High-load wheel-foot switching deformation mechanism and control method thereof

Abstract

The application provides a high-load wheel-foot switching deformation mechanism and a control method thereof, and belongs to the field of robot mechanism design. The high-load wheel-foot switching deformation mechanism comprises a mode switching component, a turnover unfolding component and a wheel component. The mode switching component comprises a motion motor and an electromagnetic brake. The turnover unfolding component comprises a frame, a turnover unfolding motor, a bidirectional screw rod, a bevel gear set, a nut, a guide rail, a gear rack, the wheel component comprises a driving wheel, a left connecting wheel, a right connecting wheel, an intermediate wheel, a pulley, a sliding rail, a guide column, a locking block, a connecting rod I and a connecting rod II. The mode switching component is fixed with the turnover unfolding component, the motion motor is connected with the driving wheel, and the wheel component is connected with the turnover unfolding component through a connecting rod III, a connecting rod IV and a retaining rod. The turnover unfolding motor drives the nut and the screw rod to move, drives the gear rack and the bevel gear set to move, realizes synchronous turnover and unfolding, realizes quick and reliable switching between wheel type and foot type movement by opening and closing of the electromagnetic brake, and is suitable for high-load and high-dynamic movement.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robots, specifically relating to a high-load wheel-foot switching and deformation mechanism and its control method. Background Technology

[0002] The development of humanoid robots is in a stage of rapid evolution. They have good motion performance in unstructured environments (such as sandy ground, steps, slopes, etc.) and can replace humans to perform related tasks in some dangerous scenarios. However, the current humanoid robot has a relatively slow movement speed and performs poorly in terms of high mobility.

[0003] Wheeled humanoid robots can be seen as putting roller skates on humanoid robots, which improves the robot's ability to move quickly. In environments such as urban buildings and relatively flat roads, they can give full play to their mobility performance. However, when faced with complex environmental conditions, their obstacle crossing ability and terrain adaptability are low, and they are difficult to climb stairs or cross gravel roads.

[0004] Therefore, to enable humanoid robots to balance adaptability to highly complex environments and high mobility, wheel-foot switching / conversion mechanisms have become an emerging research focus. These mechanisms allow humanoid robots to switch between legged and wheeled locomotion, thereby expanding their dynamic performance and application areas. However, existing wheel-foot switching technologies suffer from drawbacks such as long switching times, large inertia, and low load capacity. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a high-load wheel-leg switching and deformation mechanism and its control method. By driving the wheel deformation with a motor, the mechanism achieves the switching between wheeled and legged modes, shortening the switching time and increasing the load capacity. This enhances the adaptability of wheeled and legged robots to complex environments, enabling them to climb stairs, cross ditches, and perform other functions.

[0006] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0007] A high-load wheel-foot switching and deformation mechanism, characterized in that it comprises:

[0008] The mode switching component includes a motion motor, an electromagnetic brake, and a motor output shaft. The motion motor is connected to the motor output shaft, and the motor output shaft is located inside the electromagnetic brake.

[0009] The flip-up and unfolding component includes a C-shaped frame, a flip-up and unfolding motor, a bidirectional lead screw, bevel gear I, a spur gear, a nut, a guide rail, a rack, and bevel gear II. The number of bevel gear I, spur gear, nuts, and bevel gear II are all two, with the two nuts arranged symmetrically. The two ends of the bidirectional lead screw are mounted on opposite sides of the C-shaped frame, and one end of the bidirectional lead screw is connected to the output shaft of the flip-up and unfolding motor. A rack and a guide rail are sequentially mounted on the frame below the bidirectional lead screw. The upper end of the nut is threaded into one end of the bidirectional lead screw, and the inner side of the lower end of the nut engages with the guide rail via a slider. Bevel gear I and a spur gear are also fixed to the nut via a shaft connection. Bevel gear II is mounted on the upper end of the nut via a needle roller bearing, with bevel gear I engaging with bevel gear II, and the spur gear meshing with the rack.

[0010] The wheel assembly includes a drive wheel, a left connecting wheel, a right connecting wheel, an intermediate wheel, a pulley, a slide rail, a guide post, a locking block, and connecting rod I and connecting rod II. The number of left and right connecting wheels is 2, the number of pulleys is 5, and the number of locking blocks, connecting rod I, and connecting rod II is 4. One right connecting wheel, one intermediate wheel, and one left connecting wheel are arranged sequentially and connected by hinges to form the upper half of the wheel. One left connecting wheel, one drive wheel, and one right connecting wheel are arranged sequentially and connected by hinges to form the lower half of the wheel. The upper and lower half of the wheel constitute the complete wheel. The entire wheel is mounted on its inner and outer sides. The slide rail has pulleys that engage with it, while the drive wheel has no pulley at its corresponding position. One end of the pulley is fixed to a guide post via a bearing, and the other end of the guide post is located in a groove on each wheel. A locking block is installed via a copper sleeve on the left and right connecting wheels near the mode switching component, and is concentrically positioned with the guide post. The locking block is also fixed to one end of connecting rod I, and the other end of connecting rod I is connected to one end of connecting rod II. The other end of one set of connecting rod II is fixed to the drive wheel, and the other end of the other set of connecting rod II is fixed to the intermediate wheel, with each set of connecting rod II engaging.

[0011] Two connecting rods III, one end of which is connected to one of the bevel gears II, and the other end of which is connected to the guide post on the left connecting wheel respectively;

[0012] Two connecting rods IV are located outside connecting rod III. One end of the two connecting rods IV is connected to another bevel gear II, and the other end of the two connecting rods IV is connected to the guide post on the right connecting wheel respectively.

[0013] The retaining rod is connected to the pulleys of the double-acting lead screw and the intermediate wheel respectively via bearings;

[0014] One side of the frame is fixed to the electromagnetic brake, and the other side of the frame is also connected to the motor output shaft via a bearing.

[0015] A further technical solution is that the locking block has two opposing bosses on one side and a groove is machined in the middle; the radius of the groove of the locking block is the same as the radius of the groove on each wheel of the wheel component; when the high-load wheel foot switching deformation mechanism is in the wheel motion state, the groove of the locking block coincides with the groove of the wheel component; when the high-load wheel foot switching deformation mechanism is in the foot motion state, the groove of the locking block is offset.

[0016] In a further technical solution, the other end of the connecting rod II is designed to have incomplete teeth.

[0017] In a further technical solution, the mode switching component also includes a lower leg connector for mounting the high-load wheel-foot switching and deformation mechanism on the lower leg ankle of the humanoid robot.

[0018] In a further technical solution, the wheel component also includes a rubber tire mounted on the outer side of the wheel.

[0019] In a further technical solution, one end of the two connecting rods III is connected to one of the bevel gears II, and the other end of the two connecting rods III is connected to the guide post on the right connecting wheel respectively; one end of the two connecting rods IV is connected to the other bevel gear II, and the other end of the two connecting rods IV is connected to the guide post on the left connecting wheel respectively.

[0020] In a further technical solution, connecting rod III is a curved connecting rod, and connecting rod IV is a straight connecting rod.

[0021] In a further technical solution, grooves are provided on connecting rod III and connecting rod IV.

[0022] A further technical solution involves adding a guide rod to the inner side of the retaining rod.

[0023] A control method for a high-load wheel-leg switching and deformation mechanism: The robot is in either wheeled or legged motion mode. The industrial control computer issues a mode switching status. By reading the encoder value on the motion motor, it can be determined whether the drive wheel is in contact with the ground, and thus determine whether switching can be performed. If the drive wheel is in contact with the ground, the high-load wheel-leg switching and deformation mechanism flips and unfolds until the nut reaches the designated position. After the flipping and unfolding is completed, the industrial control computer controls the opening and closing of the electromagnetic brake to complete the switching between the two motion modes. The determination that the nut reaches the designated position is based on the encoder value on the flipping and unfolding motor.

[0024] The beneficial effects of this invention are as follows: This invention proposes a high-load wheel-foot switching deformation mechanism and its control method, which realizes the switching between wheel-type motion and foot-type motion through the deformation of the wheel component; This invention innovatively designs the wheel component, which greatly shortens the switching time of wheel-foot switching from whole-body motion, and the structure occupies less space and does not burden the overall weight. At the same time, the self-locking characteristic of the lead screw realizes high-load and high-dynamic motion, which can complete wheel-foot switching in a short time and improve the passability of wheeled robots in complex environments such as climbing stairs. Attached Figure Description

[0025] Figure 1 This is an axonometric drawing of the wheel motion of the high-load wheel-foot switching deformation mechanism described in this invention;

[0026] Figure 2 This is an isometric view of the foot motion of the high-load wheel-foot switching deformation mechanism described in this invention;

[0027] Figure 3 This is a cross-sectional view of the mode switching component described in this invention;

[0028] Figure 4 This is a partial exploded view of the flip-up unfolding component described in this invention;

[0029] Figure 5 This is a schematic diagram of the wheel component described in this invention;

[0030] Figure 6 This is a schematic diagram of the five-bar linkage structure described in this invention;

[0031] Figure 7 This is a cross-sectional view of the wheel component described in this invention;

[0032] Figure 8 This is a schematic diagram of the pulley-connecting rod described in this invention;

[0033] Figure 9 This is a schematic diagram of the synchronization mechanism described in this invention;

[0034] Figure 10 This is a schematic diagram of the structure of the locking block described in this invention;

[0035] Figure 11 This is a block diagram of the wheel-foot switching control described in this invention;

[0036] In the diagram, 101-lower leg connector, 102-motion motor, 103-electromagnetic brake, 104-motor output shaft, 105-bearing, 201-frame, 202-tilting and unfolding motor, 203-double-acting lead screw, 204-bevel gear I, 205-spur gear, 206-nut, 207-slider, 208-guide rail, 209-rack, 210-bevel gear II, 211-needle roller bearing, 301-drive wheel, 302-left connecting wheel, 303-right connecting wheel, 304-intermediate wheel, 305-hinge, 306-pulley, 307-rubber tire, 308-slide rail, 309-guide post, 310-locking block, 311-copper sleeve, 312-connecting rod I, 313-connecting rod II, 4-connecting rod III, 5-connecting rod IV, 6-holding rod. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0038] The wheel-type motion state and foot-type motion state of the high-load wheel-foot switching deformation mechanism of the present invention are respectively referred to Figure 1 , 2 The structure mainly consists of three parts: a mode switching component, a flip-and-unfold component, and a wheel component.

[0039] The mode switching component consists of a lower leg connector 101, a motion motor 102, an electromagnetic brake 103, a motor output shaft 104, and a bearing 105, as shown in the figure. Figure 3 The lower leg connector 101 is internally connected to the motion motor 102 via a thread, and one side of the lower leg connector 101 is connected to the electromagnetic brake 103 via a thread. The motion motor 102 is connected to the motor output shaft 104 via a thread, and the motor output shaft 104 is located inside the electromagnetic brake 103.

[0040] The tilting and unfolding component includes a frame 201, a tilting and unfolding motor 202, a bidirectional lead screw 203, two bevel gears I 204, two spur gears 205, two nuts 206, four sliders 207, a guide rail 208, a rack 209, two bevel gears II 210, and two needle roller bearings 211. (See also...) Figure 4The frame 201 is C-shaped. Both ends of the bidirectional lead screw 203 are mounted on the frame 201, and one end of the bidirectional lead screw 203 is connected to the output end of the tilting and unfolding motor 202, which is fixed to the frame 201 by bearings. The rack 209 is fixed to the frame 201 by a threaded connection and is located below the bidirectional lead screw 203. Two nuts 206 are symmetrically arranged, and the upper ends of the two nuts 206 are threaded into both ends of the bidirectional lead screw 203. The lower inner side of the nuts 206 is threadedly connected to a slider 207, which moves horizontally on a guide rail 208. The guide rail 208 is fixed to the frame 201 and located below the rack 209. A bevel gear I 204 and a spur gear 205 are fixed to the nuts 206 by a shaft connection, and the spur gear 205 meshes with the rack 209. A bevel gear II 210 is mounted on the nuts 206 by a needle roller bearing 211 and meshes with the bevel gear I 204.

[0041] The wheel assembly consists of a drive wheel 301, two left connecting wheels 302, two right connecting wheels 303, an intermediate wheel 304, a hinge 305, five pulleys 306, a rubber tire 307, a slide rail 308, a guide post 309, four locking blocks 310, a copper sleeve 311, four connecting rods I 312, and four connecting rods II 313. (See attached image) Figure 5 , 7 9. A right connecting wheel 303, an intermediate wheel 304, and a left connecting wheel 302 are arranged in sequence and connected by a hinge 305 to form the upper half of the wheel; a left connecting wheel 302, a drive wheel 301, and a right connecting wheel 303 are arranged in sequence and connected by a hinge 305 to form the lower half of the wheel; the upper and lower halves of the wheel constitute the complete wheel. A rubber tire 307 is installed on the outside of the complete wheel via a threaded connection, and a slide rail 308 is installed on the inside outside of the complete wheel via a threaded connection; one end of a guide post 309 is fixed to a pulley 306 via a bearing, and the other end moves along the grooves on each wheel (drive wheel, connecting wheel, intermediate wheel). One side of the pulley 306 is engaged with the slide rail 308. There is no pulley 306 at the corresponding position of the drive wheel 301; a locking block 310 is installed via a copper sleeve on the side of the left connecting wheel 302 and the right connecting wheel 303 near the mode switching component, and is concentrically arranged with the guide post 309; Figure 10As shown, the locking block 310 has two opposing bosses on one side and a groove machined in the middle. The side with the bosses contacts the connecting wheel. The groove radius of the locking block 310 is the same as the groove radius of each wheel in the wheel assembly. When the high-load wheel foot switching deformation mechanism is in wheel motion, the groove of the locking block 310 coincides with the groove of the wheel assembly. When the high-load wheel foot switching deformation mechanism is in foot motion, the groove of the locking block 310 shifts and no longer coincides with the groove of the wheel assembly. The locking block 310 is fixed to one end of the connecting rod I 312 by a threaded connection. The other end of the connecting rod I 312 is connected to one end of the connecting rod II 313. The other end of one set of connecting rod II 313 is fixed to the drive wheel 301, and the other end of the other set of connecting rod II 313 is fixed to the intermediate wheel 304. Each set of connecting rod II 313 is engaged.

[0042] The electromagnetic brake 103 of the mode switching component is fixed to the frame 201 of the flip-and-unfold component by a threaded connection. The motor output shaft 104 passes through the frame 201 and is connected by a bearing 105. The motor output shaft 104 is threaded to the drive wheel 301. See [reference needed]. Figure 3 .

[0043] like Figure 1 As shown, there are two connecting rods III4 and IV5. To avoid interference between connecting rods III4 and IV5 during movement, connecting rod III4 is designed as a curved connecting rod and connecting rod IV5 is designed as a straight connecting rod, with connecting rod IV5 located outside connecting rod III4. One end of each connecting rod III4 is connected to one of the bevel gears II210, and the other end of each connecting rod III4 is connected to the guide post 309 on the left connecting wheel 302. One end of each connecting rod IV5 is connected to the other bevel gear II210, and the other end of each connecting rod IV5 is connected to the guide post 309 on the right connecting wheel 303. The connection positions of the two ends of connecting rods III4 and IV5 can be interchanged, i.e., one end of connecting rod III4 is connected to the right connecting wheel 303, and one end of connecting rod IV5 is connected to the left connecting wheel 302, with the other ends of connecting rods III4 and IV5 correspondingly connected to a bevel gear II210. The retaining rod 6 is connected to the double-acting lead screw 203 and the middle pulley 306 via bearings, realizing the connection between the flip-up and unfolding component and the wheel component.

[0044] When the electromagnetic brake 103 is activated, the frame 201 does not move with the rotation of the motion motor 102, and the high-load wheel-foot switching deformation mechanism is in a wheel-like motion state; when the electromagnetic brake 103 is deactivated, the frame 201 and the motor output shaft 104 move synchronously, and the high-load wheel-foot switching deformation mechanism is in a foot-like motion state.

[0045] The main function of the flipping and unfolding component is to drive the upper half wheel to flip and unfold. Since the ratio of the flipping angle to the number of rotations of the bidirectional lead screw 203 is relatively large, the translational motion of the nut 206 is used to drive the flipping motion of the upper half wheel. That is, the translational motion of the nut 206 drives the bevel gear I204 and the spur gear 205 to rotate through the gear rack, thereby driving the bevel gear II210 to rotate, so that flipping and unfolding can be carried out simultaneously.

[0046] During the flipping and unfolding process, the upper half of the wheel is in a free state, which can be regarded as a five-bar linkage mechanism, see... Figure 6 Therefore, to ensure the posture of the upper half of the wheel during the unfolding process, a locking block 310 is used to change the pulley 306 into a connecting rod. That is, when connecting rods III4 and IV5 drive the left connecting wheel 302 and the right connecting wheel 303 to unfold, connecting rods I312 and II313 drive the locking block 310 to rotate, and the guide post 309 changes from two-point contact to four-point contact in the wheel groove, thereby restricting the movement of the pulley 306. See Figure 8 Meanwhile, to ensure that the left connecting wheel 302 and the right connecting wheel 303 are synchronized during the unfolding process, one end of the connecting rod II 313 is designed to have incomplete teeth, thereby achieving the synchronization effect; grooves are also opened on the connecting rod III 4 and the connecting rod IV 5, and guide rods (not shown in the figure) can be added to the inside of the retaining rod 6 to further ensure the posture during the flipping and unfolding process.

[0047] like Figure 11 As shown, the process of the high-load wheel-foot switching deformation mechanism of the present invention to realize the wheel-foot switching function is as follows: the robot is in a wheeled motion state or a footed motion state. The industrial control computer issues a mode switching state. By reading the value of the encoder on the motion motor 102, it can be determined whether the drive wheel 301 is in contact with the ground, and then it can be determined whether the switching can be carried out. If the drive wheel 301 is in contact with the ground, it can be flipped and unfolded until the nut 206 reaches the designated position (judged according to the encoder value on the flipping and unfolding motor 202). After the flipping and unfolding is completed, the industrial control computer controls the opening and closing of the electromagnetic brake 103 to complete the switching between the two motion modes.

[0048] The high-load wheel-foot switching and deformation mechanism proposed in this invention can be installed at the ankle of a humanoid robot's lower leg. It is threadedly connected via a lower leg connector 101, and the relative and synchronous movement of the flip-up and unfolding component and the wheel component is achieved by switching the electromagnetic brake 103 on and off. When the high-load wheel-foot switching and deformation mechanism is in wheel motion mode, the electromagnetic brake 103 is closed, the frame 201 does not move with the wheel component, and the pulley 306 is in the unlocked state. Driven by the motion motor 102, the wheel component transmits power to the drive wheel 301 through the motor output shaft 104, realizing wheel motion. When it is necessary to switch to foot motion mode, the flip-up and unfolding motor 202 drives the bidirectional lead screw 203 to rotate, which drives the nut 206 to move horizontally, realizing the unfolding effect. The nut 206 is guided and positioned by the slider 207 and the guide rail 208. At the same time, the horizontal movement drives the spur gear 205 to rotate, thereby driving the bevel gear I 204 and bevel gear II 210 to move, realizing a 180° flipping effect. During the flipping and unfolding process, to ensure the posture of the upper half of the wheel, a locking block 310 is used to realize the pulley-to-link function, and an incomplete gear link II 313 is used to realize the synchronization function. After the flipping and unfolding is completed, the electromagnetic brake 103 is activated, and the frame 201 and the motor output shaft 104 move synchronously, thereby realizing the leg movement.

[0049] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A high load wheel-foot switching metamorphic mechanism characterized by, It includes: Mode switching component, including motion motor (102), electromagnetic brake (103) and motor output shaft (104), the motion motor (102) is connected with motor output shaft (104), and motor output shaft (104) is located inside electromagnetic brake (103); Turnover and unfolding component, including C-shaped frame (201), turnover and unfolding motor (202), bidirectional screw (203), bevel gear I (204), spur gear (205), nut (206), guide rail (208), rack (209) and bevel gear II (210), wherein the number of bevel gear I (204), spur gear (205), nut (206) and bevel gear II (210) is 2, two nuts (206) are arranged on the axisymmetrically; the both ends of bidirectional screw (203) are installed on the opposite sides of C-shaped frame (201), and one end of bidirectional screw (203) is connected with the output shaft of turnover and unfolding motor (202); rack (209) and guide rail (208) are sequentially installed on the frame (201) below bidirectional screw (203); the upper end of nut (206) is threadedly matched with one end of bidirectional screw (203), and the lower end of nut (206) is matched with guide rail (208) through slider (207) on the inner side; bevel gear I (204) and spur gear (205) are further fixed with nut (206) through shaft connection, bevel gear II (210) is installed on the upper end of nut (206) through needle bearing (211), and bevel gear I (204) is matched with bevel gear II (210), and spur gear (205) is engaged with rack (209); The wheel component comprises a driving wheel (301), a left connecting wheel (302), a right connecting wheel (303), an intermediate wheel (304), a pulley (306), a slide rail (308), a guide column (309), a locking block (310), a connecting rod I (312) and a connecting rod II (313); wherein the number of the left connecting wheel (302) and the right connecting wheel (303) is 2, the number of the pulley (306) is 5, the number of the locking block (310), the connecting rod I (312) and the connecting rod II (313) is 4; one right connecting wheel (303), the intermediate wheel (304) and one left connecting wheel (302) are arranged in sequence and connected through a hinge (305) to form an upper half wheel; one left connecting wheel (302), the driving wheel (301) and one right connecting wheel (303) are arranged in sequence and connected through a hinge (305) to form a lower half wheel; the upper half wheel and the lower half wheel form a whole wheel; the slide rail (308) is installed inside and outside the whole wheel, the pulley (306) is clamped on the slide rail (308), and the driving wheel (301) is not provided with the pulley (306) at a corresponding position; the pulley (306) is fixed at one end of the guide column (309) through a bearing, and the other end of the guide column (309) is located in a groove on each wheel; the locking block (310) is installed on one side of the left connecting wheel (302) and the right connecting wheel (303) close to the mode switching component through a copper bushing, and is arranged concentrically with the guide column (309); one end of the locking block (310) is fixed with the connecting rod I (312), and the other end of the connecting rod I (312) is connected with one end of the connecting rod II (313); one end of the other connecting rod II (313) is fixed on the driving wheel (301), and the other end of the other connecting rod II (313) is fixed on the intermediate wheel (304); and each group of the connecting rod II (313) is engaged; Two connecting rods III (4), one end of the two connecting rods III (4) is connected with one of the bevel gears II (210), and the other end of the two connecting rods III (4) is respectively connected with the guide column (309) on the left connecting wheel (302); Two connecting rods IV (5) are located outside the connecting rod III (4), one end of the two connecting rods IV (5) is connected with the other bevel gear II (210), and the other end of the two connecting rods IV (5) is respectively connected with the guide column (309) on the right connecting wheel (303); The retaining rod (6) is connected with the double lead screw (203) and the pulley (306) of the intermediate wheel (304) through bearings; One side of the frame (201) is fixed with the electromagnetic brake (103), and one side of the frame (201) is further connected with the motor output shaft (104) through a bearing (105).

2. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, The locking block (310) is provided with two opposite bosses on one side, and a groove is processed in the middle; the groove radius of the locking block (310) is the same as the groove radius on each wheel of the wheel component; when the high-load wheel-foot switching deformation mechanism is in a wheel type motion state, the groove of the locking block (310) coincides with the groove of the wheel component; when the high-load wheel-foot switching deformation mechanism is in a foot type motion state, the groove of the locking block (310) is offset.

3. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, The other end of the connecting rod II (313) is designed as an incomplete tooth.

4. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, The mode switching component further comprises a shank connecting piece (101) for mounting the high-load wheel-foot switching deformation mechanism at the shank ankle of the humanoid robot.

5. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, The wheel component further comprises a rubber tire (307) mounted outside the whole wheel.

6. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, One end of the two connecting rods III (4) is connected with one of the bevel gears II (210), and the other end of the two connecting rods III (4) is respectively connected with the guide column (309) on the right connecting wheel (303); one end of the two connecting rods IV (5) is connected with the other bevel gear II (210), and the other end of the two connecting rods IV (5) is respectively connected with the guide column (309) on the left connecting wheel (302).

7. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, The connecting rod III (4) is a curved connecting rod, and the connecting rod IV (5) is a straight connecting rod.

8. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, Grooves are formed on the connecting rod III (4) and the connecting rod IV (5).

9. The high-load wheel-foot switching metamorphic mechanism of claim 1, wherein, A guide rod is additionally mounted on the inner side of the holding rod (6).

10. A control method based on the high-load wheel-foot switching deformation mechanism according to any one of claims 1-9, characterized in that: The robot is in a wheeled motion state or a foot motion state, the mode switching state is issued by an industrial computer, whether the driving wheel (301) contacts the ground can be known by reading the value of the encoder on the motion motor (102), and then whether the switching can be performed is determined, if the driving wheel (301) contacts the ground, the high-load wheel-foot switching deformation mechanism is flipped and unfolded until the nut (206) reaches the specified position, after the flipping and unfolding are completed, the industrial computer controls the opening and closing of the electromagnetic brake (103), and the switching of the two motion modes is completed; whether the nut (206) reaches the specified position is determined according to the value of the encoder on the flipping and unfolding motor (202).

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