robot

Abstract

The application relates to a robot, which comprises a trunk and a walking mechanism, the trunk is provided with a rotating part, the walking mechanism comprises a supporting body, a first mounting seat, a first rotating disc and a plurality of first clamping claws, the first mounting seat is connected with the supporting body, the first rotating disc is rotationally connected with the first mounting seat, the first rotating disc is provided with a first spiral groove, the plurality of first clamping claws are arranged at intervals around the rotating center of the first rotating disc and are all engaged with the first spiral groove, and the plurality of first clamping claws are clamped or separated from the rotating part under the driving of the first rotating disc. The robot of the application can drive the plurality of first clamping claws to conveniently assemble the supporting body and the rotating part together when the first rotating disc of the walking mechanism rotates, so that the robot assembly efficiency is improved, and the walking mechanism and the rotating part are convenient to disassemble and assemble, so that the walking mechanism can be modularly installed on or separated from the rotating part, so that different walking mechanisms of different walking styles can be replaced to enrich the walking styles of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of walking machines, in particular to a robot. BACKGROUND

[0002] At present, robots are mainly divided into wheeled mobile robots and legged robots according to walking modes. Wheeled mobile robots are suitable for flat road scenes, and legged robots can walk on flat roads and adapt to rugged mountain roads. Whether it is a wheeled mobile robot or a legged robot, the walking style is single. Therefore, attempts have been made to combine legged mechanisms and wheeled mechanisms to propose a wheel-legged combined robot. The wheel-legged combined robot can realize a wheeled walking mode and a legged walking mode, which to some extent expands the use scenarios.

[0003] However, such a wheel-legged combined robot needs a complex switching mechanism to realize the switching of the wheel-legged combined robot between the wheeled walking mode and the legged walking mode. Such a robot has low assembly efficiency and cannot adapt to mass production requirements. SUMMARY

[0004] The present application provides a robot to solve the technical problem of low assembly efficiency.

[0005] In one aspect, the present application provides a robot, comprising:

[0006] a torso provided with a rotating component for outputting torque;

[0007] a walking mechanism comprising a support body, a first mounting seat, a first rotating disc and a plurality of first clamping claws, the support body is used for supporting the torso, the first mounting seat is connected with the support body, the first rotating disc is rotationally connected with the first mounting seat, the first rotating disc is provided with a first spiral groove, a plurality of the first clamping claws are movably connected with the first mounting seat, a plurality of the first clamping claws are arranged at intervals around the rotation center of the first rotating disc, and each of the first clamping claws is engaged with the first spiral groove, when the first rotating disc rotates relative to the first mounting seat in a first direction, a plurality of the first clamping claws are clamped and fixed on the rotating component, so that the support body can rotate relative to the torso under the driving of the rotating component, when the first rotating disc rotates relative to the first mounting seat in a second direction, a plurality of the first clamping claws are away from the rotating component, so that the walking mechanism can be detached from the rotating component, and the second direction is opposite to the first direction.

[0008] The robot comprises a trunk and a walking mechanism, the trunk is provided with a rotating part, the walking mechanism comprises a supporting body, a first mounting seat, a first rotating disc and a plurality of first clamping claws, the first rotating disc is engaged with the plurality of first clamping claws through the first spiral groove, so that the plurality of first clamping claws conveniently assemble the supporting body and the rotating part together by rotating the first rotating disc, improve the robot assembly efficiency, and facilitate to adapt to the needs of large-scale production. Moreover, the walking mechanism and the rotating part are convenient to disassemble and assemble, so that the walking mechanism can be modularly and quickly and efficiently installed to or detached from the rotating part, facilitating replacement of the walking mechanism with different walking styles, and enriching the walking styles of the robot.

[0009] In another aspect, the application provides a robot, comprising:

[0010] a trunk, provided with a rotating part for outputting torque;

[0011] a walking mechanism, comprising a wheeled walking member, a foot walking member, a first mounting seat, a first rotating disc and a plurality of first clamping claws, the wheeled walking member is fixed with the rotating part, the foot walking member comprises a second clamping part, the first mounting seat is fixed with the wheeled walking member, the first rotating disc is rotationally connected with the first mounting seat, the first rotating disc is provided with a first spiral groove, the plurality of first clamping claws are movably connected with the first mounting seat, the plurality of first clamping claws are arranged at intervals around the rotating center of the first rotating disc, and are engaged with the first spiral groove, when the first rotating disc rotates relative to the first mounting seat in a first direction, the plurality of first clamping claws are clamped and fixed to the second clamping part, so that the foot walking member can rotate relative to the trunk under the driving of the rotating part, when the first rotating disc rotates relative to the first mounting seat in a second direction, the plurality of first clamping claws are away from the second clamping part, so that the foot walking member can be detached from the first mounting seat, and the second direction is opposite to the first direction.

[0012] The robot comprises a trunk and a walking mechanism, the trunk is provided with a rotating part, the walking mechanism comprises a wheeled walking member, a foot walking member, a first mounting seat, a first rotating disc and a plurality of first clamping claws, the first rotating disc is engaged with the plurality of first clamping claws through the first spiral groove, so that the plurality of first clamping claws conveniently assemble the supporting body and the rotating part together by rotating the first rotating disc, improve the robot assembly efficiency, and facilitate to adapt to the needs of large-scale production. Moreover, the walking mechanism and the rotating part are convenient to disassemble and assemble, so that the walking mechanism can be modularly and quickly and efficiently installed to or detached from the rotating part, facilitating replacement of the walking mechanism with different walking styles, and enriching the walking styles of the robot.

[0013] In still another aspect, the present application provides a robot, comprising:

[0014] a torso, provided with a rotating component for outputting torque;

[0015] a walking mechanism, comprising a wheeled walking member, a foot walking member, a first mounting base, a first rotating disc and a plurality of first clamping claws, the wheeled walking member being fixed with the rotating component, the first mounting base being fixed with the foot walking member, the first rotating disc being rotationally connected with the first mounting base, the first rotating disc being provided with a first helical groove, the plurality of first clamping claws being movably connected with the first mounting base, the plurality of first clamping claws being arranged at intervals around the rotating center of the first rotating disc and being engaged with the first helical groove, when the first rotating disc rotates relative to the first mounting base in a first direction, the plurality of first clamping claws are clamped and fixed on the wheeled walking member, so that the foot walking member can rotate relative to the torso under the driving of the rotating component, when the first rotating disc rotates relative to the first mounting base in a second direction, the plurality of first clamping claws are away from the wheeled walking member, so that the foot walking member can be detached from the wheeled walking member, the second direction being opposite to the first direction.

[0016] The robot described above comprises a torso and a walking mechanism, the torso is provided with a rotating component, the walking mechanism comprises a wheeled walking member, a foot walking member, a first mounting base, a first rotating disc and a plurality of first clamping claws, the first rotating disc is engaged with the plurality of first clamping claws by being provided with a first helical groove, and the rotation of the first rotating disc enables the plurality of first clamping claws to conveniently assemble the foot walking member fixed with the first mounting base to the rotating component or the wheeled walking member, thereby improving the assembly efficiency of the robot and facilitating the adaptation to the needs of large-scale production. Moreover, this modular disassembly or assembly of the foot walking member conveniently realizes the replacement of the robot between the wheeled walking and the foot walking, thereby enriching the walking style of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0018] Figure 1 a structural schematic diagram of a robot provided for an embodiment;

[0019] Figure 2 a structural schematic diagram of a robot provided for another embodiment;

[0020] Figure 3 Structure diagram of a robot according to another embodiment;

[0021] Figure 4 Structure diagram of a part of a walking mechanism of a robot according to an embodiment;

[0022] Figure 5 Structure diagram of a part of a walking mechanism of a robot according to another embodiment;

[0023] Figure 6 Structure diagram of a robot according to another embodiment of an embodiment;

[0024] Figure 7 Structure diagram of a part of a walking mechanism of a robot according to an embodiment;

[0025] Figure 8 Structure diagram of a robot according to an embodiment; Figure 7 Structure diagram of a part of a walking mechanism of a robot according to an embodiment;

[0026] Figure 9 Structure diagram of a part of a walking mechanism of a robot according to another embodiment;

[0027] Figure 10 Structure diagram of a rotating part of a robot according to an embodiment;

[0028] Figure 11 Structure diagram of a robot according to an embodiment when the robot encounters an obstacle and overcomes the obstacle;

[0029] Figure 12 Structure diagram of a robot according to an embodiment when the robot overcomes an obstacle and walks;

[0030] BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 100, trunk; 110, rotating part; 111, flange; 112, rotating shaft; 112a, clamping part; 200, walking mechanism; 200a, rotating shaft; 210, wheeled walking member; 220, legged walking member; 221, thigh member; 222, shank member; 201, first mounting seat; 201a, limiting groove; 202, first rotating disc; 202a, first helical groove; 202b, first face tooth; 203, first clamping jaw; 203a, tooth; 204, first driving tooth; 204a, operating part; 205, first limiting seat; 206, cover plate; 207, second mounting seat; 208, second rotating disc; 208a, second helical groove; 208b, second face tooth; 209, second clamping jaw; 209a, clamping head; 230, second driving tooth; 240, power mechanism; 241, hip joint motor; 242, leg joint motor. DETAILED DESCRIPTION

[0032] In order to make the above objectives, features and advantages of the present application more clear and easily understood, the detailed description of the specific embodiments of the present application is made below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and one of ordinary skill in the art can make similar improvements without departing from the spirit of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0035] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] In the present application, unless specifically stated and limited otherwise, a first feature "on" or "under" a second feature can be directly in contact with the second feature, or indirectly in contact with the second feature through an intermediate medium. Moreover, the first feature "over", "above" and "on top of" the second feature can be directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature "under", "below" and "underneath" the second feature can be directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "set to" another element, it can be directly on the other element or there can be an intermediate element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there can be an intermediate element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation.

[0038] Referring to Figure 1 and Figure 2 , the robot provided by the embodiment of the present application comprises a trunk 100 and a walking mechanism 200 connected to the trunk 100. The trunk 100 is provided with a rotating component 110 for outputting torque, so that when the walking mechanism 200 is connected to the rotating component 110, the torque output by the rotating component 110 during rotation will cause the walking mechanism 200 to move, thereby realizing the walking of the robot.

[0039] It should be noted that the walking mode of the robot can be a foot-type walking motion simulating a quadruped animal, or the robot can be a wheeled robot, which makes a wheeled walking motion under the drive of the rotating component 110.

[0040] Specifically, in the robot of the embodiment of the present application, the walking mechanism 200 comprises a support body. As mentioned above, the robot can make a foot-type walking motion or a wheeled walking motion. In order to adapt to the need of the robot moving in the corresponding walking mode, the support body serves as a structure for supporting the trunk 100, which plays a supporting role on the one hand, and on the other hand, the support body also serves as the main structure for the walking mechanism 200 to realize the corresponding walking mode.

[0041] For the convenience of understanding, the support body for realizing the wheeled walking motion will be referred to as "wheeled walking member 210" and the support body for realizing the foot-type walking motion will be referred to as "foot-type walking member 220".

[0042] For example, in combination with Figure 1As shown, the support body includes a wheeled walking member 210, which is configured to support the trunk 100 and to perform wheeled walking motion under the driving of the rotating member 110.

[0043] For another example, in combination with Figure 2 As shown, the support body includes a foot walking member 220, which is configured to support the trunk 100 and to perform foot walking motion under the driving of the rotating member 110.

[0044] In some embodiments, in combination with Figure 3 As shown, the walking mechanism 200 includes both the wheeled walking member 210 and the foot walking member 220. In this embodiment, the foot walking member 220 can be detached from the walking mechanism 200, and in particular, when the foot walking member 220 is detached from the walking mechanism 200, the wheeled walking member 210 of the walking mechanism 200 is configured to contact the walking surface (e.g. the ground or a workbench surface), so that the walking mechanism 200 is adapted to perform wheeled walking motion. Correspondingly, when the foot walking member 220 is not detached, the foot walking member 220 of the walking mechanism 200 is configured to contact the walking surface, so that the walking mechanism 200 is adapted to perform foot walking motion.

[0045] In some embodiments, the robot body is connected with a mechanical arm. For example, as shown in Figure 1 and Figure 2 As shown, the robot body is provided with a base, which is configured to mount the mechanical arm.

[0046] In the following, the structure of the walking mechanism 200 will be further described by taking the support body including the wheeled walking member 210 as an example.

[0047] In combination with Figure 4 As shown, the walking mechanism 200 includes a first mounting seat 201, a first rotating disc 202 and a plurality of first clamping claws 203. The first mounting seat 201 is connected with the wheeled walking member 210, for example, the wheeled walking member 210 is arranged around the peripheral side of the first mounting seat 201 and is kept relatively fixed with the first mounting seat 201. The wheeled walking member 210 can be a meclianical wheel or a rolling wheel. In this embodiment, the first rotating disc 202 is rotationally connected with the first mounting seat 201, the first rotating disc 202 is provided with a first helical groove 202a, and the plurality of first clamping claws 203 are movably connected with the first mounting seat 201. The plurality of first clamping claws 203 are arranged at intervals around the rotation center of the first rotating disc 202 and are all engaged with the first helical groove 202a. Specifically, the first clamping claw 203 has a tooth 203a, which is engaged with the first helical groove 202a.

[0048] Since the plurality of first claws 203 are engaged with the first helical groove 202a, when the first rotating disc 202 rotates relative to the first mounting base 201, the first rotating disc 202 engages to drive the plurality of first claws 203 to move towards or away from the rotation center of the first rotating disc 202, so as to clamp the part to be connected by the plurality of first claws 203.

[0049] Specifically, in the embodiment, when the first rotating disc 202 rotates relative to the first mounting base 201 in the first direction, the plurality of first claws 203 are clamped and fixed to the rotating member 110, so as to assemble the walking mechanism 200 to the rotating member 110, at this time, the wheeled walking member 210 can rotate relative to the trunk 100 under the driving of the rotating member 110. When the first rotating disc 202 rotates relative to the first mounting base 201 in the second direction, the plurality of first claws 203 are away from the rotating member 110, so that the walking mechanism 200 can be disassembled from the rotating member 110, at this time, the rotating member 110 is empty for installing the walking mechanism 200 of different walking styles (for example, the walking mechanism 200 including the foot walking member 220), so as to enrich the walking style of the robot. How to install the foot walking member 220 will be described below at the appropriate position, which will not be repeated here.

[0050] In summary, the robot of the embodiment of the application only needs to rotate the first rotating disc 202 when disassembling and assembling the walking mechanism 200, which is simple and convenient to operate, and is conducive to improving the disassembly and assembly efficiency of the robot. Moreover, the walking mechanism 200 can be used as an independent module to realize modular disassembly and assembly, so as to facilitate the replacement of the walking mechanism 200 of different walking styles to enrich the walking style of the robot.

[0051] It is to be noted that the second direction is opposite to the first direction, i.e. the first rotary disc 202 is rotated in two opposite directions to make the plurality of first clamping claws 203 clamp the rotating component 110 or move away from the rotating component 110. If the first direction is defined as the first rotary disc 202 is rotated in the positive direction relative to the first mounting base 201, the second direction is defined as the first rotary disc 202 is rotated in the reverse direction relative to the first mounting base 201. Further, in some embodiments, when the first rotary disc 202 is rotated in the positive direction relative to the first mounting base 201, the first rotary disc 202 engages and drives the plurality of first clamping claws 203 to move away from the rotation center of the first rotary disc 202. Correspondingly, when the first rotary disc 202 is rotated in the reverse direction relative to the first mounting base 201, the first rotary disc 202 engages and drives the plurality of first clamping claws 203 to move close to the rotation center of the first rotary disc 202. In some embodiments, when the first rotary disc 202 is rotated in the positive direction relative to the first mounting base 201, the first rotary disc 202 engages and drives the plurality of first clamping claws 203 to move close to the rotation center of the first rotary disc 202. Correspondingly, when the first rotary disc 202 is rotated in the reverse direction relative to the first mounting base 201, the first rotary disc 202 engages and drives the plurality of first clamping claws 203 to move away from the rotation center of the first rotary disc 202.

[0052] In combination Figure 5 As shown, the first rotary disc 202 is provided with a first face tooth 202b, and the walking mechanism 200 comprises a first driving tooth 204 engaged with the first face tooth 202b, the first driving tooth 204 is rotatable relative to the first mounting base 201 and engages and drives the first rotary disc 202 to rotate.

[0053] In some embodiments, the first face tooth 202b is located on the side of the first rotary disc 202 away from the first clamping claws 203, so that the first driving tooth 204 is arranged on the side of the first rotary disc 202 facing the first clamping claws 203 to reserve more space for arranging the first clamping claws 203. Moreover, since the first driving tooth 204 and the first clamping claws 203 are respectively located on the two sides of the first rotary disc 202, the first clamping claws 203 can obtain sufficient movement space on one side of the first rotary disc 202 without interfering with the first driving tooth 204.

[0054] In some embodiments, the first face tooth 202b is arranged on the side of the first rotary disc 202 facing the first clamping claws 203 around the circumferential side of the first helical groove 202a, so that when the first driving tooth 204 is engaged with the first face tooth 202b, the first driving tooth 204 will not extend into the first helical groove 202a, avoiding the movement interference between the first driving tooth 204 and the first clamping claws 203. In this embodiment, since the first driving tooth 204 and the first clamping claws 203 are located on the same side of the first rotary disc 202, the structure layout of the walking mechanism 200 is compact, which is conducive to miniaturization design.

[0055] In some embodiments, the first mounting base 201 is connected with a first limiting seat 205, and the first driving tooth 204 is rotatably arranged in the first limiting seat 205. The first driving tooth 204 is limited by the first limiting seat 205, so as to improve the engagement stability between the first driving tooth 204 and the first face tooth 202b.

[0056] The first limiting seat 205 can be connected with the first mounting base 201 by a screw, or connected with the first mounting base 201 by welding or buckling, etc. The connection mode of the first limiting seat 205 and the first mounting base 201 is not limited herein.

[0057] Further, the first driving tooth 204 is connected with an operation part 204a exposed from the first limiting seat 205. The operation part 204a is used for transmitting torque to the first driving tooth 204, so as to rotate the operation part 204a by using an operation tool, and make the first driving tooth 204 rotate relative to the first limiting seat 205. The operation part 204a can be an internal hexagonal hole, so as to be matched with an internal hexagonal wrench. Thus, the internal hexagonal wrench can be used to rotate the operation part 204a, so as to make the first driving tooth 204 rotate. The operation part 204a can also be an external hexagonal head, so as to be matched with an external hexagonal wrench. Thus, the external hexagonal wrench can be used to rotate the operation part 204a, so as to make the first driving tooth 204 rotate. In some embodiments, the operation part 204a can also be other protrusions or grooves, so as to be matched with an operation tool for rotating the first driving tooth 204.

[0058] The first driving tooth 204 can also be arranged on an output shaft of the micro motor, so as to be driven by the micro motor, and make the first driving tooth 204 engage and drive the first rotating disc 202 to rotate relative to the first mounting base 201.

[0059] It should be noted that the first rotating disc 202 can also be arranged to rotate relative to the first mounting base 201 in other ways, and is not limited to the meshing transmission between the first driving tooth 204 and the first surface tooth 202b. For example, in some embodiments, a transmission shaft is connected to the rotation center of the first rotating disc 202, and the transmission shaft is rotatably arranged in the first mounting base 201, so that the transmission shaft is driven to rotate by a transmission member such as a gear, a belt, etc., and the rotation of the first rotating disc 202 relative to the first mounting base 201 can also be achieved. For another example, in some embodiments, the first rotating disc 202 is used as a rotor of a motor, and the first mounting base 201 is used as a stator of the motor, so that the first rotating disc 202 can also rotate relative to the first mounting base 201, and in this structure, the rotation of the first rotating disc 202 can be achieved by electric control, so that the plurality of first clamping claws 203 are clamped or separated from the rotating component 110, and the disassembly and assembly efficiency of the walking mechanism 200 and the rotating component 110 is further improved. In other embodiments, a tooth can also be arranged on the periphery of the first rotating disc 202, so that the first rotating disc 202 can be used as a gear, and only a transmission tooth or a transmission belt with a tooth needs to be arranged on the periphery of the first rotating disc 202 to mesh with the transmission tooth or the transmission belt, so that the first rotating disc 202 can be driven to rotate relative to the first mounting base 201 by the transmission tooth or the transmission belt. The implementation of the rotation of the first rotating disc 202 relative to the first mounting base 201 will not be described here again, as long as the first rotating disc 202 can be driven to rotate to mesh with the plurality of first clamping claws 203 to move the plurality of first clamping claws 203 to the rotation center of the first rotating disc 202 or away from the rotation center of the first rotating disc 202.

[0060] In some embodiments, the first clamping claw 203 is limited relative to the first mounting base 201 in the direction along the rotation axis 112 of the first rotating disc 202, and more specifically, the first clamping claw 203 moves relative to the first mounting base 201 in the radial direction (the direction perpendicular to the rotation axis 112 of the first rotating disc 202) under the driving of the first rotating disc 202.

[0061] Continuing to refer to Figure 5As shown, the first mounting base 201 is provided with a plurality of limiting grooves 201a, which are arranged radially corresponding to the rotation center of the first rotating disc 202. The plurality of first clamping claws 203 are correspondingly arranged in the plurality of limiting grooves 201a, and can be driven by the first rotating disc 202 to move along the corresponding limiting groove 201a relative to the first mounting base 201, so as to be guided by the limiting groove 201a to approach or move away from the rotation center of the first rotating disc 202. Further, the side of the first mounting base 201 away from the first rotating disc 202 is provided with a cover plate 206 connected thereto, which is used to limit the first clamping claw 203 in the limiting groove 201a, so as to prevent the first clamping claw 203 from falling off the first mounting base 201. At this time, the limiting of the first clamping claw 203 by the cover plate 206 also effectively improves the cooperation stability of the first clamping claw 203 and the first spiral groove 202a of the first rotating disc 202. The cover plate 206 can be connected to the first mounting base 201 by screws, or can be connected to the first mounting base 201 by buckling or welding, which is not limited here.

[0062] It should be noted that in some embodiments, the first clamping claw 203 can also be limited in the limiting groove 201a by the cover plate 206. For example, the first clamping claw 203 is arranged in the limiting groove 201a and is in sliding connection with the first mounting base 201. Specifically, the first clamping claw 203 can slide in the limiting groove 201a relative to the first mounting base 201 towards the direction of approaching or moving away from the rotation center of the first rotating disc 202. The sliding cooperation between the first clamping claw 203 and the first mounting base 201 includes but is not limited to the cooperation of sliding grooves and sliding convexities arranged therebetween, as long as the first clamping claw 203 can move radially relative to the first mounting base 201 under the driving of the first rotating disc 202.

[0063] In order to further understand the structure of the robot of the embodiments of the present application, the following will respectively explain the two cases that the support body includes the wheeled walking member 210 and the support body includes the foot walking member 220.

[0064] The first case

[0065] The support body includes the wheeled walking member 210, which is connected to the rotating member 110 through a series of structures such as the first mounting base 201, the first rotating disc 202 and the plurality of first clamping claws 203.

[0066] Based on the first case, the foot walking member 220 can also be connected to the rotating member 110 by a similar structure. Specifically, in combination with Figure 6 and Figure 7As shown, the side of the first mounting seat 201 away from the trunk 100 is connected with a second mounting seat 207, the first rotating disc 202 is located between the first mounting seat 201 and the second mounting seat 207, and the second rotating disc 208 is rotatably arranged between the first rotating disc 202 and the second mounting seat 207. The side of the second rotating disc 208 away from the first rotating disc 202 is provided with a second spiral groove 208a (see Figure 8 As shown, the second mounting seat 207 is movably connected with a plurality of second clamping claws 209, the plurality of second clamping claws 209 are arranged at intervals around the rotation center of the second rotating disc 208, and are all engaged with the second spiral groove 208a. When the second rotating disc 208 rotates relative to the second mounting seat 207, the second rotating disc 208 drives the plurality of second clamping claws 209 to move close to or away from the rotation center of the second rotating disc 208. The walking mechanism 200 includes a foot walking piece 220, and the plurality of second clamping claws 209 are used for detachably connecting the foot walking piece 220, so that the foot walking piece 220 can support the trunk 100 and make foot walking movement under the driving of the rotating component 110.

[0067] The connection principle of the plurality of second clamping claws 209 and the foot walking piece 220 can be referred to the connection of the plurality of first clamping claws 203 and the rotating component 110, and will not be repeated here.

[0068] Further, in combination with Figure 8 As shown, the first rotating disc 202 and the second rotating disc 208 are coaxially arranged, so that the first rotating disc 202 and the second rotating disc 208 can rotate around the same rotating shaft 200a, and the rotating shaft 200a can be connected between the first mounting seat 201 and the second mounting seat 207. When the foot walking piece 220 is replaced, the second rotating disc 208, the second clamping claw and the second mounting seat 207 and other structures are prevented from making eccentric motion relative to the rotation center of the first rotating disc 202, that is, this arrangement is beneficial to the rotating component 110 to transmit the output torque to the foot walking piece 220 as much as possible, so as to improve the walking effect of the foot walking piece 220 under the driving of the rotating component 110.

[0069] It should be noted that the second mounting seat 207, the second rotating disc 208 and the plurality of second clamping claws 209 and other structures can not be connected to the first mounting seat 201. In other embodiments, the structures for detachably mounting the foot walking piece 220 to the wheeled driving piece or the rotating component 110 can be arranged on the foot walking piece 220. Specifically, in combination with Figure 9As shown, the walking mechanism 200 comprises a second mounting base 207, a second rotating disc 208 and a plurality of second clamping claws 209. The second rotating disc 208 is rotationally connected with the second mounting base 207, and is provided with a second helical groove 208a. The plurality of second clamping claws 209 are movably connected with the second mounting base 207, are arranged at intervals around the rotation center of the second rotating disc 208, and are all engaged with the second helical groove 208a. In this embodiment, the second mounting base 207 is connected with the foot walking member 220. When the second rotating disc 208 rotates relative to the second mounting base 207, the second rotating disc 208 drives the plurality of second clamping claws 209 to move close to or away from the rotation center of the second rotating disc 208. The plurality of second clamping claws 209 can be matched with the wheeled walking member 210 or the rotating member 110 under the driving of the second rotating disc 208, so as to connect the foot walking member 220 to the wheeled walking member 210 or the rotating member 110.

[0070] Similar to the movement principle of the first rotating disc 202 driving the first clamping claw 203, the second rotating disc 208 can also be reversely rotated to make the second clamping claw 209 disengage from the wheeled walking member 210 or the rotating member 110, so as to make the foot walking member 220 disengage. Thus, the plurality of second clamping claws 209 can be detachably connected with the wheeled walking member 210 or the rotating member 110, so that the foot walking member 220 can support the trunk 100 and make foot walking movement under the driving of the rotating member 110.

[0071] It should be noted that the rotating mode of the second rotating disc 208 can refer to the rotating mode of the first rotating disc 202. For example, in some embodiments, the second rotating disc 208 is provided with a second face gear 208b, and the walking mechanism 200 comprises a second driving gear 230 engaged with the second face gear 208b. The second driving gear 230 can rotate relative to the second mounting base 207 and drive the second rotating disc 208 to rotate.

[0072] The second case

[0073] The support body comprises the foot walking member 220, which is connected with the rotating member 110 through the above-mentioned first mounting base 201, first rotating disc 202, plurality of first clamping claws 203 and a series of structures. The connection and structure principle of the foot walking member 220 and the rotating member 110 can refer to the connection and structure principle of the wheeled walking member 210 and the rotating member 110. The difference between the two is that the type of the support body is replaced from the wheeled walking member 210 to the foot walking member 220, which will not be described here.

[0074] It should be noted that in the second case, the rotating component 110 can be installed with the wheeled walking component 210 or not. When the rotating component 110 is not installed with the wheeled walking component 210, the foot walking component 220 is connected to the rotating component 110 through a series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203. When the rotating component 110 is installed with the wheeled walking component 210, the foot walking component 220 can still be connected to the rotating component 110 through a series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203. Understandably, in this embodiment, when the foot walking component 220 is detached from the rotating component 110, the wheeled walking component 210 can support the torso 100 and move in a wheeled walking manner under the driving of the rotating component 110.

[0075] In some embodiments, in combination with Figure 1 and Figure 10 As shown in the drawings, the rotating component 110 includes a flange plate 111 connected with a rotating shaft 112. The wheeled walking component 210 is connected with the flange plate 111, and the rotating shaft 112 penetrates the center of the wheeled walking component 210 and forms a clamping portion 112a. The clamping portion 112a is exposed on the side of the wheeled walking component 210 away from the torso 100, so that the clamping portion 112a can be clamped and fixed by the plurality of first clamping claws 203, thereby achieving the connection between the foot walking component 220 and the rotating component 110. The rotating component 110 can also be other structures such as an output shaft or an output gear, as long as it can meet the installation and rotation needs of the wheeled walking component 210.

[0076] It should be noted that the first case and the second case described above are based on the clamping and dismounting of the rotating component 110 by a series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203, to achieve the quick assembly of the wheeled walking component 210 or the foot walking component 220 to the rotating component 110. In some embodiments, the object clamped and fixed by the plurality of first clamping claws 203 can also not be the rotating component 110. For example, the clamping and fixing object of the first clamping claw 203 can be the wheeled walking component 210 or the foot walking component 220. To be exact, the series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203 can form an independent module with the wheeled walking component 210 or an independent module with the foot walking component 220. By adopting this structure, the flexible disassembly and assembly of the wheeled walking component 210 and the foot walking component 220 can be achieved by clamping and releasing of the first clamping claw 203.

[0077] The following will take the walking mechanism 200 including the wheeled walking member 210 and the foot walking member 220 as an example to describe the working principle of the series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203 to realize the detachable connection of the wheeled walking member 210 and the foot walking member 220.

[0078] In some embodiments, the series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203 and the wheeled walking member 210 constitute an independent module, and can meet the needs of the quick disassembly and assembly of the foot walking member 220 and the wheeled walking member 210. Specifically, the first mounting seat 201 is connected with the wheeled walking member 210, the first rotating disc 202 is rotationally connected with the first mounting seat 201, the first rotating disc 202 is provided with a first spiral groove 202a, the plurality of first clamping claws 203 are movably connected with the first mounting seat 201, the plurality of first clamping claws 203 are arranged at intervals around the rotation center of the first rotating disc 202, and are all engaged with the first spiral groove 202a. In this way, the series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203 and the wheeled walking member 210 constitute an independent module, the wheeled walking member 210 is connected with the rotating part 110, and then the wheeled walking member 210 can be used to meet the needs of the wheeled walking movement, and meanwhile, the driving of the plurality of first clamping claws 203 by the first rotating disc 202 also improves the disassembly and assembly efficiency of the foot walking member 220.

[0079] The foot walking member 220 includes a second clamping part, when the first rotating disc 202 rotates relative to the first mounting seat 201 towards a first direction, the plurality of first clamping claws 203 are clamped and fixed to the second clamping part, so that the foot walking member 220 can rotate relative to the trunk 100 under the driving of the rotating part 110, when the first rotating disc 202 rotates relative to the first mounting seat 201 towards a second direction, the plurality of first clamping claws 203 are away from the second clamping part, so that the foot walking member 220 can be disassembled from the first mounting seat 201, and the second direction is opposite to the first direction.

[0080] In some embodiments, the series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203 and the wheeled walking member 210 constitute an independent module, and can meet the needs of the quick disassembly and assembly of the foot walking member 220 and the wheeled walking member 210. Specifically, the first mounting seat 201 is connected with the wheeled walking member 210, the first rotating disc 202 is rotationally connected with the first mounting seat 201, the first rotating disc 202 is provided with a first spiral groove 202a, the plurality of first clamping claws 203 are movably connected with the first mounting seat 201, the plurality of first clamping claws 203 are arranged at intervals around the rotation center of the first rotating disc 202, and are all engaged with the first spiral groove 202a. In this way, the series of structures such as the first mounting seat 201, the first rotating disc 202 and the plurality of first clamping claws 203 and the wheeled walking member 210 constitute an independent module, the wheeled walking member 210 is connected with the rotating part 110, and then the wheeled walking member 210 can be used to meet the needs of the wheeled walking movement, and meanwhile, the driving of the plurality of first clamping claws 203 by the first rotating disc 202 also improves the disassembly and assembly efficiency of the foot walking member 220.

[0081] The wheeled walking member 210 is connected to the rotating member 110, and the wheeled walking motion is satisfied by using the wheeled walking member 210. Since the foot walking member 220 is connected to the first mounting seat 201, the first rotating disc 202, and a plurality of first clamping claws 203, and the like, the foot walking member 220 can be quickly assembled to or disassembled from the wheeled walking member 210 by driving the plurality of first clamping claws 203 by the first rotating disc 202.

[0082] When the first rotating disc 202 rotates relative to the first mounting seat 201 in a first direction, the plurality of first clamping claws 203 are clamped and fixed to the wheeled walking member 210, so that the foot walking member 220 can rotate relative to the trunk 100 under the driving of the rotating member 110. When the first rotating disc 202 rotates relative to the first mounting seat 201 in a second direction, the plurality of first clamping claws 203 are separated from the wheeled walking member 210, so that the foot walking member 220 can be disassembled from the wheeled walking member 210. The second direction is opposite to the first direction.

[0083] It should be particularly noted that, in the embodiments of the present application, both the first clamping claw 203 and the second clamping claw 209 can be driven by the corresponding first rotating disc 202 or second rotating disc 208 to clamp and fix the corresponding clamped object. For example, the second clamping claw 209 is clamped to the rotating member 110. In this embodiment, the second clamping claw 209 has a clamping head 209a, and the rotating member 110 has a clamping groove. The clamping head 209a is clamped to the clamping groove, so that the second clamping claw 209 is stably fixed to the rotating member 110. Figure 9 and Figure 10 For example, the second clamping claw 209 is clamped to the wheeled walking member 210. In this embodiment, the hub of the wheeled walking member 210 has a groove, and the clamping head 209a of the second clamping claw 209 is clamped to the groove, so that the second clamping claw 209 is stably clamped to the wheeled walking member 210.

[0084] The structure of the foot walking member 220 will be further described below.

[0085] Again, the foot walking member 220 is clamped to the wheeled walking member 210. In this embodiment, the first clamping claw 203 has a clamping head 203a, and the wheeled walking member 210 has a clamping groove. The clamping head 203a is clamped to the clamping groove, so that the foot walking member 220 is stably clamped to the wheeled walking member 210. Figure 2 and Figure 3As shown, the foot walking member 220 comprises a thigh member 221, a shank member 222 and a driving mechanism, the shank member 222 is rotatably connected with the thigh member 221, and the driving mechanism is used to drive the shank member 222 to rotate relative to the thigh member 221. In this embodiment, when the foot walking member 220 is used to simulate the leg movement of a robot, the thigh member 221 can be referred to as a thigh, and the shank member 222 can be referred to as a shank. It should be noted that the thigh member 221 and the shank member 222 can be connected through a rotating connection to realize the rotation therebetween, or the shank member 222 can be rotatably connected with the thigh member 221 through a driving mechanism, as long as the shank member 222 can rotate relative to the thigh member 221, it can be considered that the shank member 222 is rotatably connected with the thigh member 221.

[0086] Further, the driving mechanism comprises a joint motor and a linkage assembly, an output end of the joint motor is connected with the linkage assembly, and the linkage assembly outputs a rotating torque to the shank member 222. In some embodiments, the driving mechanism comprises a pneumatic tendon, two ends of the pneumatic tendon are rotatably connected with the thigh member 221 and the shank member 222 respectively. In some embodiments, the driving mechanism comprises a telescopic cylinder, a fixed part of the telescopic cylinder is rotatably connected with the thigh member 221, and a telescopic rod of the telescopic cylinder is rotatably connected with the shank member 222. In some embodiments, the driving mechanism comprises a driving gear and a driving motor, the driving gear is rotatably arranged on the thigh member 221, and is used to mesh with the shank member 222 to drive the shank member 222 to rotate relative to the thigh member 221 under the driving of the driving motor.

[0087] It should be noted that the robot further comprises a power mechanism 240 mounted on the torso 100, and the power mechanism 240 is used to output a torque to the walking mechanism 200 through the rotating part 110 to drive the walking mechanism 200 to move.

[0088] In some embodiments, the power mechanism comprises a joint motor, and the rotating part 110 is connected with an output shaft of the joint motor. For example, the rotating part 110 is connected with the output shaft of the joint motor through a shaft coupling, or the rotating part 110 is provided with a shaft hole matched with the output shaft of the joint motor, so that the rotating part 110 can be connected with the output shaft of the joint motor through the shaft hole. In some embodiments, the rotating part 110 can also be connected with the output shaft of the joint motor through welding, or the rotating part 110 and the output shaft of the joint motor can be connected through a gear or a belt, as long as the joint motor can drive the rotating part 110 to rotate relative to the torso 100 when the joint motor works.

[0089] In some embodiments, the joint motor can be multiple, so that multiple joint motors are used to realize the movement of the walking mechanism 200 relative to the torso 100 in different dimensions.

[0090] For ease of understanding, Figure 2 and Figure 3 The robot shown is an example of a quadruped robot. The robot includes two front legs and two hind legs, which are connected to the torso 100 along the front-rear direction of the trunk. The two front legs are symmetrically positioned on both sides of the torso 100, and the two hind legs are also symmetrically positioned on both sides of the torso 100. Both the front and hind legs include a foot-like walking component 220.

[0091] The motor mechanism includes a hip joint motor 241 and a leg joint motor 242. The hip joint motor 241 is connected to the torso 100 and drives the leg joint motor 242 to rotate in the forward and backward direction, thereby simulating the left and right swaying motion of the hip. The leg joint motor 242 drives the walking mechanism 200 to walk in the forward and backward direction through a rotating component 110. The hip joint motor 241 and the leg joint motor 242 can be adjacent to each other through a connecting frame. For example, the connecting frame includes two mutually perpendicular connecting parts. The output shaft of the hip joint motor 241 is connected to one of the connecting parts, and the leg joint motor 242 is mounted on the other connecting part. The output shaft of the leg joint motor 242 is connected to the walking mechanism 200 through the rotating component 110. Thus, when the output shaft of the hip joint motor 241 rotates, it can drive the leg joint motor 242 and the walking mechanism 200 to adjust in the left and right direction relative to the torso.

[0092] Furthermore, the robot also includes a control module for controlling the operation of the joint motors. In some embodiments, the control module is electrically connected to an IMU (Inertial Measurement Unit), which is a device used to measure the three-axis attitude angles (or angular rates) and acceleration of an object. In this embodiment, the IMU module acquires the robot's real-time attitude position, and the control module can adjust the robot's movements based on the robot's real-time attitude position; while the ground recognition device 11 is used to identify the ground conditions in the robot's forward direction, and the control module actuates the hip joint motors 241 according to the robot's real-time attitude acquired by the IMU module to adjust the robot's balance.

[0093] It should be noted that when the robot walks on the wheeled walking component 210, the real-time posture of the robot obtained by the IMU module can also be used to move the hip joint motor 241 to achieve balance during the robot's walking process.

[0094] For example, combining Figure 11 As shown, Figure 11The situation when a single wheeled walking member 210 encounters an obstacle to overcome is schematically shown. Specifically, the left and right sides of the body are respectively configured with two wheeled walking mechanisms 200. When the wheeled walking mechanism 200 encounters a protrusion (obstacle) during walking, it will be lifted, so that the body of the robot will be tilted at this time. The IMU module detects that the body of the robot is angularly tilted, and therefore converts the angular tilt amount into an instruction through calculation and transmits it to the hip joint motor 241, so that the left and right sides of the wheeled walking member 210 of the body are adjusted laterally relative to the body, so that the body is restored to a horizontal state. Since the height of the protrusion will change when the robot continues to move forward, the body tilt amount will continue to change, so in the embodiments of the present application, the IMU module will perform real-time detection and transmit instructions to the motor in real time. The overall adjustment process is a trial adjustment, and the adjustment speed is fast and the accuracy is high.

[0095] In combination Figure 12 As shown in some embodiments, when the robot travels on complex ground, some wheeled walking members 210 need to climb over protrusions, and some wheeled walking members 210 need to pass through potholes. At this time, the IMU module can also be used for real-time detection of the body, and the body tilt amount is converted into an instruction and transmitted to the four hip joint motors 241 corresponding to the four wheeled walking members 210. In this way, the height of the four wheeled walking members 210 is further adjusted by the four hip joint motors 241, so that the body of the robot always maintains a horizontal state.

[0096] Of course, the above is only for the convenience of understanding, and the walking adjustment of the robot is only illustrated by taking the example of keeping the torso 100 horizontal. During the walking of the robot, the corresponding hip joint motor 241 can also be used to adjust the walking posture of the robot as needed.

[0097] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered within the scope of the present disclosure.

[0098] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. A robot, characterized in that, include: The torso is equipped with a rotating component for outputting torque; The walking mechanism includes a support body, a first mounting base, a first turntable, and multiple first claws. The support body supports the torso. The first mounting base is connected to the support body. The first turntable is rotatably connected to the first mounting base. The first turntable has a first helical groove. The multiple first claws are movably connected to the first mounting base. The multiple first claws are arranged at intervals around the rotation center of the first turntable and all engage with the first helical groove. When the first turntable rotates relative to the first mounting base in a first direction, the multiple first claws clamp and fix to the rotating component, so that the support body can rotate relative to the torso under the drive of the rotating component. When the first turntable rotates relative to the first mounting base in a second direction, the multiple first claws disengage from the rotating component, so that the walking mechanism can be disassembled from the rotating component. The second direction is opposite to the first direction.

2. The robot according to claim 1, characterized in that, The first turntable is provided with a first face tooth, and the walking mechanism includes a first drive tooth that meshes with the first face tooth. The first drive tooth can rotate relative to the first mounting base and mesh with and drive the first turntable to rotate.

3. The robot according to claim 2, characterized in that, The first face tooth is located on the side of the first turntable opposite to the first claw; or, the first face tooth is disposed around the periphery of the first spiral groove on the side of the first turntable facing the first claw.

4. The robot according to claim 1, characterized in that, The supporting body includes a wheeled walking component, which supports the torso and performs wheeled walking motion driven by the rotating component.

5. The robot according to claim 4, characterized in that, The walking mechanism includes a foot-type walking component. A second mounting base is connected to the side of the first mounting base facing away from the torso. A first turntable is located between the first and second mounting bases. A second turntable is rotatably provided between the first and second mounting bases. A second spiral groove is provided on the side of the second turntable facing away from the first turntable. A plurality of second claws are movably connected to the second mounting base. The plurality of second claws are arranged at intervals around the rotation center of the second turntable and all engage with the second spiral groove. When the second turntable rotates relative to the second mounting base, the second turntable drives the plurality of second claws to move closer to or away from the rotation center of the second turntable. The plurality of second claws are used to detachably connect the foot-type walking component so that the foot-type walking component can support the torso and perform foot-type walking movements under the drive of the rotating component.

6. The robot according to claim 4, characterized in that, The walking mechanism includes a foot-type walking component, a second mounting base, a second turntable, and multiple second claws. The second mounting base is connected to the foot-type walking component, and the second turntable is rotatably connected to the second mounting base. The second turntable has a second helical groove, and the multiple second claws are movably connected to the second mounting base. The multiple second claws are arranged at intervals around the rotation center of the second turntable and all engage with the second helical groove. When the second turntable rotates relative to the second mounting base, the second turntable drives the multiple second claws to move closer to or away from the rotation center of the second turntable. The multiple second claws are used to detachably connect the wheel-type walking component or the rotating component, so that the foot-type walking component can support the torso and perform foot-type walking movements under the drive of the rotating component.

7. The robot according to claim 5 or 6, characterized in that, The first turntable and the second turntable are coaxially arranged.

8. The robot according to claim 5 or 6, characterized in that, The second turntable is provided with a second face tooth, and the traveling mechanism includes a second drive tooth that meshes with the second face tooth. The second drive tooth can rotate relative to the second mounting base and mesh with and drive the second turntable to rotate.

9. The robot according to claim 1, characterized in that, The support body includes a foot-type walking component, which supports the torso and performs foot-type walking movements under the drive of the rotating component.

10. The robot according to claim 9, characterized in that, The walking mechanism includes a wheeled walking component connected to the rotating component. When the foot-type walking component is detached from the rotating component, the wheeled walking component supports the torso and performs wheeled walking motion driven by the rotating component.

11. The robot according to claim 10, characterized in that, The rotating component includes a flange and a rotating shaft connected together. The wheeled walking component is connected to the flange. The rotating shaft passes through the center of the wheeled walking component and forms a snap-fit ​​portion exposed on the side of the wheeled walking component facing away from the torso. The snap-fit ​​portion is used to connect with a plurality of first claws to connect the footed walking component to the rotating component.

12. A robot, characterized in that, include: The torso is equipped with a rotating component for outputting torque; The walking mechanism includes a wheeled walking component, a legged walking component, a first mounting base, a first turntable, and multiple first claws. The wheeled walking component is fixed to the rotating component. The legged walking component includes a second engaging portion. The first mounting base is fixed to the wheeled walking component. The first turntable is rotatably connected to the first mounting base and has a first helical groove. The multiple first claws are movably connected to the first mounting base and are spaced apart around the rotation center of the first turntable, all engaging with the first helical groove. When the first turntable rotates relative to the first mounting base in a first direction, the multiple first claws clamp and fix them to the second engaging portion, allowing the legged walking component to rotate relative to the torso under the drive of the rotating component. When the first turntable rotates relative to the first mounting base in a second direction, the multiple first claws disengage from the second engaging portion, allowing the legged walking component to be detached from the first mounting base. The second direction is opposite to the first direction.

13. A robot, characterized in that, include: The torso is equipped with a rotating component for outputting torque; The walking mechanism includes a wheeled walking component, a footed walking component, a first mounting base, a first turntable, and multiple first claws. The wheeled walking component is fixed to the rotating component, the first mounting base is fixed to the footed walking component, the first turntable is rotatably connected to the first mounting base, the first turntable has a first helical groove, and the multiple first claws are movably connected to the first mounting base. The multiple first claws are arranged at intervals around the rotation center of the first turntable and all engage with the first helical groove. When the first turntable rotates relative to the first mounting base in a first direction, the multiple first claws clamp and fix the wheeled walking component, so that the footed walking component can rotate relative to the torso under the drive of the rotating component. When the first turntable rotates relative to the first mounting base in a second direction, the multiple first claws disengage from the wheeled walking component, so that the footed walking component can be detached from the wheeled walking component. The second direction is opposite to the first direction.

14. The robot according to claim 12 or 13, characterized in that, The foot-type walking component includes a thigh component, a lower leg component, and a drive mechanism. The lower leg component is rotatably connected to the thigh component, and the drive mechanism is used to drive the lower leg component to rotate relative to the thigh component.

15. The robot according to claim 14, characterized in that, The drive mechanism includes a joint motor and a linkage assembly. The output end of the joint motor is connected to the linkage assembly, and the linkage assembly outputs rotational torque to the lower leg component. Alternatively, the drive mechanism includes a pneumatic tendon, the two ends of which are rotatably connected to the thigh component and the lower leg component, respectively. Alternatively, the drive mechanism includes a telescopic cylinder, the fixed part of which is rotatably connected to the thigh component, and the telescopic rod of which is rotatably connected to the lower leg component; Alternatively, the drive mechanism includes a drive gear and a drive motor, wherein the drive gear is rotatably disposed on the thigh member and is used to engage with the lower leg member to rotate relative to the thigh member under the drive of the drive motor.

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