A wearable human-robot co-robot

Abstract

The application belongs to the technical field of intelligent robots, and particularly relates to a wearable human-robot co-integration wheel-foot robot, which comprises a connecting platform, a left wheel leg, a right wheel leg, a docking module, a connecting spine and a lock catch. The left wheel leg comprises a thigh, a transmission connecting rod group, a shank and a wheel group. The shank comprises an ankle joint motor layout assembly, two ankle joint connecting rod screws and carbon tubes, a shank carbon tube, a knee-shank connecting plate and an ankle joint assembly. The thigh and the transmission connecting rod group are movably connected with the knee-shank connecting plate and a swing motor. The shank carbon tube is connected with the knee-shank connecting plate, and the remaining two ends are connected with the wheel group and the ankle joint motor layout assembly respectively. The two ankle joint connecting rod screws and carbon tubes are movably connected with the ankle joint motor layout assembly and the wheel group respectively. The movement of the two ankle joint connecting rod screws and carbon tubes is driven to realize stable switching of the wheel-foot. The docking module, the connecting spine and the lock catch are used to realize docking with the human body, left-right translation and swing of the spine, and reduce the constraint feeling of wearing.

Description

Technical Field

[0001] This invention belongs to the field of intelligent robot technology, specifically relating to a wearable, human-machine integrated wheeled robot. Background Technology

[0002] Exploring the mysteries of human movement and enhancing human mobility and load-bearing capacity through engineering science methods is a dream for many scientists and engineers, and also a crucial scientific goal for basic research in interdisciplinary fields such as robotics. In modern society, the use of human labor for long-distance, long-duration load transportation remains quite common. In the civilian sector, power line inspectors often carry over 10 kilograms of equipment, traversing mountains and forests for over ten kilometers to inspect important power transmission lines; geological prospectors carry nearly 20 kilograms of equipment per person, traversing high mountains and deep valleys for investigation and exploration; and in many field scenarios such as mines, airports, construction sites, and disaster relief, the lack of suitable installation and usage environments prevents standard industrial and mobile robots from completing the transport work, thus relying heavily on human labor. Furthermore, in the defense sector, carrying 30 kilograms of weight and walking 50 kilometers in 8 hours is commonplace in field training exercises. To address the prominent issue of how to apply robotics technology to enhance human carrying and transportation capabilities in these critical fields, research into wearable, human-centered transport assistive robots is essential.

[0003] Robots currently available for transportation assistance can be broadly categorized into two types: wearable robots and ordinary transportation platforms.

[0004] Wearable robots mainly include various types of hovering backpacks, jetpacks, rigid / flexible exoskeletons, and combinations thereof. Hovering backpacks, by adding elastic mechanisms or active control devices to the backpack to adjust the relative movement between the load and the wearer, can effectively reduce dynamic load and decrease metabolic energy loss. Jetpacks reduce the pressure on the wearer by using jets to propel the load upwards onto the back. Specially designed rigid exoskeletons can transfer some of the load to the ground, thereby reducing the burden on the wearer's body. Flexible exoskeletons provide corresponding assistive forces to the joints of the lower limbs and have been shown to reduce energy consumption during free walking and running. Despite significant progress, these types of human-robot collaborative wearable robots still have certain limitations:

[0005] Hoverback backpacks can reduce the dynamic inertial force (dynamic load) of the load, but they cannot eliminate most of the load itself. Jetpacks, on the other hand, have low energy efficiency, short endurance, and are difficult to control. In addition, the added body mechanism, drive unit, and power battery in the backpack place an extra load on the human body, causing additional loss of metabolic energy during human transport.

[0006] The inertia of a rigid exoskeleton can affect a person's natural gait, and there is often a misalignment between the robot's joints and the human joints, making human-machine coordination and control difficult and limiting the improvement of the wearer's carrying capacity. Flexible robotic exoskeletons can only provide assistance to the joints of the lower limbs, but cannot transfer the load, resulting in the human body still bearing a large load.

[0007] Most research on transport auxiliary platform systems is classified based on the chassis mechanical structure, mainly focusing on: wheeled, legged, and tracked types. Among them, wheeled systems are further divided into three aspects: ordinary two-wheeled inverted pendulum balancing chassis, inverted pendulum balancing chassis with sliders, and wheel-leg balancing chassis.

[0008] Tracked chassis offer good terrain mobility, but lack in speed and maneuverability. Among legged chassis, bipedal and quadrupedal chassis have a simpler structure and offer strong mobility and maneuverability, but their operating speed is slower compared to wheeled and tracked chassis. Wheeled chassis can achieve faster speeds, especially in transport robots such as AGVs, whose four-wheeled chassis can move omnidirectionally with agility, but their operating environment is flat ground, making them unsuitable for complex terrain. Currently, in pursuit of smaller size and greater flexibility, two-wheeled balancing systems have become a key research focus for wheeled chassis.

[0009] A typical two-wheeled inverted pendulum balancing chassis achieves balance by accelerating and decelerating the drive wheels. When the chassis leans forward (center of gravity in front of the support point), the drive wheels accelerate forward; when the chassis leans backward (center of gravity behind the support point), the drive wheels accelerate backward. Movement is achieved by adjusting the pitch angle to control the center of gravity, thus enabling forward and backward movement and acceleration / deceleration. However, this results in the chassis tilting forward or backward during movement, making it difficult for the robot's body to maintain a consistently vertical posture, thus hindering stable transport. Furthermore, the need for acceleration and deceleration of the drive wheels for balance adjustment makes this chassis more suitable for continuous terrain; it is prone to tipping over when encountering curbs, steps, or other stepped terrain.

[0010] The inverted pendulum balance chassis with sliders adjusts the center of gravity by changing the slider's position, thus achieving forward and backward movement, as well as acceleration and deceleration. Control is relatively simple, and start-stop operations are quick. It allows for movement even while the robot's torso remains vertical, by adjusting the slider to change the center of gravity. However, this chassis requires a separate slider device for adjusting the center of gravity. Since the slider's weight is relatively small compared to the robot's overall weight, the range of adjustment for the robot's center of gravity is limited, making it difficult to achieve significant acceleration. Furthermore, this type of chassis is suitable for continuous terrain environments; it is prone to tipping over when encountering curbs, steps, or other stepped terrain during movement.

[0011] Wheel-legged balancing chassis can quickly change their center of gravity by deforming their legs, thereby enabling them to move forward, backward, accelerate, decelerate, and even jump, while maintaining an upright posture. However, wheel-legged balancing systems still struggle to adapt to complex terrains such as gravel and steps, and require human assistance to complete tasks such as carrying.

[0012] In addition, most of the aforementioned transport chassis on the market are difficult to interact with people and thus fail to help improve the ability of human-carried transport. Summary of the Invention

[0013] The purpose of this invention is to provide a wearable, human-machine integrated wheeled robot that can adapt to complex road environments by switching between wheels and legs, and the switching structure is flexible and stable.

[0014] To achieve the above objectives, the present invention provides a human-robot integrated wheeled robot, comprising a connecting platform and a left wheeled leg and a right wheeled leg movably connected to the connecting platform via a swivel motor; the left wheeled leg includes a thigh, a transmission linkage, a lower leg, and a wheel assembly; the right wheeled leg has the same structure as the left wheeled leg;

[0015] The lower leg includes an ankle joint motor assembly, two ankle joint connecting rods and carbon tubes, a lower leg carbon tube, a knee-lower leg connecting plate, and an ankle joint assembly; one end of the thigh and the transmission connecting rod assembly are movably connected to the knee-lower leg connecting plate, and the other end is movably connected to the swing motor; one end of the lower leg carbon tube is connected to the end of the knee-lower leg connecting plate, and the other end is movably connected to the wheel assembly through the ankle joint assembly; the other end of the knee-lower leg connecting plate is connected to the ankle joint motor assembly.

[0016] One end of each of the two ankle joint connecting rods and carbon tubes is connected to the ankle joint motor assembly, and the other end is movably connected to the wheel set through the ankle joint assembly; the ankle joint motor assembly drives the movement of the two ankle joint connecting rods and carbon tubes to achieve wheel-foot switching.

[0017] Furthermore, the ankle joint assembly includes a wheel assembly connecting flange, a universal joint, a second lower leg fixing component, an ankle joint limiter, a single-spindle pivot, a first pivot connector, two second pivot connectors, and a wheel assembly connecting plate;

[0018] Both the wheel assembly connecting flange and the wheel assembly connecting plate are fixedly connected to the wheel assembly, and the wheel assembly connecting flange is located in the middle of the wheel assembly connecting plate; one end of the second lower leg fixing member is fixed to the wheel assembly connecting flange through the universal joint, and the other end is connected to the lower leg carbon tube;

[0019] The single-pin shaft is fixed to the side of the wheel assembly connecting plate via the first shaft connector. A second shaft connector is connected to each end of the single-pin shaft to connect the two ankle joint connecting rods and carbon tubes.

[0020] Furthermore, the wheel set includes a drive motor, a hub rotatably connected to the first end of the drive motor, and a tire fitted on the outside of the hub. The drive motor is used to drive the tire to rotate in a wheeled state.

[0021] The wheel assembly connecting flange includes a flange base fixedly connected to the second end of the drive motor and a flange limiting plate vertically disposed on the flange base; the second lower leg fixing member includes a fixing member body movably connected to the universal joint and a fixing member limiting plate fixed to one side of the fixing member body; the plane of the fixing member limiting plate is parallel to the lower leg carbon tube and protrudes outward toward one end of the universal joint so as to contact the flange limiting plate in the wheeled state to achieve wheeled positioning.

[0022] Furthermore, the wheel hub includes a first outer wheel hub plate, a first wheel hub support member, a first inner wheel hub plate, a second wheel hub support member, a second inner wheel hub plate, a partition post, and a second outer wheel hub plate, which are sequentially fixed together by screws.

[0023] Furthermore, the ankle joint motor layout assembly includes two sets of motor drive swing arms that are movably connected to one end of the two ankle joint connecting screws and the carbon tube, respectively, and a set of knee-lower leg connecting plate fixing members that are movably connected to one end of the lower leg carbon tube; the fixing members are located in the middle of the two sets of motor drive swing arms.

[0024] Each set of motor-driven swing arms includes a first ankle joint motor output swing arm, a second ankle joint motor output swing arm, an ankle joint motor, a first ankle joint motor fixing component, and a second ankle joint motor fixing component; the two ankle joint motors of the two sets of motor-driven swing arms are coaxially arranged, and the outer periphery of each ankle joint motor is fixed by the second ankle joint motor fixing component. The first ankle joint motor fixing component is located in the middle of the two ankle joint motors and can rotate. The knee-lower leg connecting plate fixing component is connected to the end of the first ankle joint motor fixing component to fix the knee-lower leg connecting plate.

[0025] One end of the second ankle joint motor output swing arm is movably connected to the ankle joint motor, and the other end is connected to the first ankle joint motor output swing arm. The knee joint connecting rod screw and carbon tube are movably connected to the first ankle joint motor output swing arm.

[0026] Furthermore, the thigh includes a first thigh fixation member, a thigh carbon tube, a second thigh fixation member, a first crossed roller bearing, a washer, and a thigh-knee connecting plate;

[0027] One end of the carbon fiber tube in the thigh is movably connected to the swing motor via a first thigh fixing member, and the other end is connected to the thigh-knee connecting plate via a second thigh fixing member; the first cross roller bearing is fixed to the thigh-knee connecting plate, the gasket is fixed to the first cross roller bearing, and the thigh-knee connecting plate is movably connected to the knee-calf connecting plate via the first cross roller bearing.

[0028] Furthermore, the transmission linkage assembly includes a knee joint connecting rod screw and carbon tube, a lower leg swing motor output swing arm, and a second swing arm pad; one end of the knee joint connecting rod screw and carbon tube is movably connected to the knee-lower leg connecting plate through a fisheye joint, and the other end is movably connected to the lower leg swing motor output swing arm through a fisheye joint, and the second swing arm pad is located between the fisheye joint and the lower leg swing motor output swing arm.

[0029] Furthermore, the swing motor includes a thigh swing motor, a thigh pad, a hip-thigh connecting plate, a calf swing motor, a thigh reinforcing plate, and a swing motor pad. The hip-thigh connecting plate and the swing motor pad are connected and fixed to the thigh swing motor by screws, and the thigh pad, the hip-thigh connecting plate, and the thigh reinforcing plate are connected and fixed by screws and anti-loosening nuts. The calf swing motor is located between the hip-thigh connecting plate and the thigh reinforcing plate, and is connected and fixed to the calf swing motor from both sides of the hip-thigh connecting plate and the thigh reinforcing plate by screws.

[0030] The angle between the thigh and lower leg is changed by the lower leg swing motor to enable the wheeled robot to squat and stand up.

[0031] The leg-mounted robot's forward or backward leg movements are controlled by the thigh-swinging motor.

[0032] Furthermore, the connection platform includes a first fixing plate, two hip joint swing motors, a second fixing plate, four support members, a base plate, a third fixing plate, and two hip joint assemblies;

[0033] The hip joint assembly includes a second crossed roller bearing, a first hip joint plate, a second hip joint plate, a first hip joint pad, a second hip joint pad, a third hip joint plate, and a fourth hip joint plate;

[0034] The first, second, and third fixing plates are fixed to the base plate in parallel by four support members. The hip joint assembly is located between the second and third fixing plates. Two hip joint swing motors are fixed between the first and second fixing plates and are respectively connected to the first hip joint plates of the two hip joint assemblies. The hip joint swing motors are used to realize the left or right leg movement of the wheeled robot.

[0035] The first hip joint plate, the second hip joint plate, the third hip joint plate, and the fourth hip joint plate form a rectangular frame; the first hip joint plate and the fourth hip joint plate are fixed to the second fixing plate and the third fixing plate respectively by second crossed roller bearings;

[0036] The first hip joint pad and the second hip joint pad are respectively fixed to the inner walls of the second hip joint plate and the third hip joint plate, and the thigh swing motor is fixed between the first hip joint pad and the second hip joint pad.

[0037] Furthermore, the wheeled robot also includes a docking module connected to the connecting platform, a connecting spine fixed to the docking module, and a locking buckle fixed to the end of the connecting spine. The locking buckle is used to dock the wheeled robot with the human body. The docking module is equipped with a take-up motor connected to the connecting spine, which is used to control the swing of the connecting spine to change the position of the locking buckle.

[0038] The docking module includes a docking motor, a first fixing component, a lead screw coupling, a lead screw, a slide rail, a winding wheel, a take-up motor, a first trolley plate, a second trolley plate, a third trolley plate, a lead screw nut, a fourth trolley plate, a second aluminum column, a third aluminum column, a slider, a second fixing component, and a lead screw flange bearing.

[0039] The connecting spine includes a first spinal joint at the tail, a second spinal joint at the tail, a first spinal joint, a second spinal joint, a spinal flange bearing, a first spinal joint at the head, and a second spinal joint at the head;

[0040] The latch includes a female latch end, a latch flange bearing, a latch button, a latch tongue, and a male latch end;

[0041] The slide rail is fixed to the third fixing plate in the connecting platform by screws; the first spinal joint at the tail of the connecting spine is fixed to the fourth trolley plate of the docking module by screws; the male locking head is fixed to the first spinal joint at the head of the connecting spine by screws, and the female end of the locking head is used to connect with the fixing point of the human body.

[0042] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages:

[0043] 1. The human-machine collaborative wheeled leg robot provided by the present invention forms a knee joint structure by movably connecting the thigh and the lower leg, and forms an ankle joint structure by movably connecting the lower leg and the wheel set. The wheel-leg switching is realized by changing the angle between the lower leg and the wheel set, and the movement of the thigh and the lower leg is driven by the swing motor to realize actions such as squatting, standing up, and stepping.

[0044] 2. In this invention, the thigh and lower leg are connected by a carbon tube in the thigh, a connecting screw in the knee joint, and a movable connection between the carbon tube and the knee-lower leg connecting plate, forming a knee joint structure. This structure is lightweight yet strong, and facilitates assembly and disassembly. The joint pivot uses a first crossed roller bearing, ensuring that joint lubrication is not excessively affected by radial impacts and that the impact on the joint is effectively reduced by axial impacts. Furthermore, the angle between the thigh and lower leg can be changed by rotating the connecting screw in the knee joint and the connecting rod of the carbon tube, enabling the robot to squat and stand up, thus providing greater controllability.

[0045] 3. The fisheye connector at the end of the ankle joint connecting rod screw and carbon tube is connected and fixed to the nylon washer and the first ankle joint motor output swing arm in the ankle joint motor assembly via screws and lock nuts. By cantilevering and openly fixing the fisheye connector to the nylon washer, the range of motion of the fisheye connector can be effectively increased to ±20°, making the robot's ankle joint movement more flexible. In addition, the layout of the ankle joint motor takes into account the range of motion of the lower leg, that is, the second ankle joint motor fixing component will not interfere with the thigh when the lower leg moves; this design allows the angle between the lower leg and thigh to be between 32° and 140°, ensuring the flexibility of the robot's knee joint.

[0046] 4. The limiting structure of the second lower leg fixing component and the wheel assembly connecting flange of the present invention achieves mechanical limiting through the orthogonal contact of two surfaces on the component in the wheeled state. Under the action of the robot's gravity, the ankle joint motor can ensure the stability of the wheeled state without applying driving force. That is, the position between the wheel assembly and the lower leg is determined and precisely stable, reducing the control burden of the robot.

[0047] 5. This invention enables the left and right translation of the connecting spine through the docking motor of the docking module, allowing the robot to calibrate the docking mechanism even when it cannot be precisely aligned with the human body; the winding motor enables the left and right swing of the connecting spine, thereby changing the position of its end lock, so that the human body is not affected by the robot's direction when the robot wearer turns, reducing the feeling of restraint when wearing it.

[0048] 6. The human-robot integrated wheeled robot of this invention mainly includes a wheeled robot chassis and a connection part between the robot and the human. The wheeled robot chassis can be connected and fixed to the human through the connection part, achieving the purpose of supporting the waist and reducing the burden on the human body during transportation; the wheeled robot chassis can also operate independently, performing transportation tasks as an individual robot. Therefore, it has a wide range of applications and strong practicality. Attached Figure Description

[0049] Figure 1 This is a frontal perspective view of a human-machine integrated wheeled robot according to the present invention;

[0050] Figure 2 This is a schematic diagram of the left wheel leg structure of the present invention;

[0051] Figure 3 This is a schematic diagram of the thigh structure of the present invention;

[0052] Figure 4 This is a schematic diagram of the lower leg structure of the present invention;

[0053] Figure 5 This is a schematic diagram of the ankle joint motor layout assembly structure of the present invention;

[0054] Figure 6 This is a schematic diagram of the ankle joint assembly structure of the present invention;

[0055] Figure 7 This is a schematic diagram of the wheel assembly structure of the present invention;

[0056] Figure 8 This is a schematic diagram of the hub structure of the present invention;

[0057] Figure 9 This is a schematic diagram of the transmission connecting rod assembly structure of the present invention;

[0058] Figure 10 This is a schematic diagram of the connection platform structure of the present invention;

[0059] Figure 11 This is a schematic diagram of the hip joint assembly structure of the present invention;

[0060] Figure 12 This is a schematic diagram of the docking module structure of the present invention;

[0061] Figure 13 This is a schematic diagram of the connecting spine structure of the present invention;

[0062] Figure 14 This is a schematic diagram of the locking structure of the present invention;

[0063] Figure 15 This is a schematic diagram of the ankle joint mechanical limiting structure of the present invention;

[0064] Figure 16 A schematic diagram of the limiting structure between the second lower leg fixing component and the wheel assembly connecting flange;

[0065] Figure 17 This is a schematic diagram of the lower leg structure from another angle according to the present invention;

[0066] Figure 18 This is a schematic diagram of the wheeled movement mode of the present invention;

[0067] Figure 19 This is a schematic diagram of the foot-based walking mode of the present invention;

[0068] Figure 20 This is a schematic diagram of the adaptive adjustment for complex terrain according to the present invention;

[0069] Figure 21 This is a schematic diagram of the wheel foot posture switching of the present invention.

[0070] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0071] 1-Connecting platform; 2-Left wheel leg; 3-Right wheel leg; 4-Thigh; 5-Transmission linkage assembly; 6-Lower leg; 7-Wheel assembly; 8-Thigh swing motor; 9-Thigh pad; 10-Hip-thigh connecting plate; 11-Lower leg swing motor; 12-Thigh reinforcing plate; 13-Swing motor pad; 14-First thigh fixing component; 15-Thigh carbon fiber tube; 16-Second thigh fixing component; 171-First crossed roller bearing; 172-Second crossed roller bearing; 18-Washer; 19-Thigh-knee connecting plate;

[0072] 20-Ankle joint motor layout assembly; 211-First fisheye connector; 212-Second fisheye connector; 22-Ankle joint connecting rod screw and carbon tube; 23-Knee-lower leg connecting plate; 24-First lower leg fixation component; 25-Lower leg carbon tube; 26-Ankle joint assembly; 27-Nylon gasket; 28-First ankle joint motor output swing arm; 29-First swing arm pad; 30-Second ankle joint motor output swing arm; 31-Ankle joint motor pad; 32-Ankle joint motor; 33-First ankle joint motor fixation component; 34-Second ankle joint motor fixation component;

[0073] 35-Second lower leg fixing component; 351-Fixing component body; 352-Fixing component limiting plate; 36-Universal joint; 37-Wheelset connecting flange; 371-Flange base; 372-Flange limiting plate; 38-Ankle joint limiting; 39-Straight pivot; 40-First pivot connector; 41-Second pivot connector; 42-Wheelset connecting plate; 43-Tire; 44-Wheel hub; 45-Drive motor; 46-First wheel hub outer plate; 47-First wheel hub support; 48-First wheel hub inner plate; 49-Second wheel hub support; 50-Second wheel hub inner plate; 51-Isolation post; 52-Second wheel hub outer plate; 53-Lower leg swing motor output swing arm; 54-Second swing arm pad; 55-Knee joint connecting rod screw and carbon tube;

[0074] 56-First fixing plate; 57-Hip joint swing motor; 58-Second fixing plate; 59-Support component; 60-Base plate; 61-Third fixing plate; 62-Hip joint assembly; 63-First hip joint plate; 64-Second hip joint plate; 65-First hip joint pad; 66-First aluminum column; 67-Second hip joint pad; 68-Third hip joint plate; 69-Fourth hip joint plate;

[0075] 70-Dating module; 71-Connecting spine; 72-Lock; 73-Dating motor; 74-First fixing component; 75-Lead screw coupling; 76-Lead screw; 77-Slide rail; 78-Winding reel; 79-Take-up motor; 80-First trolley plate; 81-Second trolley plate; 82-Third trolley plate; 83-Lead screw nut; 84-Fourth trolley plate; 85-Second aluminum column; 86-Third aluminum column; 87-Slider; 88-Second fixing component; 89-Lead screw flange bearing; 90-Tail first spine joint; 91-Tail second spine joint; 92-First spine joint; 93-Second spine joint; 94-Spine flange bearing; 95-Head first spine joint; 96-Head second spine joint; 97-Lock female end; 98-Lock flange bearing; 99-Lock button; 100-Lock latch; 101-Lock male end. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0077] like Figures 1-11 As shown, the human-robot collaborative wheeled robot provided by this invention mainly includes a wheeled robot chassis and a connection part between the robot and the human. The wheeled robot chassis can be connected and fixed to the human through the connection part between the robot and the human, so as to support the waist of the human and reduce the burden on the human body during transportation; the wheeled robot chassis can also operate independently and perform transportation tasks as an individual robot.

[0078] The wheeled robot chassis mainly includes a connecting platform 1 and a left wheel leg 2 and a right wheel leg 3 movably connected to the connecting platform 1 via a swing motor. The left wheel leg 2 includes a thigh 4, a transmission linkage 5, a lower leg 6, and a wheel assembly 7. The right wheel leg 3 has the same structure as the left wheel leg 2. The thigh 4 and lower leg 6 are movably connected to form a knee joint structure, and the lower leg 6 and wheel assembly 7 are movably connected to form an ankle joint structure. By changing the angle between the lower leg 6 and the wheel assembly 7, the wheel leg can be switched. The movement of the thigh 4 and lower leg 6 driven by the swing motor enables actions such as squatting, standing up, and stepping.

[0079] The lower leg 6 includes an ankle joint motor assembly 20, two ankle joint connecting rods and carbon tubes 22, a lower leg carbon tube 25, a knee-lower leg connecting plate 23, and an ankle joint assembly 26; one end of the thigh 4 and the transmission connecting rod group 5 are movably connected to the knee-lower leg connecting plate 23, and the other end is movably connected to the swing motor; one end of the lower leg carbon tube 25 is connected to the end of the knee-lower leg connecting plate 23, and the other end is movably connected to the wheel assembly 7 through the ankle joint assembly 26; the other end of the knee-lower leg connecting plate 23 is connected to the ankle joint motor assembly 20;

[0080] One end of each of the two ankle joint connecting rods and carbon tubes 22 is connected to the ankle joint motor assembly 20, and the other end is movably connected to the wheel set 7 through the ankle joint assembly 26; the ankle joint motor assembly 20 drives the movement of the two ankle joint connecting rods and carbon tubes 22 to achieve wheel-foot switching.

[0081] The connection between the left wheel leg 2 and the connecting platform 1 is as follows: the thigh swing motor 8 on the left wheel leg 2 is installed and fixed between the first hip joint pad 65 and the second hip joint pad 67 on the connecting platform 1 using screws. The connection between the right wheel leg 3 and the connecting platform 1 is similar. The slide rail 77 on the connecting platform side of the docking module 70 is fixed to the third fixing plate 61 in the connecting platform 1 using screws, thus achieving a fixed connection between the docking module 70 and the connecting platform 1. The first spinal joint 90 at the tail end of the connecting spine 71 is fixed to the fourth trolley plate 84 in the docking module 70 using screws, thus achieving a fixed connection between the connecting spine 71 and the docking module 70. The male locking head 101 in the locking buckle 72 is fixed to the first spinal joint 95 at the head end of the connecting spine 71 using screws, thus achieving a fixed connection between the locking buckle 72 and the connecting spine 71. The female end 97 in the locking buckle 72 is connected to the fixing point of the human body.

[0082] Please see Figure 10 and 11The connecting platform 1 includes a swing motor pad 13, a first fixing plate 56, two hip joint swing motors 57, a second fixing plate 58, four support members 59, a base plate 60, a third fixing plate 61, and two hip joint assemblies 62. The four support members 59 are installed and fixed to their respective positions on the base plate 60 using screws and lock nuts. The first fixing plate 56, the second fixing plate 58, and the third fixing plate 61 are connected and fixed parallel to the support members 59 using screws and lock nuts, completing the construction of the connecting platform frame. Specifically, the first fixing plate 56 and the second fixing plate 58 are fixed adjacent to each other on one side of the support member 59, and the third fixing plate 61 is fixed to the other side of the support member 59. The two hip joint swing motors 57 are installed and fixed between the first fixing plate 56 and the second fixing plate 58 using screws, and are located at both ends of the first fixing plate 56 and the second fixing plate 58, respectively, for mating with the two hip joint assemblies 62. The hip joint assemblies 62 are installed and fixed between the swing motor pad 13 and the third fixing plate 61 using screws. The fixing method for the side of the swing motor pad 13 is as follows: a screw is passed through the first hip joint plate 63 and the motor pad 13 in the hip joint assembly 62, and finally fixed to the corresponding hole on the hip joint swing motor 57; the fixing method for the side of the third fixing plate 61 is as follows: a screw is passed through the fourth hip joint plate 69, the second crossed roller bearing 172, the washer 18 and the third fixing plate 61 in the hip joint assembly 62, and the screw ends are locked with anti-loosening nuts to complete the connection and fixation.

[0083] Please see Figure 11 The hip joint assembly 62 includes a second crossed roller bearing 172, a washer 18, a first hip joint plate 63, a second hip joint plate 64, a first hip joint pad 65, a first aluminum column 66, a second hip joint pad 67, a third hip joint plate 68, and a fourth hip joint plate 69. The first hip joint plate 63 and the fourth hip joint plate 69 are located between the second hip joint plate 64 and the third hip joint plate 68, and their latches are engaged with corresponding slots on the second hip joint plate 64 and the third hip joint plate 68. The second hip joint plate 64 and the third hip joint plate 68 are fixed to the aluminum column 66 by screws, which tightens the two plates and clamps the first hip joint plate 63 and the fourth hip joint plate 69 to prevent loosening. The first hip joint plate 63, the second hip joint plate 64, the third hip joint plate 68, and the fourth hip joint plate 69 form a rectangular frame. Secure the first hip joint pad 65 to the second hip joint plate 64 using screws; secure the second hip joint pad 67 to the third hip joint plate 68 using screws. Secure the second crossed roller bearing 172 to the fourth hip joint plate 69 using screws and lock nuts. Secure the washer 18 to the second crossed roller bearing 172 using screws.

[0084] Please see Figure 2-9The left wheel leg 2 includes a thigh 4, a transmission linkage 5, a lower leg 6, and a wheel assembly 7. Screws are sequentially passed through the first crossed roller bearing 171 in the thigh 4, the washer 18, the thigh-knee connecting plate 19, and the knee-lower leg connecting plate 23 in the lower leg 6. The ends of the screws are secured with lock nuts to tighten all the passed parts, thus completing the connection and fixation between the thigh and lower leg. (See reference...) Figure 9 Screws are passed through the lower leg swing motor output arm 53 in the transmission linkage assembly 5 and the motor pad 13 in the thigh 4, and finally connected and fixed to the corresponding hole on the thigh swing motor 8 in the thigh 4, completing the connection and fixation between the transmission linkage assembly 5 and the thigh 4. Screws are then used to connect the second fisheye connector 212 in the transmission linkage assembly 5 to the corresponding position of the knee-lower leg connecting plate 23 in the lower leg 6, completing the connection and fixation between the transmission linkage assembly 5 and the lower leg 6. (See also...) Figure 6 and 7 Screws are passed through the ankle joint limit 38 and wheel assembly connecting plate 42 in the ankle joint assembly 26 of the lower leg 6 in sequence, and finally connected and fixed to the corresponding hole of the drive motor 45 in the wheel assembly 7; screws are passed through the wheel assembly connecting flange 37 in the ankle joint assembly 26 of the lower leg 6, and connected and fixed to the corresponding hole of the drive motor 45 in the wheel assembly 7, thus completing the connection and fixation between the wheel assembly 7 and the lower leg 6.

[0085] Please see Figure 3The thigh 4 includes a thigh swing motor 8, a thigh pad 9, a hip-thigh connecting plate 10, a calf swing motor 11, a thigh reinforcing plate 12, a swing motor pad 13, a first thigh fixing member 14, a thigh carbon tube 15, a second thigh fixing member 16, a first crossed roller bearing 171, a washer 18, and a thigh-knee connecting plate 19. Screws are used to pass through the hip-thigh connecting plate 10 and the swing motor pad 13 to connect and fix the thigh swing motor 8. Screws and lock nuts are used to connect and fix the thigh pad 9, the hip-thigh connecting plate 10, and the thigh reinforcing plate 12. The calf swing motor 11 is located between the hip-thigh connecting plate 10 and the thigh reinforcing plate 12, and is connected and fixed to both sides of the hip-thigh connecting plate 10 and the thigh reinforcing plate 12 using screws. The first thigh fixing member 14 and the second thigh fixing member 16 are respectively fixed to both ends of the thigh carbon tube 15 using screws. Screws are sequentially passed through the corresponding holes in the hip-thigh connecting plate 10, the first thigh fixation member 14, and the thigh reinforcing plate 12 to complete the connection and fixation of the thigh carbon tube 15 on the hip joint side; screws are sequentially passed through the corresponding holes in the thigh-knee connecting plate 19, the second thigh fixation member 16, and the knee-lower leg connecting plate 23 to complete the connection and fixation of the thigh carbon tube 15 on the knee joint side. The gasket 18 is fixed to the first crossed roller bearing 171 by screws. The first crossed roller bearing 171 is fixed to the thigh-knee connecting plate 19 by screws and anti-loosening nuts. The main load-bearing structure of the thigh 4 is the thigh carbon tube 15, which ensures strength while maintaining light weight, and the internal space facilitates wiring for related motors and control devices. The first thigh fixation member 14 and the second thigh fixation member 16 are made using a nylon sintering process, which provides both lightweight material and good structural strength.

[0086] Please see Figure 4The lower leg 6 includes an ankle joint motor assembly 20, a first fisheye connector 211, two ankle joint connecting rods and carbon tubes 22, a knee-lower leg connecting plate 23, a first lower leg fixation member 24, a lower leg carbon tube 25, and an ankle joint assembly 26. The two ends of the lower leg carbon tube 25 are fixed to the first lower leg fixation member 24 and the second lower leg fixation member 35 in the ankle joint motor assembly 20 via screws. The knee-lower leg connecting plate 23 is fixed to the first lower leg fixation member 24 via screws. The ankle joint motor assembly 20 is installed and fixed between the two knee-lower leg connecting plates 23 via screws and anti-loosening nuts. The first fisheye connector 211 is fixed to both ends of the ankle joint connecting rods and carbon tubes 22. Each ankle joint connecting rod and carbon tube 22 has its first fisheye connector 211 at one end connected and fixed to the nylon gasket 27 and the first ankle joint motor output swing arm 28 in the ankle joint motor layout assembly 20 via screws and lock nuts; the other end of the first fisheye connector 211 is connected and fixed to the second rotating shaft connector 41 in the ankle joint assembly 20 via screws and lock nuts. The main load-bearing structure of the lower leg 6 is the lower leg carbon tube 25, which ensures strength while being lightweight, and the internal space facilitates the wiring of related motors and control devices. The first lower leg fixing component 24 and the second lower leg fixing component 35 are made using nylon sintering technology, which provides good structural strength while being lightweight.

[0087] The second thigh fixation component 16, the first crossed roller bearing 171, the washer 18, the thigh-knee connecting plate 19, the knee-lower leg connecting plate 23, and the first lower leg fixation component 24 together constitute the robot's knee joint. Because carbon fiber sheets and sintered nylon parts are used, the robot is lightweight while maintaining strength, and is easy to assemble and disassemble. The joint pivot uses the first crossed roller bearing 171, which ensures that joint lubrication is not excessively affected by radial impacts and effectively reduces the impact on the joint during axial impacts.

[0088] Please see Figure 5The ankle joint motor assembly 20 includes a nylon gasket 27, two first ankle joint motor output swing arms 28, two first swing arm pads 29, two second ankle joint motor output swing arms 30, an ankle joint motor pad 31, an ankle joint motor 32, a first ankle joint motor fixing member 33, and a second ankle joint motor fixing member 34. Screws are used to pass through the second ankle joint motor fixing member 34 and connect and fix it to the corresponding holes of the ankle joint motor 32. Screws are also used to pass through the second ankle joint motor fixing member 34 and connect and fix it to the corresponding holes of the first ankle joint motor fixing member 33, thus completing the installation and fixing of the ankle joint motor 32. Screws and lock nuts are used to connect and fix the first ankle joint motor output swing arms 28, the first swing arm pads 29, and the second ankle joint motor output swing arms 30, thus completing the overall installation of the output swing arms. Screws are used to sequentially pass through the second ankle joint motor output swing arms 30 and the ankle joint motor pads 31 and connect and fix them to the corresponding holes on the rotor of the ankle joint motor 32. The nylon gasket 27 is fixed to the first ankle joint motor output swing arm 28 with screws. The first fisheye connector 211 at the end of the ankle joint connecting rod screw and carbon tube 22 is connected and fixed to the nylon washer 27 and the first ankle joint motor output swing arm 28 in the ankle joint motor layout assembly 20 by screws and lock nuts. By choosing a cantilevered and open design to fix the first fisheye connector 211 to the nylon washer 27, the range of motion of the first fisheye connector 211 can be effectively increased to ±20°, making the robot's ankle joint movement more flexible. Furthermore, the layout of the ankle joint motor 32 takes into account the range of motion of the lower leg, meaning that the second ankle joint motor fixing component 34 will not interfere with the thigh 4 during lower leg movement; this design allows the angle between the lower leg and thigh to be between 32° and 140°, ensuring the flexibility of the robot's knee joint.

[0089] Please see Figure 6The ankle joint assembly 26 includes a second lower leg fixation member 35, a universal joint 36, a wheel assembly connecting flange 37, an ankle joint limiter 38, a slotted shaft 39, a first shaft connector 40, a second shaft connector 41, and a wheel assembly connecting plate 42. The second lower leg fixation member 35 and the wheel assembly connecting flange 37 are fixed to both sides of the universal joint 36 via set screws. The first shaft connector 40 and the second shaft connector 41 are fixed to both ends of the slotted shaft 39 via set screws, allowing the first shaft connector 40 and the second shaft connector 41 to rotate relative to each other with a single degree of freedom. The first shaft connector 40 is fixed to the wheel assembly connecting plate 42 by screws and lock nuts. The ankle joint limiter 38 is fixed to the wheel assembly connecting plate 42 by screws. The first shaft connector 40 and the second shaft connector 41 are connected to two ankle joint connecting rods and carbon fiber tubes, respectively. The second lower leg fixation member 35 is connected to the lower leg carbon fiber tube 25. The inclination angle of the limiting surface in ankle joint limit 38 is determined according to the range of motion of the ankle joint, that is, there will be no interference between the various components related to ankle joint movement. The inclination angle of the limiting surface is slightly larger than the lower leg's extreme ground contact angle, ensuring that when the ankle joint reaches its extreme position, the other components will not interfere and cause damage.

[0090] Please see Figure 15 and 16 The second lower leg fixing component 35 is connected to the wheel assembly connecting flange 37 via a universal joint 36. Specifically, the second lower leg fixing component 35 includes a fixing component body 351 and a fixing component limiting plate 352 integrated together. The end of the fixing component limiting plate 352 near the universal joint 36 protrudes outward compared to the fixing component body 351, forming a trapezoidal structure. The wheel assembly connecting flange 37 includes a flange base 371 and a flange limiting plate 372. The flange base 371 is fixed to the drive motor, and the flange limiting plate 372 is vertically disposed on the flange base 371, forming a protruding structure. When the universal joint 36 rotates so that the lower leg carbon tube 25 is parallel to the plane of the flange base 371 (i.e., in the wheeled state), the fixing component limiting plate 352 and the flange limiting plate 372 abut against each other, forming a limiting structure.

[0091] Because the wheel assembly 7 and the lower leg 6 are connected by the universal joint 36, a key component in the ankle joint assembly 26, and due to certain defects in the machining precision and design of the universal joint 36, in the wheeled state, when the ankle joint motor 32 does not participate in the control and apply driving force for constraint, there are two rotational degrees of freedom (e.g., Figure 15 (Left), preventing the wheel assembly 7 from achieving a stable connection with the lower leg 6. Therefore, the limiting structure of the second lower leg fixing member 35 and the wheel assembly connecting flange 37 designed in this invention achieves mechanical limiting (such as...) through the orthogonal contact of the two surfaces of the parts in the wheeled state. Figure 15(Right) Under the action of the robot's gravity, the ankle joint motor 32 can maintain the stability of the wheel state without applying driving force, that is, the position between the wheel set 7 and the lower leg 6 is determined and precisely stable, reducing the control burden of the robot.

[0092] Please see Figure 7 The wheel assembly 7 includes an inner and outer pneumatic tire 43, a hub 44, and a drive motor 45. The inner and outer pneumatic tire 43 are installed in the groove of the hub 44. The hub 44 is fixed to the corresponding position of the rotor of the drive motor 45 by screws.

[0093] Please see Figure 8 The wheel hub 44 includes a first outer wheel hub plate 46, a first wheel hub support member 47, a first inner wheel hub plate 48, a second wheel hub support member 49, a second inner wheel hub plate 50, a spacer post 51, and a second outer wheel hub plate 52. Screws are sequentially passed through the first outer wheel hub plate 46, the first wheel hub support member 47, the first inner wheel hub plate 48, the second wheel hub support member 49, the second inner wheel hub plate 50, the spacer post 51, and the second outer wheel hub plate 52. The ends of the screws are secured with lock nuts to tighten all the passed parts, completing the connection and fixation of all wheel hub components. The design structure of the wheel hub 44 facilitates the later replacement of different sizes of pneumatic tires 43 and different models of drive motors 45.

[0094] Please see Figure 9 The transmission linkage assembly 5 includes a second fisheye connector 212, a lower leg swing motor output swing arm 53, a second swing arm pad 54, and a knee joint connecting rod screw and carbon tube 55. The second fisheye connector 212 is connected and fixed to both ends of the knee joint connecting rod screw and carbon tube 55. The lower leg swing motor output swing arm 53 and the second swing arm pad 54 are connected and fixed using screws and lock nuts. Screws are passed sequentially through the second fisheye connector 212, the second swing arm pad 54, and the lower leg swing motor output swing arm 53 at one end of the linkage, and the ends of the screws are locked with lock nuts to complete the connection and fixation.

[0095] The wheeled robot also includes a docking module 70 connected to the connecting platform 1, a connecting spine 71 fixed to the docking module 70, and a locking buckle 72 fixed to the end of the connecting spine 71. The locking buckle 72 is used to dock the wheeled robot with a human body. The docking module 70 is provided with a take-up motor connected to the connecting spine 71, which is used to control the swing of the connecting spine 71 to change the position of the locking buckle 72.

[0096] Please see Figure 12The docking module 70 includes a docking motor 73, a first fixing member 74, a lead screw coupling 75, a lead screw 76, a slide rail 77, a winding reel 78, a take-up motor 79, a first trolley plate 80, a second trolley plate 81, a third trolley plate 82, a lead screw nut 83, a fourth trolley plate 84, a second aluminum column 85, a third aluminum column 86, a slider 87, a second fixing member 88, and a lead screw flange bearing 89. One end of the docking motor 73 and the slide rail 77 are respectively fixed to the first fixing member 74 with screws, and the other end of the slide rail 77 is fixed to the second fixing member 88 with screws. The rotor of the docking motor 73 is connected to the lead screw 76 via the lead screw coupling 75. The other end of the lead screw 76 is inserted into the lead screw flange bearing 89 embedded in the second fixing member 88. The slider 87 is located above the slide rail 77 and moves between the first fixing member 74 and the second fixing member 88. The slider 87 is fixed to the first trolley plate 80 with screws. The second pulley plate 81 and the third pulley plate 82 are connected between the two first pulley plates 80 by latches and secured by the second aluminum post 85 and corresponding screws. The lead screw nut 83 is fixed to the third pulley plate 82 by screws. The take-up motor 79 is fixed to the second pulley plate 81 by screws. The fourth pulley plate 84 is connected and fixed to the first pulley plate 80 by the third aluminum post 86 and corresponding screws. The winding reel 78 is fixed to the output rotor of the take-up motor 79 by screws. The rope on the winding reel 78 is connected to the connecting spine 71.

[0097] Please see Figure 13The connecting spine 71 includes a tail-end first spinal joint 90, a tail-end second spinal joint 91, a first spinal joint 92, a second spinal joint 93, a spinal flange bearing 94, a head-end first spinal joint 95, and a head-end second spinal joint 96. The head-end first spinal joint 95 and head-end second spinal joint 96, the first spinal joint 92 and head-end second spinal joint 93, and the tail-end first spinal joint 90 and tail-end second spinal joint 91 are respectively connected and fixed as complete joint modules using screws and nuts. The spinal flange bearings 94 are respectively embedded in the corresponding positions of the head-end first spinal joint 95 and head-end first spinal joint 92. The corresponding protrusions of each joint module are inserted into the spinal flange bearings 94 of the next joint, completing the connection of the entire connecting spine. The tail-end first spinal joint 90 of the connecting spine 71 is fixed to the fourth trolley plate 84 of the docking module 70 by screws, achieving a fixed connection between the connecting spine 71 and the docking module 70. Springs and Bowden wires pass through the openings on both sides of the connecting spine 71. The springs are fixed between the front and rear spinal joints, and each spinal joint is tightened by the springs, causing the connecting spine 71 to deflect to one side. On the other side, one end of the Bowden wire is fixed to the first spinal joint 90 at the tail, passes through the first spinal joint 92 and the first spinal joint 90 at the head, and the other end is fixed to the winding reel 78. Ultimately, the connecting spine 71 can swing left and right with only one motor control. The position of the connecting spine 71 is changed by sliding the four-slide plate 84, and the left and right swing of the connecting spine is achieved by the winding motor 79, changing the position of its end latch 72. This allows the wearer to turn without being affected by the robot's direction, reducing the feeling of restraint when wearing the robot.

[0098] Please see Figure 14 The latch 72 includes a female latch 97, a flange bearing 98, a button 99, a latch tongue 100, and a male latch 101. The flange bearing 98 is embedded in the corresponding position of the female latch 97, and the latch tongue 100 is fixed between the two flange bearings 98. The button 99 is placed in the corresponding empty position of the female latch 97. The male latch 101 in the latch 72 is fixed to the first vertebral joint 95 of the spine 71 by screws, realizing the fixed connection between the latch 72 and the spine 71. The female latch 97 in the latch 72 is connected to the fixation point of the human body.

[0099] The connection platform 1 is equipped with a battery pack and a controller connected to the battery pack (not shown in the figure). The thigh swing motor 8, the calf swing motor 11, the ankle joint motor 32, the drive motor 45, the hip joint swing motor 57, the docking motor 73, and the take-up motor 79 are all connected to the controller.

[0100] The working principle of the aforementioned human-machine integrated wheeled robot is as follows:

[0101] The power supply components inside the connection platform 1 provide power to the drive motor 45, enabling the wheel set 7 to run continuously and allowing the robot to move in a wheeled state;

[0102] The power supply component provides power to the ankle joint motor 32. By controlling the two ankle joint motors 32 on the left wheel leg 2 or the right wheel leg 3, the posture of the wheel group 7 can be changed, realizing different grounding angles between the wheel group 7 and the ground, as well as the wheel foot switching function. The power supply component provides power to the lower leg swing motor 11. By controlling the lower leg swing motor 11, the angle between the thigh 4 and the lower leg 6 can be changed, realizing the robot's squatting and standing movements.

[0103] The power supply component provides power to the thigh swing motor 8, and by controlling the thigh swing motor 8, the robot can move its legs forward or backward.

[0104] The power supply component provides power to the hip joint swing motor 57, and by controlling the hip joint swing motor 57, the robot can move its leg to the left or right.

[0105] The power supply component provides power to the docking motor 73. By controlling the docking motor 73, the left and right translation of the connecting spine 71 can be realized, so that the robot can still calibrate the docking mechanism even when it cannot be precisely aligned with the human body.

[0106] The power supply component provides power to the take-up motor 79. By controlling the take-up motor 79, the left and right swing of the connected spine 71 can be realized, and the position of its end buckle 72 can be changed, so that the human body can be unaffected by the robot's direction when the robot wearer turns, reducing the feeling of restraint when wearing it.

[0107] By controlling the thigh swing motor 8, the lower leg swing motor 11, the ankle joint motor 32, the drive motor 45, and the hip joint swing motor 57, the robot can achieve highly flexible movements similar to human lower limbs, realizing multimodal motion effects, including but not limited to wheeled movement, legged walking, adaptive adjustment in complex terrain, wheel-leg posture switching function, and transition actions between any two of the above modes.

[0108] The working principles of each mode of this invention are as follows:

[0109] like Figure 18 As shown, wheeled movement is achieved by controlling the ankle joint motors 32 on the left wheel leg 2 and the right wheel leg 3, which put the wheel sets 7 on the left wheel leg 2 and the right wheel leg 3 into a wheeled posture; and by controlling the drive motors 45 on the left wheel leg 2 and the right wheel leg 3, the robot can move in wheels and maintain the balance of the connecting platform 1. At the same time, by cooperating with the control of the lower leg swing motors 11, the height of the connecting platform 1 from the ground can be adjusted to achieve squatting and standing movements.

[0110] like Figure 19 As shown, the robot walks on its feet: By controlling the ankle joint motors 32 on the left wheel leg 2 and the right wheel leg 3, the wheel sets 7 on the left wheel leg 2 and the right wheel leg 3 are kept in a foot-like posture, and the ankle joint motors 32 are always adjusted to ensure that the wheel sets 7 form a suitable contact angle with the ground; by controlling the thigh swing motor 8 and the lower leg swing motor 11, the robot can move forward and backward; by controlling the lower leg swing motor 11, the robot can move forward and backward; and by controlling the hip joint swing motor 57, the robot can move left and right. Simultaneously, by coordinating the control of the lower leg swing motor 11, the height of the connecting platform 1 above the ground can be adjusted, enabling squatting and standing movements.

[0111] like Figure 20 As shown, the complex terrain adaptive adjustment is achieved by controlling the ankle joint motor 32 on the left wheel leg 2 and the right wheel leg 3 to make the wheel set 7 on the left wheel leg 2 and the right wheel leg 3 in a wheel or foot posture, and always adjusting the ankle joint motor 32 to make the wheel set 7 form a suitable contact angle with the ground.

[0112] like Figure 21 As shown, the wheel-leg posture switching is achieved by controlling the thigh swing motor 8 and the calf swing motor 11 to lift the wheel group 7, which is to be switched, off the ground. Then, by controlling the ankle joint motors 32 on the left wheel leg 2 and the right wheel leg 3, the posture of the wheel group 7 is changed. At the same time, the thigh swing motor 8 and the calf swing motor 11 must be constantly controlled to ensure the robot's balance throughout the entire process.

[0113] In summary, the present invention has a hip joint swing motor 57 fixedly mounted on the connecting platform 1 to control the side kicking and retraction movements of the wheeled leg. A thigh swing motor 8 is connected to the hip joint swing motor 57 via a bracket to control the forward and backward swinging movements of the thigh. The thigh swing motor 8 is connected to a thigh connecting rod via a connector, and a lower leg swing motor 11 is fixedly mounted on the thigh connecting rod to control the forward and backward swinging movements of the lower leg. A pair of ankle joint motors 32 are fixedly mounted at the end of the lower leg to realize the wheel-foot switching function and provide the necessary degrees of freedom for ankle joint movement. A drive motor 45 for providing running power is fixedly mounted at the end of the ankle joint.

[0114] One end of the docking module 70 is fixed to the connecting platform 1, and the other end is fitted with the tail end of the connecting spine 71. The first section of the connecting spine 71 is equipped with a locking buckle 72 for docking with a person. The docking motor 73 in the docking module 70 can drive the trolley structure in the docking module to move left and right, achieving the purpose of adjusting the docking position during docking. The take-up motor 73 in the docking module 70 achieves the left and right swing of the connecting spine 71 by taking up and releasing the Bowden cable that runs through the entire connecting spine, achieving the purpose of conforming to the turning of the human body. The male end of the locking buckle 72 can be inserted into the female end to lock it, and the button on the female end can be pressed to unlock it.

[0115] The wheel-legged balancing robot chassis operates in a hybrid wheel-legged mode, freely switching between the two. It primarily operates in wheeled mode when speed is required, and primarily in legged mode when navigating complex terrain. In other words, it combines the strong terrain adaptability of a bipedal chassis with the speed and flexibility of a wheel-legged balancing chassis, all integrated into a single platform. The connection between the robot and the human can be quickly locked and disconnected, and its structure effectively transmits the lifting force provided by the wheel-legged balancing robot chassis to the human's waist, thereby enhancing human carrying and transport capabilities.

[0116] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A human-robot integrated wheeled legged robot, characterized in that, It includes a connecting platform (1) and a left wheel leg (2) and a right wheel leg (3) that are movably connected to the connecting platform (1) via a swing motor; the left wheel leg (2) includes a thigh (4), a transmission linkage group (5), a lower leg (6) and a wheel group (7); the right wheel leg (3) has the same structure as the left wheel leg (2); The lower leg (6) includes an ankle joint motor layout assembly (20), two ankle joint connecting rods and carbon tubes (22), a lower leg carbon tube (25), a knee-lower leg connecting plate (23), and an ankle joint assembly (26); one end of the thigh (4) and the transmission connecting rod assembly (5) are movably connected to the knee-lower leg connecting plate (23), and the other end is movably connected to the swing motor; one end of the lower leg carbon tube (25) is connected to the end of the knee-lower leg connecting plate (23), and the other end is movably connected to the wheel assembly (7) through the ankle joint assembly (26); the other end of the knee-lower leg connecting plate (23) is connected to the ankle joint motor layout assembly (20); One end of each of the two ankle joint connecting rods and carbon tubes (22) is connected to the ankle joint motor assembly (20), and the other end is movably connected to the wheel set (7) through the ankle joint assembly (26); the ankle joint motor assembly (20) drives the movement of the two ankle joint connecting rods and carbon tubes (22) to achieve wheel-foot switching; The ankle joint assembly (26) includes a wheel connection flange (37), a universal joint (36), a second lower leg fixing component (35), an ankle joint limiter (38), a single-spindle pivot (39), a first pivot connector (40), two second pivot connectors (41) and a wheel connection plate (42). The wheel set connecting flange (37) and the wheel set connecting plate (42) are both fixedly connected to the wheel set (7), and the wheel set connecting flange (37) is located in the middle part of the wheel set connecting plate (42); one end of the second lower leg fixing member (35) is fixed to the wheel set connecting flange (37) through the universal joint (36), and the other end is connected to the lower leg carbon tube (25); The swivel (39) is fixed to the side of the wheel assembly connecting plate (42) via the first swivel connector (40). A second swivel connector (41) is connected to each end of the swivel (39) to connect the two ankle joint connecting rods and carbon tubes (22). The wheel assembly (7) includes a drive motor (45), a hub (44) rotatably connected to the first end of the drive motor (45), and a tire (43) sleeved on the outside of the hub (44). The drive motor (45) is used to drive the tire (43) to rotate in a wheeled state. The wheel assembly connecting flange (37) includes a flange base (371) fixedly connected to the second end of the drive motor (45) and a flange limiting plate (372) vertically disposed on the flange base (371); the second lower leg fixing member (35) includes a fixing member body (351) movably connected to the universal joint (36) and a fixing member limiting plate (352) fixed to one side of the fixing member body (351); the plane of the fixing member limiting plate (352) is parallel to the lower leg carbon tube (25) and protrudes outward toward the end of the universal joint (36) so that it contacts the flange limiting plate (372) in the wheeled state to achieve the limiting of the wheeled state.

2. The human-machine collaborative wheeled robot according to claim 1, characterized in that, The hub (44) includes a first outer hub plate (46), a first hub support (47), a first inner hub plate (48), a second hub support (49), a second inner hub plate (50), a partition post (51), and a second outer hub plate (52) that are fixed together in sequence by screws.

3. The human-machine collaborative wheeled robot according to claim 1, characterized in that, The ankle joint motor layout assembly (20) includes two sets of motor drive swing arms that are movably connected to one end of the two ankle joint connecting screws and carbon tubes (22), and a set of knee-lower leg connecting plate fixing members that are movably connected to one end of the lower leg carbon tubes (25); the fixing members are located in the middle of the two sets of motor drive swing arms. Each set of motor-driven swing arms includes a first ankle joint motor output swing arm (28), a second ankle joint motor output swing arm (30), an ankle joint motor (32), a first ankle joint motor fixing member (33), and a second ankle joint motor fixing member (34); the two ankle joint motors (32) of the two sets of motor-driven swing arms are coaxially arranged, and the outer periphery of each ankle joint motor (32) is fixed by the second ankle joint motor fixing member (34). The first ankle joint motor fixing member (33) is located in the middle of the two ankle joint motors (32) and can rotate. The knee-lower leg connecting plate fixing member is connected to the end of the first ankle joint motor fixing member (33) for fixing the knee-lower leg connecting plate (23). One end of the second ankle joint motor output swing arm (30) is movably connected to the ankle joint motor (32), and the other end is connected to the first ankle joint motor output swing arm (28). The ankle joint connecting rod screw and carbon tube (22) are movably connected to the first ankle joint motor output swing arm (28) through the first fisheye connector (211).

4. The human-machine collaborative wheeled robot according to claim 1, characterized in that, The thigh (4) includes a first thigh fixation member (14), a thigh carbon tube (15), a second thigh fixation member (16), a first crossed roller bearing (171), a gasket (18), and a thigh-knee connecting plate (19). One end of the thigh carbon tube (15) is movably connected to the swing motor through the first thigh fixing member (14), and the other end is connected to the thigh-knee connecting plate (19) through the second thigh fixing member (16); the first cross roller bearing (171) is fixed on the thigh-knee connecting plate (19), the gasket (18) is fixed on the first cross roller bearing (171), and the thigh-knee connecting plate (19) is movably connected to the knee-calf connecting plate (23) through the first cross roller bearing (171).

5. The human-machine collaborative wheeled robot according to claim 4, characterized in that, The transmission linkage assembly (5) includes a knee joint connecting rod and carbon tube (55), a lower leg swing motor output swing arm (53), and a second swing arm pad (54). One end of the knee joint connecting rod and carbon tube (55) is movably connected to the knee-lower leg connecting plate (23) through a second fisheye connector (212), and the other end is movably connected to the lower leg swing motor output swing arm (53) through another second fisheye connector (212). The second swing arm pad (54) is located between the second fisheye connector (212) and the lower leg swing motor output swing arm (53).

6. The human-machine collaborative wheeled robot according to claim 4, characterized in that, The swing motor includes a thigh swing motor (8), a thigh pad (9), a hip-thigh connecting plate (10), a calf swing motor (11), a thigh reinforcing plate (12), and a swing motor pad (13). The hip-thigh connecting plate (10) and the swing motor pad (13) are connected and fixed to the thigh swing motor (8) by screws, and the thigh pad (9), the hip-thigh connecting plate (10), and the thigh reinforcing plate (12) are connected and fixed by screws and anti-loosening nuts. The calf swing motor (11) is located between the hip-thigh connecting plate (10) and the thigh reinforcing plate (12), and is connected and fixed to the calf swing motor (11) from both sides of the hip-thigh connecting plate (10) and the thigh reinforcing plate (12) by screws. The angle between the thigh (4) and the lower leg (6) is changed by the lower leg swing motor (11) to realize the squatting and standing movements of the wheeled robot; The thigh swing motor (8) controls the forward or backward leg movement of the wheeled robot.

7. The human-machine collaborative wheeled robot according to claim 6, characterized in that, The connecting platform (1) includes a first fixing plate (56), two hip joint swing motors (57), a second fixing plate (58), four support members (59), a base plate (60), a third fixing plate (61), and two hip joint assemblies (62). The hip joint assembly (62) includes a second crossed roller bearing (172), a first hip joint plate (63), a second hip joint plate (64), a first hip joint pad (65), a second hip joint pad (67), a third hip joint plate (68), and a fourth hip joint plate (69). The first fixing plate (56), the second fixing plate (58), and the third fixing plate (61) are fixed in parallel to the base plate (60) by four support members (59). The hip joint assembly (62) is located between the second fixing plate (58) and the third fixing plate (61). The two hip joint swing motors (57) are fixed between the first fixing plate (56) and the second fixing plate (58) and are respectively connected to the first hip joint plate (63) of the two hip joint assemblies (62). The hip joint swing motors (57) are used to realize the left or right leg movement of the wheeled robot. The first hip joint plate (63), the second hip joint plate (64), the third hip joint plate (68) and the fourth hip joint plate (69) form a rectangular frame; the first hip joint plate (63) and the fourth hip joint plate (69) are fixed to the second fixing plate (58) and the third fixing plate (61) respectively by the second cross roller bearing (172); The first hip joint pad (65) and the second hip joint pad (67) are fixed to the inner walls of the second hip joint plate (64) and the third hip joint plate (68), respectively, and the thigh swing motor (8) is fixed between the first hip joint pad (65) and the second hip joint pad (67).

8. The human-robot collaborative wheeled robot according to any one of claims 1-7, characterized in that, The wheeled robot also includes a docking module (70) connected to the connecting platform (1), a connecting spine (71) fixed to the docking module (70), and a latch (72) fixed to the end of the connecting spine (71). The latch (72) is used to dock the wheeled robot with the human body. The docking module (70) is provided with a take-up motor connected to the connecting spine (71) to control the swing of the connecting spine (71) to change the position of the latch (72).

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