Six-wheel-legged robot with switchable wheels and feet

Abstract

The embodiment of the invention discloses a six-wheel-legged robot with switchable wheels and feet, and relates to the technical field of intelligent robots. According to the scheme, the robot comprises a vehicle body, a depth camera, a laser radar, a thigh unit, a shank unit, a foot switching mechanism, a wheel steering mechanism and driving wheels. The vehicle body is a carrier of the depth camera, the laser radar and the thigh unit, the laser radar is installed on the top of the vehicle body, and the depth camera is installed on the front portion of the vehicle body and can be used for collecting environment information; the shank unit is mounted on the thigh unit through a planet carrier; the wheel steering mechanism is installed on the shank unit through a steering gear connecting rod and can be used for adjusting the posture of the driving wheel. The driving wheels are installed on the wheel frame and can be used for driving the six-wheel leg type robot to move. Aiming at field complex environment detection, the robot not only has a high-speed moving wheel type movement capability, but also has a foot type movement capability with strong obstacle crossing capability.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent robots, and in particular to a six-wheeled legged robot with switchable wheels and feet. Background Art

[0002] Faced with complex outdoor environments, such as rugged mountains, soft sand, and even steep areas covered with gravel.

[0003] Traditional wheeled or legged robots often have difficulty adapting to these complex terrains, while wheel-legged robots have the advantages of both. Wheel-legged robots can travel at high speeds on relatively flat roads, improving work efficiency; at the same time, their legged structure gives them flexibility and stability in rugged terrain, improving their obstacle-crossing capabilities and ensuring that they can successfully complete tasks in complex environments.

[0004] One of the current research and development routes is mainly based on the four-wheeled leg robot architecture, such as Unitree B2-W. The four-wheeled legs are more flexible but have higher requirements for structural strength and materials. The upper limit of the four-wheeled legs is difficult to increase, and the application scenarios are narrower than the six-wheeled leg architecture. However, the six-wheeled leg architecture is more complex than the four-wheeled leg architecture, and the overall wheel-leg structure is more prone to failure. Therefore, it is necessary to further develop robots with six-wheeled leg architectures so that they can adapt to more application scenarios.

[0005] Therefore, how to improve a six-wheeled legged robot with switchable wheels and feet, and optimize the wheel-foot structure so that it has a simpler mechanical structure and reduces the failure rate has become a topic that needs to be studied in depth. Summary of the invention

[0006] The embodiment of the present invention designs a six-wheeled legged robot with switchable wheels and feet, which has a simpler mechanical structure and is less prone to failure.

[0007] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0008] A six-wheeled legged robot with switchable wheels and feet comprises: a body (1), a depth camera (2), a laser radar (3), a thigh unit (4), a calf unit (5), a foot switching mechanism (6), a wheel steering mechanism (7) and a driving wheel (8); the depth camera (2) and the laser radar (3) are used to collect surrounding environment information;

[0009] The vehicle body (1) is a carrier of the depth camera (2), the laser radar (3), and the thigh unit (4); the laser radar (3) is installed on the top of the vehicle body (1), and the depth camera (2) is installed on the front of the vehicle body (1), and can be used to collect environmental information;

[0010] The calf unit (5) is connected to the thigh unit (4) via a planetary carrier (5-1-2); the calf unit (5) is connected to the vehicle body (1) via the thigh unit (4). The thigh unit (4) includes a roll hip joint (4-1) and a thigh connecting rod (4-2). The calf unit (5) includes a pitch hip joint (5-1), a pitch knee joint (5-2), a calf shell (5-3), and a calf connecting rod (5-4).

[0011] The wheel steering mechanism (7) comprises: a steering gear connecting rod (7-1), a steering motor and a speed reduction mechanism (7-2) and a wheel frame (7-3); the wheel steering mechanism (7) is mounted on the calf unit (5) via the steering gear connecting rod (7-1); a driving wheel (8) is mounted on the wheel frame (7-3), and can be used to drive the six-wheeled legged robot to move;

[0012] The foot switching mechanism (6) comprises: a driving motor (6-1), a coupling (6-2), a gear pair (6-3), a bearing (6-4), a rectangular screw (6-5), a foot end unit (6-6), a housing (6-7), a large gear shaft (6-8) and a small gear shaft (6-9). The foot switching mechanism (6) is an important mechanism for realizing the switching between wheeled motion and footed motion. The foot switching mechanism (6) has one degree of freedom and enables the mechanism to have a certain motion through the driving motor (6-1).

[0013] Specifically, the edge of the calf shell (5-3) extends out of the calf connecting rod (5-4) and forms a groove in the calf shell (5-3), and the driving motor (6-1) and the gear pair (6-3) are installed in the groove in the calf shell (5-3). The gear pair (6-3) includes a large gear and a small gear, and the large gear meshes with the small gear. The gear pair (6-3) transmits the power of the small gear to the large gear through the meshing between the gears, so as to achieve the deceleration and torque increase of the driving motor (6-1); the driving motor (6-1) is connected to the small gear shaft (6-9) of the small gear through the coupling (6-2); the coupling (6-2) is used to transmit the power of the driving motor (6-1) to the small gear in the gear pair (6-3). The large gear is installed on the outside of the shank connecting rod (5-4) through the housing (6-7); the top end of the rectangular screw rod (6-5) is coaxially connected to the large gear shaft (6-8) of the large gear, and the bottom end of the rectangular screw rod (6-5) is movably connected to the foot end unit (6-6) through a screw pair, such as Figure 7As shown, the rectangular screw (6-5) and the bearing (6-4) are movably connected so that the two can rotate relative to each other; the bearing (6-4) is installed on the large gear shaft (6-8) to achieve the axial positioning of each component. The large gear drives the large gear shaft (6-8) to make circular motion, and the power is transmitted to the rectangular screw (6-5) through the large gear shaft (6-8); the rectangular screw (6-5) is used to convert the circular motion transmitted by the gear pair (6-3) into the linear motion of the foot end unit (6-6), so that the foot end unit (6-6) can contact and separate from the ground;

[0014] The end of the foot end unit (6-6) adopts a hemispherical structure. The overall height of the six-wheeled legged robot can be adjusted by adjusting the output distance of the foot end unit (6-6), thereby achieving the position adjustment of the six-wheeled legged robot. The end of the foot end unit (6-6) adopts a hemispherical structure, so that the six-wheeled legged robot can adapt to the environment more quickly when switching to foot-type movement.

[0015] Furthermore, the pitch hip joint (5-1) comprises a motor end cover (5-1-1), a drive motor (5-1-2), a planetary gear (5-1-3), a gear ring (5-1-4), a planetary carrier (5-1-5) and a bearing (5-1-6); the pitch hip joint (5-1) is fixed to the shank connecting rod (5-4) through the motor end cover (5-1-1), so that the pitch hip joint (5-1) and the shank connecting rod (5-4) do not have relative motion; the planetary carrier (5-1-5) is connected to the thigh connecting rod (4-2), and the two do not have relative motion; the steering gear connecting rod (7-1) is connected to the pitch knee joint (5-2), and the two do not have relative motion; the driving wheel (8) is installed on the wheel frame (7-3) to facilitate circular motion. The lateral hip joint (4-1) is used to drive the thigh connecting rod (4-2) to swing; the pitch hip joint (5-1) is used to drive the calf connecting rod (5-4) to swing; the pitch knee joint (5-2) drives the wheel steering mechanism (7) to swing through the steering gear connecting rod (7-1); the wheel steering mechanism (7) can drive the wheel to rotate 360 ​​degrees through the wheel frame (7-3).

[0016] In the wheeled motion mode, the position and posture of the six-wheeled legged robot with switchable wheels and feet is adjusted by the yaw hip joint (4-1), the pitch hip joint (5-1), the pitch knee joint (5-2) and the wheel steering mechanism (7), the drive motor (6-1) does not work, and the six-wheeled legged robot with switchable wheels and feet is driven to move by the drive wheel (8). Specifically, when the robot is in wheeled motion, each single leg has four degrees of freedom. Among them, the yaw hip joint (4-1), the pitch hip joint (5-1), the pitch knee joint (5-2) and the wheel steering mechanism (7) realize the position and posture adjustment of the six-wheeled legged robot, and the drive motor (6-1) does not work. The drive wheel (8) drives the six-wheeled legged robot to move. In this motion mode, the six-wheeled legged robot moves at a faster moving speed. When the six-wheeled legged robot is in wheeled motion, it has the motion forms of normal movement, squatting movement and obstacle crossing movement. Faced with different working environments, the six-wheeled legged robot can switch freely among the above-mentioned movement forms, enabling it to better adapt to complex field environments and improve its efficiency in field operations.

[0017] In the foot-type motion mode, the position and posture of the six-wheeled legged robot with switchable wheels and feet are adjusted by the yaw hip joint (4-1), the pitch hip joint (5-1) and the drive motor (6-1), and the pitch knee joint (5-2) and the wheel steering mechanism (7) do not work; the wheel steering mechanism (7) and the wheel (8) are driven to swing by the pitch knee joint (5-1). Specifically, when the robot is in the foot-type motion, each single leg has four degrees of freedom. Among them, the yaw hip joint (4-1), the pitch hip joint (5-1) and the drive motor (6-1) realize the position and posture adjustment of the six-wheeled legged robot, and the pitch knee joint (5-2) and the wheel steering mechanism (7) do not work after switching to the foot-type motion. The movement of the six-wheeled legged robot is realized by the coordination of various joints. In this motion mode, the movement of the six-wheeled legged robot has a stronger obstacle-crossing ability. When the robot is in the foot-type motion, the motion forms such as two-gait, three-gait and six-gait can be adopted. The six-wheeled legged robot can select the most effective gait to work according to different working environments, and well meet the requirements of the six-wheeled legged robot for speed change, turning and obstacle avoidance on complex terrain in the wild. The pitch knee joint (5-1) can drive the wheel steering mechanism (7) and the wheel (8) to swing, increase the working space of the foot end unit of the robot during foot-type movement, and improve the flexibility and efficiency of the robot in the wild environment.

[0018] The six-wheeled legged robot with switchable wheels and feet designed in the embodiment of the present invention comprises a body, a depth camera, a laser radar, a thigh unit, a calf unit, a foot switching mechanism, a wheel steering mechanism, and a driving wheel. The body is a carrier of the depth camera, the laser radar, and the thigh unit. The laser radar is installed on the top of the body, and the depth camera is installed on the front of the body, which can be used to collect environmental information; the calf unit is installed on the thigh unit through a planetary carrier; the wheel steering mechanism is installed on the calf unit through a steering gear connecting rod, which can be used to adjust the position of the driving wheel; the driving wheel is installed on the wheel frame, which can be used to drive the six-wheeled legged robot to move. The present invention is aimed at detecting complex environments in the wild, and not only has the wheeled motion capability of high-speed movement, but also has the footed motion capability with strong obstacle crossing ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the overall structure of a six-wheeled legged robot with switchable wheels and feet designed for an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the structure of each single leg of a six-wheeled legged robot with switchable wheels and feet designed for an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the internal structure of a calf unit designed for an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the foot switching mechanism structure designed for an embodiment of the present invention;

[0024] Figure 5 A cross-sectional view of a pitch hip joint designed for an embodiment of the present invention.

[0025] Figure 6 A cross-sectional view of some components of the wheel-foot switching mechanism designed for an embodiment of the present invention;

[0026] Figure 7 A cross-sectional view of a rectangular lead screw and a foot end unit designed for the implementation of the present invention, showing a movable connection, i.e., the two are connected by a spiral web. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention will be described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention. It can be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "one", "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used here may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items. It can be understood by those skilled in the art that, unless otherwise defined, all terms used herein, including technical terms and scientific terms, have the same meaning as generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0028] This embodiment designs a foot switching mechanism, see Figures 1 to 4 The foot switching mechanism 6 includes a driving motor 6-1, a coupling 6-2, a gear pair 6-3, a bearing 6-4, a rectangular screw 6-5, a foot end unit 6-6, a housing 6-7, a large gear shaft 6-8, and a small gear shaft 6-9.

[0029] In this embodiment, if Figure 6 As shown, the drive motor 6-1 and the small gear in the gear pair 6-3 are installed on the inner side of the calf connecting rod 5-4 through the groove in the calf connecting rod 5-4 and the calf housing 5-3; the drive motor 6-1 is connected to the small gear shaft 6-9 through the coupling 6-2; the large gear in the gear pair 6-3 is installed on the outer side of the calf connecting rod 5-4 through the housing 6-7; the rectangular screw 6-5 is movably connected to the foot end unit 6-6 through the spiral pair; the bearing 6-4 is installed on the shaft to realize the axial positioning of each component;

[0030] Specifically, the coupling 6-2 is used to transmit the power of the drive motor 6-1 to the small gear in the gear pair 6-3; the gear pair 6-3 transmits the power of the small gear to the large gear through the meshing between the gears, thereby realizing the deceleration and torque increase of the drive motor 6-1; the large gear drives the large gear shaft 6-8 to make circular motion, and transmits the power to the rectangular screw 6-5 through the large gear shaft 6-8; the rectangular screw 6-5 is used to convert the circular motion transmitted by the gear pair 6-3 into the linear motion of the foot end unit 6-6, thereby realizing the contact and separation of the foot end unit 6-6 with the ground.

[0031] In this embodiment, the foot switching mechanism 6 is an important mechanism for realizing the switching between wheeled motion and footed motion. The foot switching mechanism 6 has one degree of freedom and enables the mechanism to have a certain motion by driving the motor 6-1.

[0032] In this embodiment, the overall height of the six-wheeled legged robot can be adjusted by adjusting the output distance of the foot end unit 6-6 to achieve the posture adjustment of the six-wheeled legged robot. The end of the foot end unit 6-6 adopts a hemispherical structure, so that the six-wheeled legged robot can adapt to the environment more quickly when switching to foot movement.

[0033] This embodiment designs a six-wheeled legged robot with switchable wheels and feet that uses the above-mentioned foot switching mechanism, see Figures 1 to 5 , which includes a body 1, a depth camera 2, a laser radar 3, six thigh units 4, six shank units 5, six foot switching mechanisms 6, six wheel steering mechanisms 7, and six driving wheels 8. Each robot leg sequentially includes a yaw hip joint 4-1, a thigh link 4-2, a pitch hip joint 5-1, a shank link 5-4, and a pitch knee joint 5-2.

[0034] In this embodiment, the calf unit includes a calf connecting rod 5-4, a calf housing 5-3, a pitch hip joint 5-1, and a pitch knee joint 5-2. The planet carrier 5-1-5 of the calf unit 5 is movably connected to the thigh unit 4.

[0035] In this embodiment, the pitch hip joint 5-1 includes a motor end cover 5-1-1, a drive motor 5-1-2, a planetary gear 5-1-3, a gear ring 5-1-4, a planetary carrier 5-1-5 and a bearing 5-1-6. The pitch hip joint 5-1 is fixed to the shank connecting rod 5-4 through the motor end cover 5-1-1, and has no relative movement with the shank connecting rod 5-4; the planetary carrier 5-1-5 is connected to the thigh connecting rod 4-2, and has no relative movement with the thigh connecting rod 4-2; the steering gear connecting rod 7-1 is connected to the pitch knee joint 5-2, and has no relative movement with the thigh connecting rod 4-2; the driving wheel 8 is installed on the wheel frame 7-3 and can make circular motion.

[0036] In this embodiment, the depth camera 2 and the laser radar 3 collect information about the surrounding environment; the yaw hip joint 4-1 drives the thigh link 4-2 to swing; the pitch hip joint 5-1 drives the calf link 5-4 to swing; the pitch knee joint 5-2 drives the wheel steering mechanism 7 to swing through the steering gear link 7-1; the wheel steering mechanism 7 can drive the wheel to rotate 360° through the wheel frame 7-3.

[0037] In this embodiment, when the six-wheeled legged robot is in wheeled motion, each single leg has four degrees of freedom. The yaw hip joint 4-1, the pitch hip joint 5-1, the pitch knee joint 5-2 and the wheel steering mechanism 7 realize the posture adjustment of the six-wheeled legged robot, and the drive motor 6-1 does not work. The driving wheel 8 drives the six-wheeled legged robot to move. In this motion mode, the six-wheeled legged robot moves at a faster speed.

[0038] In this embodiment, when the six-wheeled legged robot is in wheeled motion, it has the following motion forms: normal motion, squatting motion, and obstacle-crossing motion. Facing different working environments, the six-wheeled legged robot can freely switch between the above motion forms, so that it can better adapt to complex field environments and improve the efficiency of its field operations.

[0039] In this embodiment, when the six-wheeled legged robot is in foot-type motion, each single leg has three degrees of freedom. The yaw hip joint 4-1, the pitch hip joint 5-1 and the drive motor 6-1 realize the posture adjustment of the six-wheeled legged robot, and the pitch knee joint 5-2 and the wheel steering mechanism 7 do not work after switching to foot-type motion. The movement of the six-wheeled legged robot is achieved through the coordination of various joints. In this motion mode, the movement of the six-wheeled legged robot has a stronger obstacle-crossing ability.

[0040] In this embodiment, when the six-wheeled legged robot is in foot-type motion, it can adopt two-gait, three-gait and six-gait motion forms. The six-wheeled legged robot can select the most effective gait to work according to different working environments, which well meets the needs of the six-wheeled legged robot for speed change, turning and obstacle avoidance on complex terrain in the wild.

[0041] In this embodiment, the pitch knee joint 5-1 can drive the wheel steering mechanism 7 and the wheel 8 to swing, thereby increasing the working space of the foot end unit of the robot during foot-type movement, and improving the flexibility and efficiency of the robot in outdoor environments.

[0042] The main advantages of this embodiment are:

[0043] A six-wheeled legged robot with switchable wheels and feet is designed, which combines the fast movement of wheels and the flexibility of feet, greatly improving the robot's ability to complete tasks in complex outdoor environments. The wheels can move at high speed, the feet can climb over obstacles, and the switch between wheeled and footed movement can be achieved through the foot switching mechanism.

[0044] Each leg has four degrees of freedom in the wheeled motion state, namely, the yaw motion of the hip joint, the pitch motion of the hip joint, the pitch motion of the knee joint, and the 360° torsion motion of the wheel steering mechanism. The robot has multiple degrees of freedom when in wheeled motion, which can realize the adjustment of the robot's complex posture and improve the robot's flexibility.

[0045] Each joint movement is controlled by a single independent motor, which improves the overall flexibility of the robot. A planetary gear set is used to reduce the speed of the motor and increase the torque, making each joint of the robot occupy a smaller space.

[0046] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A six-wheeled legged robot with switchable wheels and feet, characterized in that: include: Vehicle body (1), depth camera (2), laser radar (3), thigh unit (4), calf unit (5), foot switching mechanism (6), wheel steering mechanism (7) and driving wheel (8); The vehicle body (1) is a carrier of the depth camera (2), the laser radar (3), and the thigh unit (4); the laser radar (3) is installed on the top of the vehicle body (1), and the depth camera (2) is installed on the front of the vehicle body (1); The calf unit (5) is connected to the thigh unit (4) via a planetary frame (5-1-2); The wheel steering mechanism (7) comprises: a steering gear connecting rod (7-1), a steering motor and a speed reduction mechanism (7-2) and a wheel frame (7-3); the wheel steering mechanism (7) is mounted on the calf unit (5) via the steering gear connecting rod (7-1), and the driving wheel (8) is mounted on the wheel frame (7-3); The foot switching mechanism (6) comprises: a driving motor (6-1), a coupling (6-2), a gear pair (6-3), a bearing (6-4), a rectangular screw (6-5), a foot end unit (6-6), a housing (6-7), a large gear shaft (6-8) and a small gear shaft (6-9).

2. The six-wheeled legged robot with switchable wheels and feet according to claim 1, characterized in that: The edge of the calf shell (5-3) extends out of the calf connecting rod (5-4) and forms a groove in the calf shell (5-3), and the driving motor (6-1) and the gear pair (6-3) are installed in the groove in the calf shell (5-3).

3. The six-wheeled legged robot with switchable wheels and feet according to claim 2, characterized in that: The gear pair (6-3) includes a large gear and a small gear, the large gear meshes with the small gear, and the driving motor (6-1) is connected to the small gear shaft (6-9) of the small gear through a coupling (6-2); The coupling (6-2) is used to transmit the power of the driving motor (6-1) to the small gear in the gear pair (6-3).

4. The six-wheeled legged robot with switchable wheels and feet according to claim 1 or 3, characterized in that: The large gear is installed on the outside of the shank connecting rod (5-4) through a housing (6-7); The top end of the rectangular screw rod (6-5) is coaxially connected to the large gear shaft (6-8) of the large gear, and the bottom end of the rectangular screw rod (6-5) is movably connected to the foot end unit (6-6) through a screw pair; The bearing (6-4) is mounted on the large gear shaft (6-8).

5. The six-wheeled legged robot with switchable wheels and feet according to claim 4, characterized in that: The large gear drives the large gear shaft (6-8) to make circular motion, and transmits power to the rectangular screw rod (6-5) through the large gear shaft (6-8); The rectangular screw rod (6-5) is used to convert the circular motion transmitted by the gear pair (6-3) into the linear motion of the foot end unit (6-6), thereby making the foot end unit (6-6) contact and disengage with the ground.

6. The six-wheeled legged robot with switchable wheels and feet according to claim 1, characterized in that: The end of the foot end unit (6-6) adopts a hemispherical structure.

7. The six-wheeled legged robot with switchable wheels and feet according to claim 1, characterized in that: The pitch hip joint (5-1) comprises a motor end cover (5-1-1), a drive motor (5-1-2), a planetary gear (5-1-3), a ring gear (5-1-4), a planetary carrier (5-1-5) and a bearing (5-1-6); The pitch hip joint (5-1) is fixed to the shank connecting rod (5-4) through the motor end cover (5-1-1), so that the pitch hip joint (5-1) and the shank connecting rod (5-4) do not move relative to each other; The planet carrier (5-1-5) is connected to the thigh connecting rod (4-2), and there is no relative movement between the two. The steering gear connecting rod (7-1) is connected to the pitch knee joint (5-2), and the two have no relative movement; The driving wheel (8) is mounted on the wheel frame (7-3) so as to perform circular motion.

8. The six-wheeled legged robot with switchable wheels and feet according to claim 1, characterized in that: The lateral hip joint (4-1) is used to drive the thigh link (4-2) to swing; The pitch hip joint (5-1) is used to drive the shank connecting rod (5-4) to swing; The pitch knee joint (5-2) drives the wheel steering mechanism (7) to swing through the steering gear connecting rod (7-1); The wheel steering mechanism (7) can drive the wheel to rotate 360 ​​degrees through the wheel frame (7-3).

9. The six-wheeled legged robot with switchable wheels and feet according to claim 1, characterized in that: In the wheeled motion mode, the posture of the six-wheeled legged robot with switchable wheels and feet is adjusted through the yaw hip joint (4-1), the pitch hip joint (5-1), the pitch knee joint (5-2) and the wheel steering mechanism (7), the drive motor (6-1) does not work, and the six-wheeled legged robot with switchable wheels and feet is driven to move through the drive wheel (8).

10. The six-wheeled legged robot with switchable wheels and feet according to claim 1, characterized in that: In the foot-type motion mode, the posture of the six-wheeled legged robot with switchable wheels and feet is adjusted through the yaw hip joint (4-1), the pitch hip joint (5-1) and the drive motor (6-1), and the pitch knee joint (5-2) and the wheel steering mechanism (7) do not work; The wheel steering mechanism (7) and the wheel (8) are driven to swing via the pitch knee joint (5-1).

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