An elastically deployable wheel-legged mobile robot

Abstract

The application discloses a wheel-leg type mobile robot capable of being elastically unfolded, and belongs to the field of mobile robots. The wheel-leg type mobile robot comprises a robot body, two elastically unfolded wheel-leg structures and a transmission structure. The elastically unfolded wheel-leg structure comprises a special-shaped ratchet wheel, a retainer, a fixing frame and a plurality of groups of unfolded leg assemblies arranged in an annular array. The unfolded leg assembly comprises a circular arc leg, a first sliding pin shaft and a first fixed pin shaft. A plurality of guide grooves one are arranged on the retainer. The first sliding pin shaft is matched with a limiting clamping groove to enable the circular arc leg to be in a contracted state. The first sliding pin shaft is matched with a tooth groove to enable the circular arc leg to be in an unfolded state. The wheel-leg type mobile robot can realize the switching of two movement modes of a wheel type mode and a leg type mode through the elastically unfolded wheel-leg structure and the transmission structure, so that the robot has the advantages of both the wheel type and the leg type. When the robot executes a task in a complex environment, the robot can select a suitable movement mode according to different terrains, has good adaptability, high flexibility and strong obstacle crossing capability.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to an elastically deployable wheel-legged mobile robot. Background Art

[0002] With the advancement of science and technology and the development of robotics, more and more mobile robots are beginning to replace humans and participate in various tasks in unstructured and complex environments. Traditional wheeled and legged mobile robots are only advantageous in certain terrain environments and are not suitable for complex and unknown environments.

[0003] In recent years, transformable wheel-legged mobile robots have attracted widespread attention from researchers both domestically and internationally. These robots, which can freely switch between wheeled and legged forms through their deformable structures, offer smooth motion on flat terrain in wheeled form and flexible mobility on rough terrain in legged form. Combining the advantages of traditional wheeled and legged robots, these robots hold broad application prospects in fields such as disaster relief, military reconnaissance, and planetary exploration.

[0004] To improve the obstacle-crossing performance and deformability of deformable wheel-legged mobile robots, experts and scholars at home and abroad have proposed numerous different designs for these structures. While these designs address diverse application scenarios and objectives, existing deformable wheel-legged structures still suffer from several limitations, such as limited obstacle-crossing capabilities, low diameter-change ratios, relatively complex structures, and difficult control strategies.

[0005] In order to improve the obstacle crossing performance and maneuverability of the deformable wheel-legged mobile robot when deployed in unstructured environments, it is necessary to design a configuration scheme for the deformable wheel-legged mobile robot based on its actual needs, so that the robot has good movement ability when performing tasks in complex and unknown environments, and the robot can be significantly improved in terms of stability, adaptability and obstacle crossing ability. Summary of the Invention

[0006] In order to overcome the defects of the prior art, the purpose of the present invention is to provide a flexible deployable wheel-legged mobile robot that has good mobility when working in complex terrain and has better stability, adaptability and obstacle crossing ability than traditional mobile robots.

[0007] To this end, the present invention proposes an elastically deployable wheel-leg mobile robot, comprising: a robot body, two elastically deployable wheel-leg structures and a transmission structure; the elastically deployable wheel-leg structure comprises a special-shaped ratchet, a retaining frame, a fixing frame and several groups of deployable leg assemblies distributed in a circular array; the output shaft of the transmission structure is connected to the fixing frame through a one-way bearing transmission, and the end of the output shaft is fixedly connected to the special-shaped ratchet; the retaining frame is fixedly connected to the fixing frame, and a plurality of guide grooves are provided on the retaining frame, and at the same time, the retaining frame is rotationally connected to the special-shaped ratchet.

[0008] The deploying leg assembly includes an arc leg, a first sliding pin, and a first fixed pin, and the middle part of the arc leg is also rotatably connected to the fixed frame through the first fixed pin; the inner end of the arc leg is slidably matched with the guide groove through the first sliding pin, wherein the special-shaped ratchet has a plurality of tooth grooves and a plurality of ratchet teeth, and a limiting slot is provided at the end of the ratchet teeth. The output shaft drives the special-shaped ratchet to rotate in the opposite direction relative to the retaining frame, and the first sliding pin cooperates with the limiting slot to put the arc leg in a retracted state, and the first sliding pin cooperates with the tooth groove to put the arc leg in an deployed state; the output shaft drives the fixed frame to rotate forward so that the elastically deployable wheel leg structure rotates as a whole and realizes the walking function.

[0009] Furthermore, the deploying leg assembly also includes an active link and a driven link; wherein, the movable end of the driven link is provided with a second guide groove, the middle part of the arc leg is rotatably connected to the fixed frame through the first fixed pin, and at the same time, the inner end of the arc leg is slidably connected to the second guide groove of the movable end of the driven link through the first sliding pin; and the third fixed pin at the fixed end of the driven link is rotatably connected to the retaining frame, and the middle part of the driven link is rotatably connected to the second fixed pin at the fixed end of the active link; the second sliding pin at the movable end of the active link is slidably connected to the guide groove 1, and at the same time, the second sliding pin cooperates with the limit slot or the tooth groove to put the arc leg in an deployed state or a retracted state.

[0010] Furthermore, the second sliding pin and the first sliding pin are respectively provided with a flange bearing and a second thrust bearing, the second fixed pin is also provided with a second thrust bearing, and the third fixed pin is provided with a third thrust bearing; at the same time, the special-shaped ratchet and the retaining frame are rotatably connected through the first thrust bearing.

[0011] Furthermore, a torsion spring is sleeved on the first fixed pin shaft, one end of the torsion spring is connected to the arc leg, and the other end of the torsion spring is connected to the fixing frame.

[0012] Furthermore, a plurality of limit blocks are provided on the side walls of the fixing frame, and the limit blocks are fixedly connected to the fixing frame.

[0013] Furthermore, a one-way bearing cover is provided on the outside of the one-way bearing, and the one-way bearing cover is fixedly connected to the fixing frame. At the same time, the one-way bearing cover is connected to the outer ring of the one-way bearing through a first flat key, and the inner ring of the one-way bearing is connected to the output shaft through a second flat key.

[0014] Furthermore, the end of the output shaft is a flat shaft, and the special-shaped ratchet has a D-shaped connecting hole that matches the flat shaft.

[0015] Furthermore, the deployable leg assemblies in the elastically deployable wheel-leg structure may be arranged into three groups, four groups, five groups or six groups.

[0016] Furthermore, the transmission structure includes two driving servos, two servo output gears, two transmission gears and two output shafts, the servo output gears are fixed to the output ends of the driving servos, the transmission gears are fixedly connected to the output shafts, and the driving servos and the output shafts are gear-transmitted.

[0017] Furthermore, the robot body includes a frame bottom plate, two frame side plates, four "L"-shaped connectors, a drive servo support plate and two shaft fixing frames, the frame side plates are connected to the output shaft through a second rolling bearing, and the output shaft is connected to the shaft fixing frame through a first rolling bearing; the frame side plates are symmetrically fixed to both sides of the front of the frame bottom plate through the "L"-shaped connectors, the drive servo support plate is fixed to the upper middle part of the frame bottom plate by screws, and the shaft fixing frames are symmetrically fixed to both sides of the front of the frame bottom plate by screws.

[0018] The elastically deployable wheel-legged mobile robot provided by the present invention utilizes an output shaft to drive a shaped ratchet wheel to rotate relative to a retaining frame, allowing the arc-shaped legs in the deployable leg assembly to switch between retracted and deployed states, with automatic transitions. Unidirectional transmission between the retaining frame and the output shaft enables the overall rotation of the elastically deployable wheel-leg structure and walking. Therefore, the elastically deployable wheel-leg structure and transmission structure enable the robot to switch between wheeled and legged motion modes, providing excellent mobility when operating in complex terrain, with excellent stability, strong adaptability, and high obstacle-crossing capabilities. The robot's walking and deformation can be achieved solely by controlling two drive servos, resulting in reduced mass, simpler control, and higher energy efficiency.

[0019] The new elastically deployable wheel-legged mobile robot in the present invention can switch between two movement modes, wheeled and legged, through an elastically deployable wheel-leg structure and a transmission structure, so that the robot has the advantages of both wheeled and legged forms. When performing tasks in complex environments, it can select the appropriate movement mode according to the different terrains. It has good adaptability, high flexibility, and strong obstacle-crossing ability.

[0020] In addition to the above described objects, features and advantages, the present application has other objects, features and advantages. These will become apparent from the following detailed description of the application, when considered in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated by reference herein. The embodiments depicted herein are provided by way of example only, and are not intended to limit the present application in any manner.

[0022] Figure 1 Structure schematic view of the wheeled form of the elastic deployable wheel-legged mobile robot of the present application;

[0023] Figure 2 Structure schematic view of the legged form of the elastic deployable wheel-legged mobile robot of the present application;

[0024] Figure 3 Side view of the legged form of the elastic deployable wheel-legged mobile robot of the present application;

[0025] Figure 4 、 Figure 5 、 Figure 6 Structure schematic view of the elastic deployable wheel-legged structure of the elastic deployable wheel-legged mobile robot of the present application;

[0026] Figure 7 Structure view of the transmission structure of the elastic deployable wheel-legged mobile robot of the present application;

[0027] Figure 8 Structure schematic view of the shafting of the elastic deployable wheel-legged mobile robot of the present application;

[0028] Figure 9 Structure view of the special-shaped ratchet of the elastic deployable wheel-legged mobile robot of the present application;

[0029] Figure 10 Structure schematic view of the elastic deployable wheel-legged structure of the elastic deployable wheel-legged mobile robot of another embodiment of the present application;

[0030] BRIEF DESCRIPTION OF DRAWINGS

[0031] 1. Robot body; 2. Elastically deployable wheel-leg structure; 3. Transmission structure; 4. Special-shaped ratchet; 5. Cage; 6. Active connecting rod; 7. Driven connecting rod; 8. Second sliding pin; 9. First sliding pin; 10. Third fixed pin; 11. Second fixed pin; 12. First fixed pin; 13. Arc leg; 14. Torsion spring; 15. Limit block; 16. Fixed frame; 17. Frame bottom plate; 18. Frame side plate; 19. Drive servo support plate; 20. "L"-shaped connecting rod Connector; 21. Shaft fixing bracket; 22. Driving servo; 23. Servo output gear; 24. Transmission gear; 25. Output shaft; 26. Flange bearing; 27. First thrust bearing; 28. Second thrust bearing; 29. ​​Third thrust bearing; 30. Bearing cover; 31. One-way bearing; 32. First flat key; 33. Second flat key; 34. First rolling bearing; 35. Second rolling bearing; 41. Limiting slot; 42. Tooth groove; 51. Guide groove one; 71. Guide groove two. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] like Figures 1 to 3 As shown, the elastically deployable wheel-leg mobile robot of the present invention includes: a robot body 1, two elastically deployable wheel-leg structures 2 and a transmission structure 3; there are two elastically deployable wheel-leg structures 2, which are symmetrically arranged on both sides of the middle of the robot body 1; one end of the transmission structure 3 is connected to the robot body 1, and the other end of the transmission structure 3 is connected to the elastically deployable wheel-leg structure 2.

[0034] like Figure 1 、 Figure 4 、 Figure 5 、 Figure 6 As shown, the elastically deployable wheel leg structure 2 includes a shaped ratchet 4, a retainer 5, a fixing frame 16, and several sets of deployable leg assemblies, at least three of which are arranged in a circular array between the retainer 5 and the fixing frame 16. The output shaft 25 of the transmission structure 3 is in transmission connection with the fixing frame 16 via a one-way bearing 31, and the distal end of the output shaft 25 is fixedly connected to the shaped ratchet 4; the retainer 5 is fixedly connected to the fixing frame 16, and is also rotationally connected to the shaped ratchet 4.

[0035] Several groups of unfolding leg assemblies are located between the retaining frame 5 and the fixing frame 16, and each group of unfolding leg assemblies includes an active connecting rod 6, a driven connecting rod 7, an arc leg 13, a second sliding pin 8, a first sliding pin 9, a third fixed pin 10, a second fixed pin 11 and a first fixed pin 12.

[0036] like Figure 4 As shown, the retainer 5 is provided with a plurality of radially extending guide grooves 51, which are distributed in a ring array. The movable end of the driven connecting rod 7 is provided with a guide groove 2 71, and the movable end of the active connecting rod 6 is slidably connected to the guide groove 1 51 on the retainer 5 via the second sliding pin 8. The fixed end of the active connecting rod 6 is rotationally connected to the middle part of the driven connecting rod 7 via the second fixed pin 11; the fixed end of the driven connecting rod 7 is rotationally connected to the retainer 5 via the third fixed pin 10, and the inner end of the arc leg 13 is slidably connected to the guide groove 2 71 of the movable end of the driven connecting rod 7 via the first sliding pin 9; at the same time, the middle part of the arc leg 13 is also rotationally connected to the fixing frame 16 via the first fixed pin 12;

[0037] like Figure 9 As shown, the special-shaped ratchet 4 is located outside the retaining frame 5, and the special-shaped ratchet 4 has a plurality of tooth grooves 42 and a plurality of ratchet teeth, and a limit slot 41 is provided at the end of the ratchet teeth. The special-shaped ratchet 4 rotates counterclockwise relative to the retaining frame 5, pushing the second sliding pin 8 to cooperate with the limit slot 41 or the tooth groove 42, so that the unfolding leg assembly is in an unfolded state or a retracted state.

[0038] In addition, a torsion spring 14 is sleeved on the first fixed pin 12 , one end of the torsion spring 14 is connected to the arc leg 13 , and the other end of the torsion spring 14 is connected to the fixing frame 16 . The torsion spring 14 forces the first fixed pin 12 to automatically expand outward.

[0039] like Figure 4 As shown, a plurality of limit blocks 15 are provided on the side wall of the fixing frame 16 , and the limit blocks 15 are fixedly connected to the fixing frame 16 , and the fixing frame 16 limits the maximum expansion angle of the arc legs 13 .

[0040] like Figure 5 As shown, one end of the active connecting rod 6 is connected to the second sliding pin 8, the flange bearing 26 and the second thrust bearing 28, and moves radially under the restriction of the guide groove 1 of the retaining frame 5. The other end of the active connecting rod 6 is rotationally connected to the middle part of the driven connecting rod 7 through the second fixed pin 11 and the second thrust bearing 28. The fixed end of the driven connecting rod 7 is rotationally connected to the retaining frame 5 through the third fixed pin 10 and the third thrust bearing 29, and is allowed to swing within a certain range. The movable end of the driven connecting rod 7 is slidingly connected to the inner end of the arc leg 13 through the first sliding pin 9, the flange bearing 26 and the second thrust bearing 28.

[0041] like Figure 6 、 Figure 8As shown, the fixing frame 16 is fixedly connected to the one-way bearing cover 30, and a one-way bearing 31 is installed inside the one-way bearing cover 30. The one-way bearing cover 30 is fixedly connected to the outer ring of the one-way bearing 31 through a first flat key 32; the inner ring of the one-way bearing 31 is fixedly connected to the output shaft 25 of the transmission structure 3 through a second flat key 33; the retaining frame 5 and the fixing frame 16 are fixedly connected by a plurality of screws.

[0042] The special-shaped ratchet 4 is rotatably connected to the retaining frame 5 through the first thrust bearing 27, and the two can rotate freely; and the special-shaped ratchet 4 is fixedly connected to the end of the output shaft 25, the end of the output shaft 25 is a flat shaft, and the special-shaped ratchet 4 has a D-shaped connecting hole that cooperates with the flat shaft.

[0043] When the special-shaped ratchet 4 rotates in the opposite direction relative to the retaining frame 5, the ratchet teeth of the special-shaped ratchet 4 push the second sliding pin 8 to move radially outward, and the second sliding pin 8 slowly disengages from the tooth groove 42 and enters the limiting groove 41 at the end of the ratchet teeth and is stuck therein; at the same time, the active connecting rod 6, the driven connecting rod 7, and the arc leg 13 rotate with the movement of the second sliding pin 8, and the arc leg 13 retracts inward to the inside of the fixing frame 16. The second sliding pin 8 is stuck in the limiting groove 41, so that the arc leg 13 remains in a retracted state and does not unfold, and the robot enters the wheeled motion mode.

[0044] When the special-shaped ratchet 4 continues to rotate in the opposite direction relative to the retaining frame 5, the ratchet teeth of the special-shaped ratchet 4 push the second sliding pin 8 to move radially outward, and the second sliding pin 8 slowly disengages from the limiting slot 41 at the end of the ratchet teeth, and then moves radially inward into the tooth groove 42. The arc leg 13 automatically unfolds under the action of the torsion spring 14, and the active connecting rod 6 and the driven connecting rod 7 follow the movement of the arc leg 13, and the second sliding pin 8 is stuck in the tooth groove 42, so that the position of the arc leg 13 remains relatively stable. At the same time, the limit block 15 also keeps the position of the arc leg 13 relatively stable.

[0045] Specifically, if Figure 2 As shown, the robot body 1 includes a frame base plate 17, two frame side plates 18, a drive servo support plate 19, four "L"-shaped connectors 20 and two shaft fixing frames 21, and the frame base plate 17, the frame side plates 18, the drive servo support plate 19 and the "L"-shaped connector 20 are fixedly connected by a number of screws.

[0046] Specifically, the frame side panels 18 are symmetrically fixed on both sides of the front of the frame bottom plate 17 through "L"-shaped connectors 20. The frame side panels 18 are connected to the output shaft 25 through a second rolling bearing 35, allowing the output shaft 25 to rotate freely. The driving servo support plate 19 is fixed to the upper middle part of the frame bottom plate 17 by screws, and the shaft fixing frame 21 is symmetrically fixed to both sides of the front of the frame bottom plate 17 by screws.

[0047] Specifically, if Figure 2 、 Figure 7 、 Figure 8 As shown, the transmission structure 3 includes two driving servos 22, two servo output gears 23, two transmission gears 24, and two output shafts 25. The servo output gears 23 are fixed to the output ends of the driving servos 22, the transmission gears 24 are fixedly connected to the output shafts 25, and the driving servos 22 are connected to the output shafts 25 via the two gears. One end of the output shaft 25 is connected to the shaft fixing frame 21 via a first rolling bearing 34, allowing the output shaft 25 to rotate freely.

[0048] The driving servo 22 rotates forward to drive the elastically deployable wheel-leg structure 2 to rotate as a whole, so that the robot can walk. The reverse rotation only drives the special-shaped ratchet 4 to rotate, thereby driving the arc leg 13 to achieve the expansion and closing action.

[0049] In one embodiment, the deployable leg assemblies in the elastically deployable wheel-leg structure 2 can be arranged not only into three groups, but also into four groups, five groups or six groups. The more deployable leg assemblies there are, the smaller the ups and downs of the robot in the leg-type motion mode, and the higher the stability.

[0050] In another embodiment, Figure 10 As shown, the unfolding leg assembly does not include the active connecting rod 6 and the driven connecting rod 7. The middle part of the arc leg 13 is also rotatably connected to the fixed frame 16 through the first fixed pin 12; the inner end of the arc leg 13 directly slides with the guide groove 51 through the first sliding pin 9, and the first sliding pin 9 cooperates with the limit slot 41 to put the unfolding leg assembly in a retracted state; the first sliding pin 9 cooperates with the tooth groove 42 to put the unfolding leg assembly in an unfolded state.

[0051] When the special-shaped ratchet 4 rotates in the opposite direction relative to the retaining frame 5, the ratchet teeth of the special-shaped ratchet 4 push the first sliding pin 9 to move radially outward, and the first sliding pin 9 slowly disengages from the tooth groove 42 and enters into the limiting groove 41 at the end of the ratchet teeth and is stuck therein; at the same time, the arc leg 13 rotates with the movement of the first sliding pin 9, and the arc leg 13 retracts inward to the inside of the fixing frame 16, and the first sliding pin 9 is stuck in the limiting groove 41 so that the arc leg 13 remains in a retracted state and does not unfold.

[0052] When the special-shaped ratchet 4 continues to rotate in the opposite direction relative to the retaining frame 5, the ratchet teeth of the special-shaped ratchet 4 push the first sliding pin 9 to move radially outward, and the first sliding pin 9 slowly disengages from the limiting slot 41 at the end of the ratchet teeth, and then moves radially inward into the tooth groove 42. The arc leg 13 automatically unfolds under the action of the torsion spring 14, and the first sliding pin 9 is stuck in the tooth groove 42, so that the position of the arc leg 13 remains relatively stable. At the same time, the limit block 15 also keeps the position of the arc leg 13 relatively stable.

[0053] The principle and working process of the elastically deployable wheel-legged mobile robot of the present invention are briefly described below with reference to the accompanying drawings.

[0054] In the wheel motion mode, the servo 22 is driven to rotate in the opposite direction at a small angle, the fixed frame 16 and the retaining frame 5 remain in a non-rotating state, and the special-shaped ratchet 4 rotates in the opposite direction as the output shaft 25 rotates; the special-shaped ratchet 4 rotates in the opposite direction relative to the retaining frame 5, and the ratchet teeth of the special-shaped ratchet 4 push the second sliding pin 8 to move radially outward, and the second sliding pin 8 slowly disengages from the tooth groove 42 and enters into the limiting groove 41 at the end of the ratchet teeth and is stuck by it; at the same time, the active connecting rod 6, the driven connecting rod 7, and the arc leg 13 rotate with the movement of the second sliding pin 8, and the arc leg 13 retracts inward to the inside of the fixed frame 16, and the second sliding pin 8 is stuck in the limiting groove 41 so that the arc leg 13 remains in a retracted state and does not unfold.

[0055] Finally, driven by the one-way bearing 31, the steering gear 22 is driven to rotate forward, and the fixed frame 16 rotates with the output shaft 25. At this time, the arc legs 13 are in a contracted state, and the circumferential surface of the fixed frame 16 contacts the ground, realizing the wheeled motion mode.

[0056] In the leg-type motion mode, the servo 22 is driven to rotate in the opposite direction at a small angle, the fixing frame 16 and the retaining frame 5 remain in a non-rotating state, and the special-shaped ratchet 4 rotates in the opposite direction as the output shaft 25 rotates; the special-shaped ratchet 4 rotates in the opposite direction relative to the retaining frame 5, and the ratchet teeth of the special-shaped ratchet 4 push the second sliding pin 8 to move radially outward, and the second sliding pin 8 slowly disengages from the limiting slot 41 at the end of the ratchet teeth, and then moves radially inward into the tooth groove 42. The active connecting rod 6, the driven connecting rod 7, and the arc leg 13 connected to the second sliding pin 8 have a certain movable space. The arc leg 13 automatically unfolds under the action of the torsion spring 14, and the active connecting rod 6 and the driven connecting rod 7 follow the arc leg 13 to move, and the second sliding pin 8 is stuck at the root of the tooth groove 42, so that the position of the arc leg 13 remains relatively stable. At the same time, the limit block 15 also keeps the position of the arc leg 13 relatively stable.

[0057] Finally, driven by the one-way bearing 31, the servo 22 is driven to rotate forward, and the fixed frame 16 and the arc leg 13 rotate with the output shaft 25, so that the entire elastically expandable wheel-leg structure 2 is forward. At this time, the end of the arc leg 13 contacts the ground, realizing the leg-type movement mode.

[0058] The new elastically deployable wheel-legged mobile robot in the present invention can switch between two movement modes, wheeled and legged, through an elastically deployable wheel-leg structure and a transmission structure, so that the robot has the advantages of both wheeled and legged forms. When performing tasks in complex environments, it can select the appropriate movement mode according to the different terrains. It has good adaptability, high flexibility, and strong obstacle-crossing ability.

[0059] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A flexible deployable wheel-legged mobile robot, characterized in that: include: A robot body (1), two elastically deployable wheel-leg structures (2), and a transmission structure (3); The elastically deployable wheel leg structure (2) comprises a special-shaped ratchet (4), a retaining frame (5), a fixing frame (16), and a plurality of groups of deployable leg assemblies distributed in a circular array; The output shaft (25) of the transmission structure (3) is connected to the fixed frame (16) through a one-way bearing (31), and the end of the output shaft (25) is fixedly connected to the special-shaped ratchet (4); the retaining frame (5) is fixedly connected to the fixed frame (16), and the retaining frame (5) is provided with a plurality of guide grooves (51), and the retaining frame (5) is rotatably connected to the special-shaped ratchet (4); The unfolding leg assembly includes an arc leg (13), a first sliding pin (9), and a first fixed pin (12). The middle portion of the arc leg (13) is rotatably connected to the fixed frame (16) via the first fixed pin (12); the inner end of the arc leg (13) is slidably engaged with the guide groove (51) via the first sliding pin (9). The special-shaped ratchet (4) has a plurality of tooth grooves (42) and a plurality of ratchet teeth, and a limiting slot (41) is provided at the end of the ratchet teeth. The output shaft (25) drives the special-shaped ratchet (4) to rotate in the opposite direction relative to the retaining frame (5). The first sliding pin (9) cooperates with the limiting slot (41) to put the arc leg (13) in a retracted state. The first sliding pin (9) cooperates with the tooth groove (42) to put the arc leg (13) in an expanded state. The output shaft (25) drives the fixing frame (16) to rotate in the forward direction so that the elastically expandable wheel leg structure (2) rotates as a whole and realizes the walking function.

2. The elastically deployable wheel-legged mobile robot according to claim 1, characterized in that: The unfolding leg assembly further comprises an active connecting rod (6) and a driven connecting rod (7); The movable end of the driven connecting rod (7) is provided with a second guide groove (71), the middle portion of the arc leg (13) is rotatably connected to the fixed frame (16) via the first fixed pin (12), and the inner end of the arc leg (13) is slidably connected to the second guide groove (71) of the movable end of the driven connecting rod (7) via the first sliding pin (9); The third fixed pin (10) at the fixed end of the driven link (7) is rotatably connected to the retaining frame (5), and the middle part of the driven link (7) is rotatably connected to the second fixed pin (11) at the fixed end of the active link (6); the second sliding pin (8) at the movable end of the active link (6) is slidably connected to the guide groove (51), and at the same time, the second sliding pin (8) cooperates with the limiting slot (41) or the tooth groove (42) to put the arc leg (13) in an expanded state or a contracted state.

3. The elastically deployable wheel-legged mobile robot according to claim 2, characterized in that: The second sliding pin (8) and the first sliding pin (9) are respectively provided with a flange bearing (26) and a second thrust bearing (28), the second fixed pin (11) is also provided with a second thrust bearing (28), and the third fixed pin (10) is provided with a third thrust bearing (29); at the same time, the special-shaped ratchet (4) and the retaining frame (5) are rotatably connected through the first thrust bearing (27).

4. The elastically deployable wheel-legged mobile robot according to claim 1 or 2, characterized in that: A torsion spring (14) is sleeved on the first fixed pin shaft (12), one end of the torsion spring (14) is connected to the arc leg (13), and the other end of the torsion spring (14) is connected to the fixing frame (16).

5. The elastically deployable wheel-legged mobile robot according to claim 1 or 2, characterized in that: A plurality of limiting blocks (15) are provided on the side walls of the fixing frame (16), and the limiting blocks (15) are fixedly connected to the fixing frame (16).

6. The elastically deployable wheel-legged mobile robot according to claim 1 or 2, characterized in that: A one-way bearing cover (30) is provided on the outside of the one-way bearing (31), and the one-way bearing cover (30) is fixedly connected to the fixing frame (16). At the same time, the one-way bearing cover (30) is connected to the outer ring of the one-way bearing (31) through a first flat key (32), and the inner ring of the one-way bearing (31) is connected to the output shaft (25) through a second flat key (33).

7. The elastically deployable wheel-legged mobile robot according to claim 1 or 2, characterized in that: The end of the output shaft (25) is a flat shaft, and the special-shaped ratchet (4) has a D-shaped connecting hole that matches the flat shaft.

8. The elastically deployable wheel-legged mobile robot according to claim 1 or 2, characterized in that: The deployable leg components in the elastically deployable wheel-leg structure (2) can be arranged into three groups, four groups, five groups or six groups.

9. The elastically deployable wheel-legged mobile robot according to claim 1 or 2, characterized in that: The transmission structure (3) comprises two driving servos (22), two servo output gears (23), two transmission gears (24) and two output shafts (25); the servo output gears (23) are fixed to the output ends of the driving servos (22); the transmission gears (24) are fixedly connected to the output shafts (25); and the driving servos (22) and the output shafts (25) are gear-driven.

10. The elastically deployable wheel-legged mobile robot according to claim 9, characterized in that: The robot body (1) comprises a frame bottom plate (17), two frame side plates (18), four "L"-shaped connectors (20), a driving steering gear support plate (19) and two shaft fixing frames (21), wherein the frame side plates (18) are connected to the output shaft (25) via a second rolling bearing (35), and the output shaft (25) is connected to the shaft fixing frame (21) via a first rolling bearing (34).

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