively connected to the first ends of two leg connecting rods. The second ends of the two leg connecting rods are respectively connected to the first end of the first driving end and the first end of the second driving end.

[0011] Preferably, the foot end has a cubic structure.

[0012] Preferably, it further includes a controller, and the controller is wirelessly communicatively connected to the drive motor and sends a wheel shape state and foot shape state switching signal to the drive motor.

[0013] Preferably, a revolute pair structure is formed between the active connecting rod and the driven connecting rod, between the driven connecting rods, between the active connecting rod and the driving end, and between the driven connecting rod and the driving end.

[0014] Preferably, an installation groove for connecting to an external machine is formed on the motor fixing bracket.

[0015] Preferably, the wheel-foot form switching device and the legged motion device are provided with two states, namely the wheel state and the foot state, in the combined state; when in the wheel state: the six driving ends are in a contracted state and combined into a wheel shape, and the legged motion device is located at the middle position of the wheel shape. At this time, the two driving motors rotate in opposite directions, so that the forward directions are the same; when in the foot state: the six driving ends are in an unfolded state and combined into an arc structure, and the legged motion device is located below the arc structure. The two driving motors first rotate clockwise, and the arc surfaces of the six driving ends gather, so that the first driving end and the second driving end push the legged motion device to unfold, and thus the purpose of the foot end contacting the ground is achieved; when walking is required, the two driving motors rotate counterclockwise, so that the legged motion device gradually rises into the wheel shape, driving the supporting device to rotate at an angle, so that the position transformation is realized when the legged motion device unfolds again. Finally, the walking in the foot state is realized by the repeated rotation of the two driving motors and the angle adjustment of the supporting device.

[0016] Preferably, the foot end is a hollow structure, and a rotating pair structure is formed at the connection between the foot end and the foot end connecting rod.

[0017] Preferably, a central axis support is provided at the connection between the first driving end and the third driving end and the second driving end and the central axis; the central axis support is connected to the output end of the driving motor; when the driving motor rotates, it drives the central axis support to rotate, thereby driving the first driving end or the second driving end to rotate; the rotation of the first driving end or the second driving end drives the first active connecting rod or the second active connecting rod to move, thereby driving the third driving end or the sixth driving end to rotate; the rotation of the third driving end or the sixth driving end drives the first driven connecting rod and the fourth driven connecting rod to move, thereby driving the fourth driving end or the fifth driving end to rotate; the second driven connecting rod, the third driven connecting rod, the fifth driven connecting rod and the sixth driven connecting rod rotate with the rotation of the driving end, and are used to limit the rotation position of the driving end, so as to form a wheel state.

[0018] Preferably, positioning sleeves are provided on the central axis between the first driving end and the third driving end and between the second driving end and the sixth driving end, and the positioning sleeves are used to limit the distance between the first driving end and the third driving end and between the second driving end and the sixth driving end.

[0019] Preferably, a bearing for restricting the rotation of the central axis is provided at the connection between the driving end and the central axis.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention can generate a phase difference through the cooperation of two drive motors, six drive ends and a legged motion device, enabling the robotic leg to expand and contract, i.e., switch between the wheel-leg mode of the quadruped robot, and realizing the movement of the quadruped robot in two modes; the six drive ends together form a complete wheel structure. In the legged motion mode, the drive ends drive the leg connecting rod to realize the legged motion action of the foot end. At this time, the six drive ends are in a relatively contracted state to avoid interfering with the legged motion.

[0022] 2. The foot end of the present invention adopts a rectangular structure, which increases the contact area between the robot and the ground, and can provide a greater stability margin for the robot in the legged motion mode, thereby improving the overall stability of the robot; at the same time, the inside of the foot end adopts a hollow structure to reduce the weight.

[0023] 3. The drive system of the present invention has a simple structure. Each leg structure of the robot has only two drive motors. The two drive motors realize the motion control of the robot in the wheeled motion mode through the same-direction motion, and realize the motion mode switching of the robot leg and the motion control in the legged motion mode through the differential motion control method, simplifying the design difficulty of the entire robot control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the overall structural schematic diagram of the wheel-shaped state of the present invention;

[0025] Figure 2 is the overall structural schematic diagram of the foot-shaped state of the present invention;

[0026] Figure 3 is the side view of the wheel-shaped state of the present invention;

[0027] Figure 4 is the cooperation state diagram of the legged motion device, the first drive end and the second drive end of the present invention;

[0028] Figure 5 is the structural schematic diagram of the first drive end and the second drive end of the present invention;

[0029] Figure 6 is the structural schematic diagram of the third drive end and the sixth drive end of the present invention;

[0030] Figure 7 is the structural schematic diagram of the fourth drive end and the fifth drive end of the present invention;

[0031] Figure 8 is the structural schematic diagram of the first active connecting rod and the second active connecting rod of the present invention;

[0032] Figure 9 is the structural schematic diagram of the first driven connecting rod and the fourth driven connecting rod of the present invention;

[0033] Figure 10 It is a schematic structural diagram of the second driven connecting rod and the fifth driven connecting rod of the present invention;

[0034] Figure 11 It is a schematic structural diagram of the third driven connecting rod and the sixth driven connecting rod of the present invention;

[0035] Figure 12 It is a schematic structural diagram of the central axis support of the present invention;

[0036] Figure 13 It is a schematic diagram showing the process of the wheel-foot motion mode conversion of the present invention.

[0037] The descriptions of some of the accompanying drawings are as follows:

[0038] 1. Motor fixing bracket; 2. Connecting bracket; 3. Driving motor; 4. First driving end; 5. Second driving end; 6. Third driving end; 7. Fourth driving end; ⑧ Fifth driving end; 9. Sixth driving end; 10. First active connecting rod; 11. Second active connecting rod; 12. First driven connecting rod; 13. Second driven connecting rod; 14. Third driven connecting rod; 15. Fourth driven connecting rod; 16. Fifth driven connecting rod; 17. Sixth driven connecting rod; 18. Central axis; 19. Foot end; 20. Leg connecting rod; 21. Central axis support. Detailed implementation manners

[0039] The exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0040] The present invention provides an integrated wheel-foot structure reconfigurable deformable wheel, as Figures 1-13 shown, which includes a support device, a wheel-foot form switching device, a foot-type motion device, a driving motor 3, and a controller. The wheel-foot form switching device, the foot-type motion device, and the driving motor 3 are all arranged inside the support device. The support device includes a central axis 18, a motor fixing bracket 1, and a connecting bracket 2. Two motor fixing brackets 1 and two connecting brackets 2 are connected and combined into a rectangular frame structure, and both ends of the motor fixing bracket 1 are respectively connected to one end of the two connecting brackets 2.

[0041] The driving motor 3 is arranged in the middle of the motor fixing bracket 1, and the output ends of the two driving motors 3 are symmetrically arranged.

[0042] Both ends of the central shaft 18 are respectively connected to the central shaft supports 21 of the two first driving ends 4, and the central shaft 18 is located in the opposing space between the two motor fixing brackets 1. Bearings are provided at the connection points of each driving end and the central shaft 18; the rotation of each driving end will not cause the rotation of the central shaft 18.

[0043] The wheel-foot form switching device includes a first driving end 4, a second driving end 5, a third driving end 6, a fourth driving end 7, a fifth driving end 8, a sixth driving end 9, a first active connecting rod 10, a second active connecting rod 11, a first driven connecting rod 12, a second driven connecting rod 13, a third driven connecting rod 14, a fourth driven connecting rod 15, a fifth driven connecting rod 16 and a sixth driven connecting rod 17.

[0044] The first driving end 4, the third driving end 6, the fourth driving end 7, the second driving end 5, the fifth driving end 8 and the sixth driving end 9 are all connected to the central shaft 18.

[0045] The first driving end 4 and the second driving end 5 have the same structure, and both are provided with extension rods on one outer wall.

[0046] The third driving end 6 and the sixth driving end 9 have the same structure, and both are provided with extension rods on both outer walls, and chutes are opened on their sides.

[0047] The fourth driving end 7 and the fifth driving end 8 have the same structure, and both are provided with extension rods on one outer wall, and chutes are opened on their sides; the first end of the first driving end 4 is connected to the foot-type movement device, the second end of the first driving end 4 is provided with an arc surface, the central position of the first driving end 4 is connected to the central shaft 18, the first end of the first active connecting rod 10 is sleeved on the extension rod of the first driving end 4, the second end of the first active connecting rod 10 is inserted into the chute of the fourth driving end 7, and the second end of the first active connecting rod 10 is connected to the first end of the first driven connecting rod 12 by a bolt; the first end of the third driving end 6 is connected to the central shaft 18, and the second end of the third driving end 6 is provided with an arc surface.

[0048] The first end of the fourth driving end 7 is connected to the central shaft 18, the second end of the fourth driving end 7 is provided with an arc surface, the first end of the second driven connecting rod 13 is sleeved on the extension rod of the fourth driving end 7, the second end of the second driven connecting rod 13 is arranged in the chute of the third driving end 6 and is sleeved and connected to the first end of the third driven connecting rod 14, and the second end of the third driven connecting rod 14 is connected to the second extension rod of the sixth driving end 9.

[0049] The second end of the first driven connecting rod 12 is connected to the first extension rod of the third driving end 6; the second extension rod of the third driving end 6 is connected to the first end of the sixth driven connecting rod 17; the first end of the fifth driving end 8 is connected to the central shaft 18, an arc surface is arranged at the second end of the fifth driving end 8, the second end of the second active connecting rod 11 is inserted into the sliding groove of the fifth driving end 8, and the second end of the second active connecting rod 11 is connected to the first end of the fourth driven connecting rod 15 through a bolt.

[0050] The second end of the fourth driven connecting rod 15 is connected to the first extension rod of the sixth driving end 9; the first end of the second active connecting rod 11 is connected to the extension rod of the second driving end 5; the first end of the sixth driving end 9 is connected to the central shaft 18, an arc surface is arranged at the second end of the sixth driving end 9, the second end of the fifth driven connecting rod 16 is arranged in the sliding groove of the sixth driving end 9 and is connected to the second end of the sixth driven connecting rod 17; the first end of the fifth driven connecting rod 16 is sleeved on the extension rod of the fifth driving end 8.

[0051] The middle part of the second driving end 5 is connected to the central shaft 18, the first end of the second driving end 5 is connected to the foot-type motion device, and an arc surface is arranged at the second end of the second driving end 5.

[0052] The first driving end 4 and the second driving end 5 are directly connected to the foot-type motion device. Therefore, when the driving motor 3 works on the first driving end 4 and the second driving end 5, the switching between the six groups of driving ends and the foot-type motion device can be carried out quickly; the foot-type motion device includes a foot end 19 and a leg connecting rod 20. Both sides of the foot end 19 are respectively connected to the first ends of two leg connecting rods 20, and the second ends of the two leg connecting rods 20 are respectively connected to the first ends of the first driving end 4 and the second driving end 5.

[0053] The foot end 19 adopts a cubic structure, which increases the contact area between the foot end 19 and the external environment and increases the load capacity of the leg mechanism to a certain extent.

[0054] When it is necessary to change from the wheel shape to the foot shape, the controller will rotate the driving motor 3 through wireless control to complete the required actions.

[0055] Rotating pair structures are formed between the active connecting rod and the driven connecting rod, between the driven connecting rods, between the active connecting rod and the driving end, and between the driven connecting rod and the driving end.

[0056] An installation groove is provided on the motor fixing bracket 1, which is convenient for connecting with an external machine. By adding a fixed connecting bracket 2 to the installation groove, the deformable wheel can be used as a separate module to realize the cooperative connection with the external machine.

[0057] The foot end 19 is a hollow structure, and a rotating pair structure is formed at the connection between the foot end 19 and the foot end connecting rod.

[0058] A central axis support 21 is provided at the connection between the first drive end 4 and the second drive end 5 and the central axis 18. When damaged, only the central axis support 21 needs to be replaced.

[0059] A positioning sleeve is provided on the central axis 18 between the first drive end 4 and the third drive end 6 and between the second drive end 5 and the sixth drive end 9. The positioning sleeve is used to limit the distance between the first drive end 4 and the third drive end 6 and between the second drive end 5 and the sixth drive end 9, and is used for the use of space when the legged motion device is retracted.

[0060] As Figure 13 shown, the wheel-foot form switching device and the legged motion device are provided with two states, namely the wheel form state and the foot form state, in the combined state.

[0061] When in the wheel form state: The six drive ends are in a contracted state and combined into a wheel shape. The angle between the six drive ends is 60°, and they are evenly distributed to form a wheel shape. The legged motion device is located at the middle position of the wheel shape. At this time, the two drive motors 3 rotate in opposite directions, so that the forward directions are the same; the angles between the first drive end 4 and the second drive end 5 and the motor bracket are 30°.

[0062] When in the foot form state: The six drive ends are in an unfolded state and combined into an arc structure. The legged motion device is located below the arc structure. The two drive motors 3 first rotate clockwise, and the arc surfaces of the six drives converge, so that the first drive end 4 and the second drive end 5 push the legged motion device to unfold, and then the foot end 19 touches the ground. When walking is required, the two drive motors 3 rotate counterclockwise, so that the legged motion device gradually rises inside the wheel shape, and then the support device rotates at an angle, so that the position is changed when the legged motion device unfolds again. Finally, through the repeated rotation of the above motors and the angle adjustment of the support device, the walking in the foot form state is realized. When the legged form is fully unfolded, the angles between the arc structures are distributed at 35°.

[0063] A central axis support 21 is provided at the connection between the first drive end 4 and the second drive end 5 and the central axis 18. When damaged, only the central axis support 21 needs to be replaced; the central axis support 21 is connected to the output end of the drive motor 3, thereby driving the drive end to rotate; when the drive motor 3 rotates, it drives the central axis support 21 to rotate, thereby driving the first drive end 4 or the second drive end 5 to rotate; the rotation of the first drive end 4 or the second drive end 5 drives the first active connecting rod 10 or the second active connection to move, thereby driving the third drive end 6 or the sixth drive end 9 to rotate; the rotation of the third drive end 6 or the sixth drive end 9 drives the first driven connecting rod 12 and the fourth driven connecting rod 15 to move, thereby driving the fourth drive end 7 or the fifth drive end 8 to rotate; the second driven connecting rod 13, the third driven connecting rod 14, the fifth driven connecting rod 16 and the sixth driven connecting rod 17 rotate as the drive end rotates, and are used to limit the rotation position of the drive end, thereby forming a wheel shape state.

[0064] As Figure 13 shown:

[0065] At position a, it is in a wheel shape state, and at this time all drive ends are in an unfolded state;

[0066] From position b to position e, the drive ends gradually converge, thereby forming a foot shape state;

[0067] At position b, the rotation angle between the first drive end and the second drive end compared with the wheel shape state is 18.75°;

[0068] At position c, the rotation angle between the first drive end and the second drive end compared with the wheel shape state is 30°;

[0069] At position d, the rotation angle between the first drive end and the second drive end compared with the wheel shape state is 45°;

[0070] At position e, the drive ends are completely converged to form a foot shape state. At this time, the rotation angle between the first drive end and the second drive end compared with the wheel shape state is 60°;

[0071] From position f to position h, the drive ends gradually unfold, and finally transform into the wheel shape state at position a;

[0072] At position f, the rotation angle between the first drive end and the second drive end compared with the foot shape state is 15°;

[0073] At position g, the rotation angle between the first drive end and the second drive end compared with the foot shape state is 30°;

[0074] At position h, the rotation angle between the first drive end and the second drive end compared with the foot shape state is 41.25°.

[0075] The embodiments described above are only descriptions of the preferred embodiments of the present invention and do not limit the scope of the present invention. Without departing from the spirit of the present invention's design, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An integrated reconfigurable deformable wheel with a wheel-foot structure, characterized in that: It includes a support device, a wheel-foot form switching device, a legged motion device, and a driving motor; the wheel-foot form switching device, the legged motion device, and the driving motor are all arranged inside the support device; The support device includes a central shaft, a motor fixing bracket, and a connecting bracket; two motor fixing brackets and two connecting brackets are connected and combined into a rectangular frame structure, and both ends of the motor fixing bracket are respectively connected to one end of the two connecting brackets; the driving motor is arranged in the middle of the motor fixing bracket, and the output ends of the two driving motors are symmetrically arranged. Both ends of the central shaft are respectively connected to the central shaft support members of the two first driving ends, and the central shaft is in the opposing space of the two motor fixing brackets. The central shaft support members of the first driving ends do not drive the central shaft to rotate; The wheel-foot form switching device includes a first driving end, a second driving end, a third driving end, a fourth driving end, a fifth driving end, a sixth driving end, a first active connecting rod, a second active connecting rod, a first driven connecting rod, a second driven connecting rod, a third driven connecting rod, a fourth driven connecting rod, a fifth driven connecting rod, and a sixth driven connecting rod; the first driving end, the third driving end, the fourth driving end, the second driving end, the fifth driving end, and the sixth driving end are connected to the central shaft; The first driving end and the second driving end have the same structure, and both are provided with an extension rod on one outer wall; The third driving end and the sixth driving end have the same structure, and both are provided with extension rods on both outer walls and have a chute on the side; The fourth driving end and the fifth driving end have the same structure, and both are provided with an extension rod on one outer wall and have a chute on the side; The first end of the first driving end is connected to the legged motion device, the second end of the first driving end is provided with an arc surface, the center position of the first driving end is connected to the central shaft, the first end of the first active connecting rod is sleeved on the extension rod of the first driving end, the second end of the first active connecting rod is inserted into the chute of the fourth driving end, and the second end of the first active connecting rod is connected to the first end of the first driven connecting rod; The first end of the third driving end is connected to the central shaft, and the second end of the third driving end is provided with an arc surface; The first end of the fourth driving end is connected to the central shaft, the second end of the fourth driving end is provided with an arc surface, the first end of the second driven connecting rod is sleeved on the extension rod of the fourth driving end, the second end of the second driven connecting rod is arranged in the chute of the third driving end and is sleeved and connected to the first end of the third driven connecting rod, and the second end of the third driven connecting rod is connected to the second extension rod of the sixth driving end; the second end of the first driven connecting rod is connected to the first extension rod of the third driving end; the second extension rod of the third driving end is connected to the first end of the sixth driven connecting rod; The first end of the fifth driving end is connected to the central axis, the second end of the fifth driving end is provided with an arc surface, the second end of the second active connecting rod is inserted into the sliding groove of the fifth driving end, and the second end of the second active connecting rod is connected to the first end of the fourth driven connecting rod; the second end of the fourth driven connecting rod is connected to the first extension rod of the sixth driving end; the first end of the second active connecting rod is connected to the extension rod of the second driving end; The first end of the sixth driving end is connected to the central axis, the second end of the sixth driving end is provided with an arc surface, the second end of the fifth driven connecting rod is arranged in the sliding groove of the sixth driving end and is connected to the second end of the sixth driven connecting rod; the first end of the fifth driven connecting rod is sleeved on the extension rod of the fifth driving end; The middle part of the second driving end is connected to the central axis, the first end of the second driving end is connected to the legged motion device, and the second end of the second driving end is provided with an arc surface; The legged motion device includes a foot end and leg connecting rods. Both sides of the foot end are respectively connected to the first ends of two leg connecting rods, and the second ends of the two leg connecting rods are respectively connected to the first end of the first driving end and the first end of the second driving end.

2. The integrated wheel-foot structure reconfigurable deformable wheel according to claim 1, wherein: The foot end has a cubic structure.

3. The integrated wheel-foot structure reconfigurable deformable wheel according to claim 1, wherein: It further includes a controller, which is wirelessly communicatively connected to the drive motor and sends a signal for switching between the wheel shape state and the foot shape state to the drive motor.

4. The integrated reconfigurable deformable wheel with wheel-foot structure according to claim 1, characterized in that: A rotational pair structure is formed between the active connecting rod and the driven connecting rod, between the driven connecting rods, between the active connecting rod and the driving end, and between the driven connecting rod and the driving end.

5. The integrated reconfigurable deformable wheel with a wheel-foot structure according to claim 1, wherein: The motor fixing bracket is provided with a mounting groove for connecting to an external machine.

6. The integrated reconfigurable deformable wheel with a wheel-foot structure according to claim 1, wherein: The wheel-foot form switching device and the legged motion device have two states, namely the wheel shape state and the foot shape state, in the combined state; When in the wheel shape state: the six groups of driving ends are in a contracted state and combined into a wheel shape, and the legged motion device is located in the middle of the wheel shape. At this time, the two drive motors rotate in opposite directions, so that the forward directions are the same; When in the foot shape state: the six groups of driving ends are in an unfolded state and combined into an arc structure, and the legged motion device is located below the arc structure. The two drive motors first rotate clockwise, and the arc surfaces of the six groups of driving ends gather, so that the first driving end and the second driving end push the legged motion device to unfold, so as to achieve the purpose of the foot end contacting the ground; when walking is required, the two drive motors rotate counterclockwise, so that the legged motion device gradually rises into the wheel shape, driving the support device to rotate at an angle, so that a position change is realized when the legged motion device unfolds again. Finally, the two drive motors rotate repeatedly and the angle of the support device is adjusted to realize walking in the foot shape state.

7. The integrated reconfigurable deformable wheel with wheel-foot structure according to claim 1, characterized in that: The foot end is a hollow structure, and a rotational pair structure is formed at the connection between the foot end and the foot end connecting rod.

8. The integrated reconfigurable deformable wheel with wheel-foot structure according to claim 1, wherein: A central axis support member is provided at the connection between the first driving end and the second driving end and the central axis; the central axis support member is connected to the output end of the driving motor; when the driving motor rotates, it drives the central axis support member to rotate, thereby driving the first driving end or the second driving end to rotate; the rotation of the first driving end or the second driving end drives the first active connecting rod or the second active connection to move, thereby driving the third driving end or the sixth driving end to rotate; the rotation of the third driving end or the sixth driving end drives the first driven connecting rod and the fourth driven connecting rod to move, thereby driving the fourth driving end or the fifth driving end to rotate; the second driven connecting rod, the third driven connecting rod, the fifth driven connecting rod and the sixth driven connecting rod rotate as the driving end rotates, and are used to limit the rotation position of the driving end, thereby forming a wheel shape.

9. The integrated reconfigurable deformable wheel with a wheel-foot structure according to claim 1, characterized in that: A positioning sleeve is provided on the central axis between the first driving end and the third driving end and between the second driving end and the sixth driving end, and the positioning sleeve is used to limit the distance between the first driving end and the third driving end and between the second driving end and the sixth driving end.

10. The integrated reconfigurable deformable wheel with a wheel-foot structure according to claim 1, characterized in that: A bearing for restricting the rotation of the central axis is provided at the connection between the driving end and the central axis.

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