A deformable composable wheel-legged robot and method thereof

Abstract

The application provides a deformable and combinable wheel-leg robot and a method thereof, and belongs to the technical field of robots and automatic control. The robot comprises a head electric control box, a rotating chassis at the bottom of the head electric control box, and a pair of walking assemblies installed on the left and right sides of the rotating chassis. The walking assemblies can be switched between left and right distribution and front and back distribution during movement in the forward direction, and the wheels at the end of the walking assemblies always face the forward direction during the switching process. The walking assembly comprises a shoulder joint, a leg assembly and a wheel. The front end of the shoulder joint is installed on the bottom surface of the rotating chassis through a shoulder joint rotating motor, the rear end of the shoulder joint is connected with the front end of the leg assembly through a hip joint rotating motor, and the rear end of the leg assembly is connected with the wheel through a wheel motor. The cooperation between the shoulder joint rotating motor and the wheel motor can realize the transformation of the robot from a wheel-leg type to a balanced bicycle type, and the combination and deformation of the double-wheel-leg robot in a "back-to-back" mode.

Description

Technical Field

[0001] This invention relates to the field of robotics and automatic control technology, and in particular to a deformable and combinable wheeled-legged robot. Technical Background

[0002] Among various types of ground mobile robots, wheeled-legged robots have attracted widespread attention due to their unique locomotion patterns. Compared to other wheeled robots, wheeled-legged robots can perform more complex maneuvers while maintaining balance and stability. However, wheeled-legged robots suffer from drawbacks such as slow movement and low load capacity during smooth motion.

[0003] Most existing wheeled robots are almost unable to operate in complex terrain. While wheeled-legged robots can solve the problems in these application scenarios, their ability to move quickly and with low load capacity is greatly limited in their working environment. Summary of the Invention

[0004] The purpose of this invention is to provide a deformable and combinable wheeled-legged robot to solve the problems existing in the prior art, so that the wheeled-legged robot has faster mobility and higher load-bearing capacity.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A deformable and combinable wheeled-legged robot includes a head control box, a rotating chassis located at the bottom of the head control box, and a pair of walking components installed on the left and right sides of the rotating chassis. The pair of walking components can switch between left-right and front-back distribution while moving in the forward direction, and the wheels at the end of the walking components always face the forward direction during the switching process.

[0007] The walking assembly includes a shoulder joint, a leg assembly, and wheels. The front end of the shoulder joint is mounted on the bottom surface of the rotating chassis via a shoulder joint rotary motor, the rear end of the shoulder joint is connected to the front end of the leg assembly via a hip joint rotary motor, and the rear end of the leg assembly is connected to the wheels via a wheel motor.

[0008] Furthermore, the leg assembly includes an upper leg, a lower leg, and a knee joint rotation motor connecting the rear end of the upper leg and the front end of the lower leg. The front end of the upper leg is connected to the rear end of the shoulder joint via a hip joint rotation motor, and the rear end of the lower leg is connected to a wheel via a wheel motor.

[0009] Furthermore, the rotating shaft of the shoulder joint rotary motor is vertically downward, and the front end of the shoulder joint is installed in conjunction with the rotating shaft of the shoulder joint rotary motor, so that the shoulder joint can rotate on the horizontal plane under the drive of the shoulder joint rotary motor; the rotating shafts of the hip joint rotary motor, knee joint rotary motor and wheel motor are horizontal and parallel to each other, respectively driving the upper leg, lower leg and wheel to swing back and forth to adjust the angle.

[0010] Furthermore, the rear end of the shoulder joint, the rear end of the upper leg, and the rear end of the lower leg all adopt a connecting fork structure, and the front end of the upper leg, the front end of the lower leg, and the wheel are respectively placed in the fork body of the shoulder joint, the upper leg, and the lower leg. The hip joint rotary motor, the knee joint rotary motor, and the wheel motor are respectively installed inside the front end of the upper leg, the front end of the lower leg, and the wheel.

[0011] Furthermore, the front end of the upper leg, the front end of the lower leg, and the wheel are provided with a shell containing a cylindrical cavity. One side of the shell has mounting holes and heat dissipation holes, while the other side is open. A corresponding motor is installed inside the shell. The rotating shaft of the motor is fixed to the inner side of one side of the shell, and the outer side of one side of the shell is connected to the open side of the fork body through a flange bearing. The fixed end of the motor is fixed to the unopened side of the fork body through a gasket structure. The shell can swing back and forth under the drive of the motor to adjust the angle.

[0012] Furthermore, the outer circumference of the wheel is covered with a wheel coating.

[0013] Furthermore, the rotating chassis is mounted on the bottom of the head electrical control box via a conductive slip ring, and the conductive slip ring is reinforced by a heightening fixing component.

[0014] Furthermore, the head control box is a box structure with an open top. The box contains an onboard computer and a power supply device. The onboard computer receives data from the robot's inertial sensors, and the two onboard computers can communicate with each other. A slot is opened on the upper side of the rear panel of the box, and a camera is installed in the slot. The rear panel of the box is equipped with a connecting component, which allows a pair of robots to be combined back to back.

[0015] Furthermore, the connecting component includes a first connecting component consisting of a buckle and a slot, and a second connecting component consisting of a convex ball notch and a concave ball notch. When a pair of robots are back to back, the positions of the buckle and the slot correspond one-to-one, and the positions of the convex ball notch and the concave ball notch correspond one-to-one.

[0016] The above-mentioned methods for deforming and assembling deformable and combinable wheeled-legged robots include:

[0017] In low-speed, complex scenarios, the robot moves forward using a wheel-leg mode. A pair of walking components are located on the left and right sides below the head control box. The leg length is adjusted by rotating the hip joint rotary motor and the knee joint rotary motor to achieve active suspension to maintain balanced movement. The shoulder joint rotary motor remains locked. When the robot leans forward, the wheel motor accelerates forward, and when the robot leans backward, the wheel motor accelerates backward.

[0018] In high-speed, simple scenarios, the robot moves forward using a self-balancing vehicle mode. The switching process is as follows: During movement, the hip and knee joint rotary motors rotate to adjust the leg length to its maximum. Once the walking components are in an upright position, the rotation positions of the hip and knee joint rotary motors are locked, and the two wheel motors rotate at different speeds. At the same time, the left and right shoulder joint rotary motors rotate in coordination, gradually adjusting the pair of walking components from a left-right distribution to a front-back distribution. Throughout the adjustment process, the pair of wheels always rotate in the forward direction. After completing the front-back distribution adjustment, the robot continues to adjust the leg length by rotating the hip and knee joint rotary motors to lower the robot's center of gravity, ultimately achieving rapid maneuverability in a self-balancing bicycle mode.

[0019] When dealing with high-load tasks in various scenarios, the two robots move in the same direction in a "back-to-back" manner. The main robot running in front issues the combination command and runs smoothly, while the auxiliary robot running behind steadily approaches the main robot through the camera and adjusts its posture so that its own connection components are synchronously docked with the connection components of the main robot, realizing back-to-back combination and increasing the longitudinal load-bearing capacity.

[0020] The present invention discloses the following technical effects:

[0021] (1) The present invention can realize the switching between wheeled and legged robot and balance bicycle, and organically combines the mobility of wheeled and legged robot in complex indoor terrain with the speed and low energy consumption of balance bicycle.

[0022] (2) The present invention achieves balance control during the process of the robot changing from a wheel-legged form to a balanced bicycle form by coordinating the movement of the robot's two shoulder joint rotary motors and two wheel motors.

[0023] (3) The present invention can realize the combination and transformation of the two-wheeled leg robot in a "back-to-back" manner through the connecting component structure behind the robot, thereby realizing the form of the four-legged wheeled robot and effectively improving the robot's load capacity. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of the robot of the present invention;

[0026] Figure 2 This is a side view of the robot of the present invention;

[0027] Figure 3 This is a front view of the robot of the present invention;

[0028] Figure 4 This is an exploded view of the robot hip joint assembly of the present invention;

[0029] Figure 5 This is a rear view of the robot's head according to the present invention;

[0030] Figure 6 This is a top view of the robot's head according to the present invention;

[0031] Figure 7 This is a cross-sectional view of the robot's head according to the present invention;

[0032] Figure 8 This is an exploded view of the robot's head according to the present invention;

[0033] Figure 9 This is a diagram illustrating the deformation process of the robot of the present invention;

[0034] Figure 10 This is a diagram illustrating the robot assembly process of the present invention;

[0035] The components include: 1. Rotating chassis; 2. Wheels; 3. Wheel motor; 4. Motor gasket; 5. Leg assembly; 6. Rubber-coated wheels; 7. Knee joint rotary motor; 8. Second motor reinforcing gasket; 9. Hip joint filling gasket; 10. Shoulder joint rotary motor; 11. Shoulder joint; 12. Head control box; 13. Flange bearing; 14. Plug screw; 15. Gasket; 16. M4 bolt; 17. Walking assembly; 18. Raised ball notch; 19. Concave ball notch; 20. Camera; 21. Slot; 22. Buckle; 23. First motor reinforcing gasket; 24. Head; 25. Conductive slip ring; 26. Height-increasing fastener; 27. Hip joint rotary motor. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Reference Figure 1-3 As shown, the present invention provides a deformable and combinable wheeled-legged robot, including a rotating chassis 1, a head 24, and a walking component 17. The head 24 is installed directly above the rotating chassis 1, and the walking component 17 is installed on the lower part of the rotating chassis 1. Preferably, there is one walking component 17 on each side. It can be seen that the robot is composed of a head 24, two walking components 17 on the left and right sides, and a rotating chassis 1 connected in the middle.

[0038] Reference Figure 2 As shown, the walking assembly 17 includes a shoulder joint rotation motor 10, a shoulder joint 11, a leg assembly 5, wheels 2, a hip joint rotation motor 27, a knee joint rotation motor 7, and wheel motors 3. The leg assembly 5 consists of an upper leg and a lower leg.

[0039] Two of the walking components 17 are respectively mounted on the bottom surface of the rotating chassis 1 through the first motor reinforcing pad 23, and are symmetrically mounted on the left and right sides of the chassis. The fixed end of the shoulder joint rotation motor 10 is installed below the first motor reinforcing pad 23. The rotation axis of the shoulder joint rotation motor 10 is vertically downward. The front end of the shoulder joint 11 is fitted with the rotation axis of the shoulder joint rotation motor 10, and the shoulder joint can rotate on the horizontal plane under the drive of the shoulder joint rotation motor 10. The rear end of the shoulder joint is connected to the front end of the upper leg through the hip joint rotation motor 27. The rotation axis of the hip joint rotation motor 27 is horizontal, and the upper leg can swing back and forth to adjust the angle under the drive of the hip joint rotation motor 27. The rear end of the upper leg is connected to the front end of the lower leg through the knee joint rotation motor 7. The rotation axis of the knee joint rotation motor 7 is horizontal and parallel to the rotation axis of the hip joint rotation motor 27, and the lower leg can swing back and forth to adjust the angle under the drive of the knee joint rotation motor 7. The rear end of the lower leg is connected to the wheel 2 through the wheel motor 3. The wheel 2 can rotate under the drive of the wheel motor 3. The rotation axis of the wheel motor 3 is horizontal and parallel to the rotation axes of the hip joint rotation motor 27 and the knee joint rotation motor 7. Wheel 2 has a wheel-coated rubber 6 covering its outer circumference.

[0040] In one specific embodiment of the present invention, such as Figure 4As shown, the upper leg has a housing at its front end, with a cylindrical chamber inside. One side of the housing has mounting holes (threaded holes) and heat dissipation holes, while the other side is open. A cylindrical hip joint rotation motor 27 is installed inside the housing at the front end of the upper leg. The rotation shaft of the hip joint rotation motor 27 is connected to one side of the housing at the front end of the upper leg. Specifically, both the rotation shaft of the hip joint rotation motor 27 and one side of the housing at the front end of the upper leg have threaded structures, and the two are connected by threads, preferably by M4 bolts 16. The rear end of the shoulder joint 11 is connected to the fixed end of the hip joint rotation motor 27 through a second motor reinforcing washer 8. Specifically, the fixed end of the hip joint rotation motor 27, the second motor reinforcing washer 8, and the rear end of the shoulder joint 11 all have threaded structures, and the three are connected by threads. To improve the fixation effect of the upper leg, the rear end of the shoulder joint 11 adopts a connecting fork structure. Both sides of the connecting fork have threaded holes, and one side has a central hole for installing bearings and plug screws. The threaded hole on this side only serves a heat dissipation function. The front end shell of the upper leg is placed inside the shoulder joint fork. A flange bearing 13 is embedded in the center of one side of the front end shell of the upper leg. The shoulder joint fork is connected to one side through the flange bearing 13 and fixed with a plug screw 14. A 4mm diameter through hole is also opened in the center of one side of the shoulder joint fork for heat dissipation. The other side of the shoulder joint fork is fixed to the second motor reinforcing pad 8 with an M4 bolt 16.

[0041] Similarly, the installation of the lower leg is similar to that of the upper leg. The rear end of the upper leg adopts the same structure as the shoulder, namely the connecting fork structure. The structure of the lower leg is the same as that of the upper leg. The front end shell of the lower leg is placed in the fork body of the rear end of the upper leg. The front end shell of the lower leg is embedded with a flange bearing, which is connected to one side of the rear end fork body of the upper leg through the flange bearing and fixed with a plug screw 14. The other side of the rear end fork body of the upper leg is fixed to the second motor reinforcing washer with an M4 bolt 16.

[0042] The installation of the wheels is similar to that of the upper leg. The rear end of the lower leg adopts the same structure as the shoulder, namely the connecting fork structure. The wheel structure is similar to the front shell structure of the upper leg. The wheel motor 3 is placed inside the wheel 2. The rotation shaft of the wheel motor 3 is connected to one side of the wheel through a motor washer. One side of the wheel has an embedded flange bearing, which is connected to one side of the rear fork of the lower leg through the flange bearing and fixed with a plug screw 14. The fixed end of the wheel motor 3 is connected to the other side of the rear fork of the lower leg through a motor washer and fixed with an M4 bolt 16.

[0043] In this embodiment, since the hip joint rotation motor 27 is relatively thin, a 4mm thick hip joint padding shim 9 is used to compensate for the thickness. The rotation shaft of the hip joint rotation motor 27 is connected to one side of the upper leg front end shell through the hip joint padding shim 9. Specifically, the hip joint padding shim 9, the rotation shaft of the hip joint rotation motor 27, and one side of the upper leg front end shell are all provided with threaded structures, and the three are connected by threads, preferably fixed by M4 bolts 16. The hip joint rotation motor 27 cooperates with the upper leg front end through the hip joint padding shim 9, so that the upper leg front end is precisely clamped and installed by the shoulder joint 11.

[0044] Reference Figure 5-8 As shown, the head 24 includes a head control box 12, a camera 20, a conductive slip ring 25, a heightening fixing component 26, two convex ball notches 18, two concave ball notches 19, three buckles 22, and three slots 21. The conductive slip ring 25 is located between the rotating chassis 1 and the head control box 12. The rotation axis of the conductive slip ring 25 is connected to the rotating chassis 1, and the fixed end of the conductive slip ring 25 is fixed to the bottom of the head control box 12. Specifically, a hole is drilled in the bottom of the head control box 12, and the conductive slip ring 25 is fixed at the drilled hole by the heightening fixing component 26. The head control box 12 contains an onboard computer, a 24V battery, an inertial sensor, a lower-level control board, etc. The 24V battery is used to power the various power-requiring components of the robot. The inertial sensor is used to measure the robot's own posture. The lower-level control board is used to control the operation of each motor. The inertial sensor, the lower-level control board, etc., are connected to the onboard computer, which can calculate control signals and realize communication between the two robots.

[0045] like Figure 8 As shown, in a specific embodiment of the present invention, the rotating chassis 1 has a central threaded hole structure for connecting the rotating shaft of the conductive slip ring 25. A pair of through holes are provided on both sides of the central threaded hole structure for leading the power and signal lines from the head control box 12 out through the through holes and connecting them to the respective motors in the pair of walking assemblies 17. The through hole design prevents rotational entanglement. The rotating shaft of the conductive slip ring 25 is fixedly engaged with the central threaded hole of the rotating chassis 1. The outer shell of the conductive slip ring 25 is embedded in the central opening of the lower base plate of the head control box 12 and fixedly engaged with the lower base plate of the head control box 12 by a heightening fixing member 26.

[0046] The head control box 12 has a slot on the upper rear side. The camera 20 is fixedly fitted into the slot on the upper rear side of the head control box 12. The head of the camera 20 does not extend beyond the slot on the upper rear side of the head control box 12. One convex ball notch 18 fits into the lower left and upper right sides of the rear of the head control box 12. One concave ball notch 19 fits into the upper left and lower right sides of the rear of the head control box 12. The convex ball notch 18 and the concave ball notch 19 are symmetrical about the rear center of the head control box 12. The buckle 22 fits into one side of the vertical central axis of the rear of the head control box 12. There is one buckle 22 on the top and bottom, and one on the side edge. The slot 21 has a slot on the other side of the vertical central axis of the rear of the head control box 12. The slot 21 and the buckle 22 are mirror symmetrical about the rear central axis of the head control box 12.

[0047] This invention enables seamless switching between a wheeled-legged robot and a balance bike while in motion, organically combining the mobility of a wheeled-legged robot in complex indoor terrain with the speed and low energy consumption of a balance bike. The robot's transition from wheeled-legged to balance bike mode is achieved through the coordinated movement of its two shoulder joint rotary motors 10 and two wheel motors 3. When high load requirements are needed, the robot utilizes the latches 22, slots 21, and concave and convex spherical notches 19 and 18 at the rear of the head control box 12 to achieve a "back-to-back" combination transformation. The two robots are jointly controlled via a local area network, effectively increasing the robot's load-bearing capacity by achieving a quadrupedal wheeled-legged robot mode.

[0048] Working process: When dealing with low-speed and complex scenarios, the robot adopts a wheel-leg mode for complex maneuvers. That is, the wheel motor 3 drives the wheel 2 to rotate to achieve the robot's self-balance control and movement. The pair of walking components 17 adjust the leg length according to the complex terrain by rotating the hip joint rotary motor 27 and the knee joint rotary motor 7 to achieve active suspension to maintain balance and movement. The shoulder joint rotary motor 10 remains locked during operation, so that the wheel-leg type left and right walking components 17 are stationary relative to the rotating chassis 1. When the robot leans forward, the wheel motor 3 accelerates the robot forward, and when the robot leans backward, the wheel motor 3 accelerates the robot backward.

[0049] Reference Figure 9As shown, when dealing with long-distance transportation tasks, the robot switches to a self-balancing vehicle mode for rapid maneuvering. During movement, the hip joint rotary motor 27 and knee joint rotary motor 7 of the walking component 17 rotate, causing the robot's legs to extend to their longest position. At this time, the robot's walking component 17 is completely upright. At the same time, the rotation positions of the hip joint rotary motor 27 and knee joint rotary motor 7 are locked. The left and right wheel motors 3 rotate at different speeds, and the left and right shoulder joint rotary motors 10 rotate in coordination, driving the two walking components 17 to open and close relative to the rotating chassis 1 for adjustment. The power line and signal line led out from the head control box 12 pass through the conductive slip ring 25 and are led out from the two through holes of the rotating chassis 1 to connect with the two walking components 17, preventing rotational entanglement. Thus, the robot adjusts to a self-balancing bicycle form during movement, changing the pair of walking components 17 from a left-right distribution to a front-back distribution. During the entire adjustment process, the pair of wheels always rotate in the forward direction, enabling posture adjustment during movement. When the front and rear wheel motors 3 keep moving in the same direction, the robot adjusts the leg length by rotating the hip joint rotary motor 27 and the knee joint rotary motor 7, lowers the robot's center of gravity, and finally achieves rapid maneuvering in the form of a balanced bicycle.

[0050] Reference Figure 10 As shown, when dealing with high-load tasks, the two robots move in the same direction back-to-back. The robot running in front is called the main robot, and the one running behind is called the auxiliary robot. During the movement, the main robot uses its onboard computer to issue combined instructions and runs smoothly. It also continuously obtains its own attitude from the inertial sensor and updates its attitude information to the auxiliary robot. The auxiliary robot tracks the position of the convex ball notch 18 and concave ball notch 19 at the rear of the main robot's head control box 12 through the camera 20 fixed to the upper rear of the head control box 12. The auxiliary robot moves closer at a steady speed. During the approach, the auxiliary robot's onboard computer continuously receives attitude information from the main robot and compares its own attitude with that of the main robot using inertial sensors. The lower-level control board then controls the walking components to continuously adjust their own attitude to synchronize with the main robot. Finally, the two robots connect laterally via latches 22 and slots 21 at the rear of their head control boxes. The convex ball notch 18 and concave ball notch 19 engage to increase longitudinal load-bearing capacity, completing the transformation into a quadrupedal wheeled robot state, thus increasing load-bearing capacity. In the above steps, the rotation control sequence of the two walking components can be selected according to the actual obstacle conditions. Within a single walking component, the shoulder joint rotary motor, hip joint rotary motor, knee joint rotary motor, and wheel motor can also be moved arbitrarily according to the actual situation, not limited to the steps described above.

[0051] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0052] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A deformable and combinable wheeled-legged robot, characterized in that, It includes a head control box (12), a rotating chassis (1) mounted on the bottom of the head control box via a conductive slip ring (25), and a pair of walking components (17) mounted on the left and right sides of the rotating chassis (1). The pair of walking components (17) can switch between left and right distribution and front and back distribution during the forward movement, respectively realizing wheel leg mode and self-balancing vehicle mode. During the switching process, the wheels at the end of the walking components (17) always face the forward movement direction. The walking assembly includes a shoulder joint (11), a leg assembly (5), and a wheel (2). The front end of the shoulder joint (11) is mounted on the bottom surface of the rotating chassis (1) via a shoulder joint rotary motor (10). The rear end of the shoulder joint (11) is connected to the front end of the leg assembly (5) via a hip joint rotary motor (27). The rear end of the leg assembly (5) is connected to the wheel (2) via a wheel motor (3). The head control box (12) is a box structure with an open top. The rear panel of the box is equipped with a connecting component, and a pair of robots can be combined back to back through the connecting component. The connecting component includes a first connecting component composed of a buckle (22) and a slot (21) and a second connecting component composed of a convex ball notch (18) and a concave ball notch (19). When a pair of robots are back to back, the buckle and the slot are in one-to-one correspondence, and the convex ball notch and the concave ball notch are in one-to-one correspondence, increasing the longitudinal load-bearing capacity. The leg assembly includes an upper leg, a lower leg, and a knee joint rotary motor (7) connecting the rear end of the upper leg and the front end of the lower leg. The front end of the upper leg is connected to the rear end of the shoulder joint (11) via a hip joint rotary motor (27), and the rear end of the lower leg is connected to a wheel (2) via a wheel motor (3). The method for the robot to switch from wheel-leg mode to self-balancing vehicle mode is as follows: During the movement, the hip joint rotary motor (27) and knee joint rotary motor (7) rotate to adjust the leg length to the maximum. When the walking component (17) is in an upright state, the rotation position of the hip joint rotary motor (27) and knee joint rotary motor (7) is locked. The two wheel motors (3) rotate at different speeds, and at the same time, the left and right shoulder joint rotary motors (10) rotate in coordination to gradually adjust the pair of walking components from left-right distribution to front-back distribution. During the entire adjustment process, the pair of wheels always rotate in the forward direction. After the front-back distribution adjustment is completed, the leg length is adjusted by rotating the hip joint rotary motor (27) and knee joint rotary motor (7) to lower the robot's center of gravity and finally achieve rapid maneuvering in the form of a self-balancing bicycle.

2. The deformable and combinable wheeled-legged robot according to claim 1, characterized in that, The rotating shaft of the shoulder joint rotary motor (10) is vertically downward, and the front end of the shoulder joint (11) is fitted with the rotating shaft of the shoulder joint rotary motor (10). The shoulder joint (11) can rotate on the horizontal plane under the drive of the shoulder joint rotary motor (10). The rotating shafts of the hip joint rotary motor (27), the knee joint rotary motor (7) and the wheel motor (3) are horizontal and parallel to each other, respectively driving the upper leg, the lower leg and the wheel to swing back and forth to adjust the angle.

3. The deformable and combinable wheeled-legged robot according to claim 1, characterized in that, The rear end of the shoulder joint (11), the rear end of the upper leg, and the rear end of the lower leg all adopt a connecting fork structure. The front end of the upper leg, the front end of the lower leg, and the wheel are respectively placed in the fork of the shoulder joint, the upper leg, and the lower leg. The hip joint rotary motor (27), the knee joint rotary motor (7), and the wheel motor (3) are respectively installed inside the front end of the upper leg, the front end of the lower leg, and the wheel.

4. The deformable and combinable wheeled-legged robot according to claim 3, characterized in that, The upper leg front end, lower leg front end, and wheel are equipped with a shell containing a cylindrical cavity. One side of the shell has mounting holes and heat dissipation holes, while the other side is open. A corresponding motor is installed inside the shell. The rotating shaft of the motor is fixed to the inner side of one side of the shell, and the outer side of one side of the shell is connected to the open side of the fork body through a flange bearing. The fixed end of the motor is fixed to the unopened side of the fork body through a gasket structure. The shell can swing back and forth under the drive of the motor to adjust the angle.

5. The deformable and combinable wheeled-legged robot according to claim 1, characterized in that, The outer ring of the wheel (2) is covered with wheel rubber (6).

6. The deformable and combinable wheeled-legged robot according to claim 1, characterized in that, The conductive slip ring (25) is reinforced by the heightening fixing member (26).

7. The deformable and combinable wheeled-legged robot according to claim 1, characterized in that, The head control box (12) is equipped with an onboard computer and a power supply device. The onboard computer is connected to the robot's inertial sensor data, and the two onboard computers can communicate with each other. A slot is opened on the upper side of the rear panel of the box, and a camera (20) is installed in the slot.

8. The method for deforming and assembling the deformable and combinable wheeled-legged robot according to claim 7, characterized in that, include: In low-speed, complex scenarios, the robot moves forward using a wheel-leg mode. A pair of walking components are located on the left and right sides below the head control box (12). The leg length is adjusted by rotating the hip joint rotary motor (27) and the knee joint rotary motor (7) to achieve active suspension to maintain balanced movement. The shoulder joint rotary motor (10) remains locked. When the robot leans forward, the wheel motor (3) accelerates forward. When the robot leans backward, the wheel motor (3) accelerates backward. In high-speed, simple scenarios, the robot moves forward in a self-balancing vehicle mode. The switching process is as follows: During the movement, the hip joint rotary motor (27) and the knee joint rotary motor (7) rotate to adjust the leg length to the maximum. When the walking component (17) is in an upright state, the rotation position of the hip joint rotary motor (27) and the knee joint rotary motor (7) is locked. The two wheel motors (3) rotate at different speeds, and at the same time, the left and right shoulder joint rotary motors (10) rotate in coordination to gradually adjust the pair of walking components from a left-right distribution to a front-back distribution. Throughout the adjustment process, the pair of wheels always rotate in the forward direction. After the front-back distribution adjustment is completed, the leg length is adjusted by rotating the hip joint rotary motor (27) and the knee joint rotary motor (7) to lower the robot's center of gravity. Finally, the robot achieves rapid mobility in the form of a self-balancing bicycle. When dealing with high-load tasks in various scenarios, the two robots move in the same direction in a "back-to-back" manner. The main robot running in front issues the combination command and runs smoothly. The auxiliary robot running behind approaches the main robot at a steady speed through the camera (20) and adjusts its posture so that its own connecting components are synchronously connected with the connecting components of the main robot, realizing back-to-back combination and increasing the longitudinal load-bearing capacity.

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