Wheel-foot composite mobile robot

Abstract

The invention discloses a wheel-foot composite mobile robot. Relates to the technical field of walking robots, and comprises a robot trunk, an energy supply bin is arranged in the robot trunk, an induction side detection assembly is arranged on the robot trunk, movable grooves are symmetrically formed in the left side and the right side of the robot trunk, two movable grooves are formed in each side of the robot trunk at intervals, and a fixed buffer assembly and a driving motor are arranged in each movable groove; the driving motor is electrically connected with the energy supply bin; and the driving mechanisms are arranged in the movable grooves, the number of the driving mechanisms is four, the driving mechanisms are arranged corresponding to the fixed buffering assemblies, each driving mechanism comprises a wheel-foot combined type driving assembly and a wheel-foot switching assembly, and the wheel-foot switching assemblies are arranged on the wheel-foot combined type driving assemblies. The robot trunk and the driving mechanism are arranged, the movement reliability is not sacrificed while continuously changing road conditions are dealt with, wheel foot movement modes are switched, the robot can be suitable for outdoor complex environments to the maximum extent, and therefore the outdoor movement operation requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of walking robots, and more particularly to a wheel-foot composite mobile robot. Background Art

[0002] At present, in the field of walking robot technology, most robots are used for working in environments with good road conditions such as flat land and grassland. At the same time, the robot's working intensity is low, and it cannot move at high speed when the working range is large. There are few designs of walking robots involving complex environments such as sand, mountains, mud, and mines. Therefore, a wheel-foot composite mobile robot is designed, which can walk with feet and move with wheels. While the robot can complete the task, it can also achieve the function of obstacle crossing and high-speed movement in complex and harsh terrain. The existing technical solutions include wheel-foot non-retractable type design, variable structure wheel-foot type design, wheel-foot retractable type design, and wheel-foot fusion type design.

[0003] As shown in the publication number "CN 115416778 A", this type of robot adopts a non-retractable wheel-foot design, the wheels are fixedly installed at the bottom of the driving assembly, and the lead screw is designed for the driving assembly to control the foot assembly to reciprocate in a straight line in the vertical direction. The wheels are fixed by extending the foot assembly up and down, thereby realizing the switching of wheel-foot mode.

[0004] As shown in the publication numbers "CN 202010751688.2" and "CN 201810380728.X", this type of robot adopts a variable structure wheel-foot type design, with multiple partially circular active leg groups. In foot mode, a front and rear split distribution or a series distribution design is adopted. In wheel mode, multiple active leg groups are transformed into a wheel design, thereby realizing the switching of the robot's wheel-foot movement mode.

[0005] As shown in the publication number "CN 113895537 A", this type of robot adopts a wheel-foot retracting type design, in which the walking wheels are connected to the lifting mechanism, and the leg structure is designed to contact the ground with the auxiliary wheels. The lifting mechanism controls the lifting or lowering of the walking wheels to lift or lower the robot to achieve the switching of the robot's wheel-foot movement mode.

[0006] As shown in the publication number "CN 116534154 A", this type of robot adopts a wheel-foot fusion design, with the wheels placed at the knee joint of the foot assembly. The legs are bent by the engagement of the toothed part of the incomplete gear, and the robot's kneeling posture is used to switch between the wheel-foot movement mode in the wheel mode.

[0007] The problem with robots with wheels and feet that do not retract is that the foot-type components are extended and retracted separately through linear guides. The long-term operation of the linear guides will cause the robot to have insufficient rigidity when moving in harsh terrain environments, and will be unstable during movement. Robots with variable structure wheels and feet need to have deformable leg structures, so multiple active leg groups need to be designed to be slender, and the active leg groups will deform after long-term operation. The problem with robots with retractable wheels and feet is that they occupy space inside the robot body and increase the overall structure. Robots with wheel-foot fusion switch gears and foot-type gears meshing. The problem brought by this structure is that the error accumulation over a long period of time will cause meshing deviations. At the same time, the overall use of pulleys and gear transmission increases the weight of the entire body, increases the energy consumption of the robot, and places the wheels at the knee joints of the robot legs, which will increase the inertia of the legs during walking.

[0008] Therefore, how to provide a wheel-foot composite mobile robot that can reduce inertia and kinetic energy consumption and increase operating efficiency is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0009] In view of this, the present invention provides a wheel-foot composite mobile robot, which can reduce inertia and kinetic energy consumption and increase operating efficiency.

[0010] In order to achieve the above object, the present invention adopts the following technical solution:

[0011] A wheel-foot composite mobile robot, comprising:

[0012] A robot trunk, wherein an energy supply compartment is provided in the robot trunk, an induction detection component is provided on the robot trunk, movable grooves are symmetrically provided on the left and right sides of the robot trunk, the movable grooves are arranged along the walking direction of the robot trunk, two movable grooves are arranged at intervals on each side of the robot trunk, a fixed buffer component and a drive motor are provided in each movable groove, and the drive motor is electrically connected to the energy supply compartment;

[0013] The driving mechanism is arranged in the movable groove, and the driving mechanism is arranged in four groups, and its structure is exactly the same. The driving mechanism is arranged corresponding to the fixed buffer assembly, and each group of the driving mechanism includes a wheel-foot composite driving assembly and a wheel-foot switching assembly, and the wheel-foot switching assembly is arranged on the wheel-foot composite driving assembly.

[0014] Furthermore, the fixed buffer assembly includes a gas spring, a buffer electromagnet, a buffer fixing pin and a buffer spring, the gas spring is arranged in the movable groove, a slider is provided on the gas spring, the buffer fixing pin is connected to the slider through the buffer electromagnet, the buffer spring is sleeved on the buffer fixing pin, the axis of the buffer fixing pin is consistent with the axis of the buffer spring, the axis of the buffer fixing pin is perpendicular to the axis of the slider and the buffer electromagnet, and the axis of the slider and the buffer electromagnet is parallel to the moving direction of the gas spring.

[0015] Furthermore, the wheel-foot composite drive assembly includes a first drive joint, a crank, a thigh rod, a thigh rod and a calf rod, the first drive joint is connected to the drive motor, the first drive joint is connected to the second drive joint through a vertical connection member, the second drive joint is connected to the third drive joint through a horizontal connection member, the crank is connected to the third drive joint, the two ends of the thigh rod are respectively connected to the end of the crank and the beginning of the calf rod, the third drive joint, crank and thigh rod are all arranged inside the thigh rod, the calf rod is connected to the thigh rod through the calf rod, and the end of the calf rod away from the thigh rod is set as a foot.

[0016] Furthermore, the wheel-foot switching assembly includes a wheel-foot switching drive joint, a switching rod, a wheel-foot fixing pin and a wheel-foot electromagnet, the wheel-foot switching drive joint is arranged in the thigh rod, the wheel-foot switching drive joint extends from the thigh rod and is connected to the switching rod, a driving wheel is provided at one end of the switching rod away from the wheel-foot switching drive joint, a limiting member is provided on the side of the switching rod away from the driving wheel, two wheel-foot fixing pins are arranged on the thigh rod at intervals, and the two fixing pins are located on both sides of the wheel-foot switching drive joint, the wheel-foot electromagnet is arranged in the thigh rod, the wheel-foot electromagnet is connected to the wheel-foot fixing pin, and a wheel-foot spring is sleeved on the wheel-foot fixing pin.

[0017] Furthermore, it also includes a tray, which is arranged at one end of the calf rod away from the calf rod member.

[0018] Furthermore, the sensing side detection component includes a laser radar and a 3D camera, the laser radar is arranged on the top of the robot torso, and the 3D camera is arranged on the side wall of the robot torso.

[0019] Furthermore, it also includes a gripper mechanism, which is arranged at an end of the robot body away from the inductive detection component.

[0020] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a wheel-foot composite mobile robot, in which an external driving mechanism frees up more internal space of the robot; by setting a wheel-foot composite driving component and a wheel-foot switching component, two different mobile modes of foot drive and drive wheel drive can be performed, thereby realizing the obstacle crossing function under various terrains and various obstacles, such as flat ground, sand, stairs, mud and slopes and other complex road environments, and at the same time, it can realize the functions of walking obstacle crossing and high-speed movement on comprehensive complex terrains with other obstacles; by setting a fixed buffer component, the impact encountered when crossing obstacles is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of the wheel-foot composite mobile robot provided by the present invention;

[0023] Figure 2 A schematic diagram of the structure of the wheeled walking state provided by the present invention;

[0024] Figure 3 A schematic diagram of the structure of the foot-type walking state provided by the present invention;

[0025] Figure 4 A schematic diagram of the structure of the wheel-foot composite drive assembly provided by the present invention;

[0026] Figure 5 A schematic diagram of the structure of the wheel-foot switching assembly provided by the present invention;

[0027] Figure 6 A schematic diagram of the structure of a fixed buffer assembly provided by the present invention;

[0028] Figure 7 A side view of the wheeled walking state provided by the present invention.

[0029] Wherein: 1 is the robot torso; 11 is the movable slot;

[0030] 2 is a sensing detection component; 21 is a laser radar; 22 is a 3D camera;

[0031] 3 is a fixed buffer assembly; 31 is a gas spring; 32 is a buffer electromagnet; 33 is a buffer fixing pin; 34 is a buffer spring; 35 is a slider;

[0032] 4 is a wheel-foot composite drive assembly; 41 is a first drive joint; 42 is a crank; 43 is a thigh rod; 44 is a thigh rod; 45 is a calf rod; 46 is a vertical connection member; 47 is a horizontal connection member; 48 is a calf rod; 49 is a tray; 410 is a second drive joint; 411 is a third drive joint; 412 is a connecting rod;

[0033] 5 is a wheel-foot switching assembly; 51 is a wheel-foot switching driving joint; 52 is a switching rod; 53 is a wheel-foot fixing pin; 54 is a wheel-foot electromagnet; 55 is a driving wheel; 56 is a limiter; 57 is a wheel-foot spring;

[0034] 6 is a gripper mechanism; 61 is a rotating seat; 62 is a first lever arm; 63 is a rotating head; 64 is a gripper; 65 is a rotating joint; and 66 is a second lever arm. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-7 The embodiment of the present invention discloses a wheel-foot composite mobile robot, comprising:

[0037] A robot trunk 1, wherein an energy supply bin is provided in the robot trunk 1, an induction detection component 2 is provided on the robot trunk 1, movable grooves 11 are symmetrically provided on the left and right sides of the robot trunk 1, and the movable grooves 11 are provided along the walking direction of the robot trunk 1, and two movable grooves 11 are provided at intervals on each side of the robot trunk 1, and each movable groove 11 is provided with a fixed buffer component 3 and a drive motor, and the drive motor is electrically connected to the energy supply bin; the robot trunk 1 is used to load connectors and to carry other components and connect the components; the power for the robot movement is increased by the energy supply bin and the drive motor; a control system is provided in the robot trunk 1, and the entire robot is controlled to perform operations by the control system;

[0038] The driving mechanism is arranged in the movable groove 11. Four groups of driving mechanisms are arranged, and their structures are exactly the same. The driving mechanisms are arranged corresponding to the fixed buffer components 3. Each group of driving mechanisms includes a wheel-foot composite driving component 4 and a wheel-foot switching component 5. The wheel-foot switching component 5 is arranged on the wheel-foot composite driving component 4; the four groups of driving mechanisms are all located at the bottom of the robot trunk 1, and two of the four groups of driving mechanisms are symmetrical on the left and right on the robot trunk 1.

[0039] In this embodiment, the fixed buffer assembly 3 includes a gas spring 31, a buffer electromagnet 32, a buffer fixing pin 33 and a buffer spring 34. The gas spring 31 is arranged in the movable groove 11. A slider 35 is provided on the gas spring 31. The buffer fixing pin 33 is connected to the slider 35 through the buffer electromagnet 32. The buffer spring 34 is sleeved on the buffer fixing pin 33. The axis of the buffer fixing pin 33 is consistent with the axis of the buffer spring 34. The axis of the buffer fixing pin 33 is perpendicular to the axis of the slider 35 and the buffer electromagnet 32. The axis of the slider 35 and the buffer electromagnet 32 ​​is parallel to the moving direction of the gas spring 31.

[0040] In this embodiment, the wheel-foot composite drive assembly 4 includes a first drive joint 41, a crank 42, a thigh rod 43, a thigh rod 44 and a calf rod 45. The first drive joint 41 is connected to the drive motor, the first drive joint 41 is connected to the second drive joint 410 through a vertical connection 46, the second drive joint 410 is connected to the third drive joint 411 through a horizontal connection 47, the crank 42 is connected to the third drive joint 411, the two ends of the thigh rod 43 are respectively connected to the end of the crank 42 and the beginning of the calf rod 48, the third drive joint 411, the crank 42 and the thigh rod 43 are all arranged in the thigh rod 44 The calf rod 45 is connected to the thigh rod 44 through the calf rod 48, and the end of the calf rod 45 away from the thigh rod 44 is set as the foot; a connecting rod 412 is provided between the thigh rod 43 and the thigh rod 44, and the connecting rod 412 connects the crank 42 and the calf rod 48; the first driving joint 41 drives the remaining wheel-foot composite driving components 4 to rotate along the vertical axis direction, and drives the remaining parts to rotate together at the same time; the second driving joint 410 drives the thigh rod 44 to rotate along the horizontal axis direction, and drives the remaining parts to rotate together at the same time; the third driving joint 411 drives the crank 42 to rotate, and drives the thigh rod 43 and the calf rod 48 to rotate at the same time.

[0041] In this embodiment, the wheel-foot switching assembly 5 includes a wheel-foot switching drive joint 51, a switching rod 52, a wheel-foot fixing pin 53 and a wheel-foot electromagnet 54. The wheel-foot switching drive joint 51 is arranged in the thigh rod 44, and the wheel-foot switching drive joint 51 extends from the thigh rod 43 and is connected to the switching rod 52. A driving wheel 55 is arranged at one end of the switching rod 52 away from the wheel-foot switching drive joint 51, and a limiting member 56 is arranged on the side of the switching rod 52 away from the driving wheel 55. Two wheel-foot fixing pins 53 are arranged on the thigh rod 43 at intervals, and the two fixing pins are located on both sides of the wheel-foot switching drive joint 51. The wheel-foot electromagnet 54 is arranged in the thigh rod 43, and the wheel-foot electromagnet 54 is connected to the wheel-foot fixing pin 53. A wheel-foot spring 57 is sleeved on the wheel-foot fixing pin 53; the wheel-foot switching rod 52 is connected to the thigh rod 43 by The wheel-foot switching drive joint 51 is connected to the thigh rod 44, the starting axis of the wheel-foot switching rod 52 and the wheel-foot switching drive joint 51 are in the same straight line, the wheel-foot switching drive joint 51 is installed at the center position of the thigh rod 44, the axis of the wheel-foot switching drive joint 51 is parallel to the axis of the second drive joint 410 and the third drive joint 411, and the wheel-foot switching locking device is composed of a wheel-foot fixing pin 53, a wheel-foot electromagnet 54 and a wheel-foot spring 57, all of which are installed inside the thigh rod 44. The installation order from inside to outside is the wheel-foot electromagnet 54, the wheel-foot spring 57 and the wheel-foot fixing pin 53, and the axes of the three are parallel to the axis of the thigh rod 44. Two sets of wheel-foot switching locking devices are symmetrically arranged above and below, and the position adjustment and fixation of the drive wheel 55 are achieved by cooperating with the wheel-foot switching locking device through the limit member 56.

[0042] In this embodiment, a tray 49 is also included. The tray 49 is arranged at one end of the calf rod 45 away from the calf rod 48. By arranging it on the tray 49, the robot can work in harsh environments such as sand where it is easy to sink. In order to prevent the foot assembly of the robot from sinking into the ground and being unable to lift the foot assembly, adding the tray 49 increases the force-bearing area of ​​the leg and improves the obstacle crossing performance of the robot.

[0043] In this embodiment, the sensing side detection component 2 includes a laser radar 21 and a 3D camera 22. The laser radar 21 is arranged on the top of the robot trunk 1, and the 3D camera 22 is arranged on the side wall of the robot trunk 1; the laser radar 21 and the 3D camera 22 are arranged at the front end of the robot body 10. The robot needs to inspect the environment in the mine and feed back to the control system at the same time to realize the path of the robot during inspection and observe the obstacles on the road; thus realizing the robot's automatic inspection, obstacle crossing and obstacle avoidance actions; the robot detects whether there are obstacles or complex terrains in front that need to be avoided or crossed through the data collected by the sensing detection component 30, and the control system feeds back to the driving component according to the collected information data, so that the robot can switch to the corresponding motion mode before the complex terrain that needs to be crossed.

[0044] In this embodiment, a gripper mechanism 6 is also included. The gripper mechanism 6 is arranged at one end of the robot trunk 1 away from the sensing detection component 2. At the same time, the gripper mechanism 6 is used to complete other tasks of the robot.

[0045] In addition, in the present embodiment, the gripper mechanism 6 includes a rotating seat 61, a first lever arm 62, a rotating head 63, a gripper 64, a rotating joint 65 and a second lever arm 66. The rotating seat is arranged at one end of the robot trunk 1 away from the sensing detection component. The first lever arm 62 is rotatably arranged on the rotating seat through the rotating joint 65. The first lever arm 62 and the second lever arm 66 are hingedly connected through the rotating joint 65. The rotating head 63 is arranged at one end of the second lever arm 66 away from the rotating joint 65. The gripper 64 is rotatably arranged on the rotating head 63. The clamping distance of the gripper 64 can be adjusted. The first lever arm 62 cooperates with the second lever arm 66 to realize an adjustable gripping distance. The gripping and carrying operations are completed by the gripper mechanism 6.

[0046] Two sets of driving mechanisms are also provided at the bottom of the robot trunk 1. The two sets of driving mechanisms are located in the middle position below the robot trunk 1. The two sets of driving mechanisms are not provided with wheel-foot switching components 5, so as to improve the movement stability of the foot-motion mode.

[0047] The axis directions of the first driving joint 41 and the second driving joint 410 are perpendicular; the axis of the second driving joint 410 and the third driving joint 411 are located on the same straight line; the crank 42, the third driving joint 411 and the thigh rod 44 are located on the same axis.

[0048] The thigh rod 44 is divided into three small sections, upper, middle and lower. The middle section of the thigh rod 44 and the upper and lower sections have springs inside, ensuring that during the wheel-foot switching process, the middle section of the thigh rod 43 can move slightly, so that the wheel-foot switching assembly 5 is more adjustable during switching; an upper wheel-foot electromagnet 54 and a lower wheel-foot electromagnet 54 are fixed inside the middle section of the thigh rod 44, and a wheel-foot spring 57 and a wheel-foot fixing pin 53 are placed on each wheel-foot electromagnet 54 in sequence, and are all parallel to the axial direction of the thigh rod 44. Two cylindrical grooves are arranged at intervals in the middle of the thigh rod 43, and one end of the two cylindrical grooves is provided with an arc edge, which is consistent with the rotation direction of the calf rod 45, so that the limit member 56 is not affected when entering and exiting the cylindrical groove, and the rotation center of the cylindrical groove is in the same straight line with the axis of the calf rod 45, which can avoid the problem of unstable operation of the wheel-foot switching assembly 5 during the wheel-foot switching process, and solve the problem of lack of fixation of the wheel-foot switching assembly 5.

[0049] The first driving joint 41, the vertical connecting member 46, the second driving joint 410, the horizontal connecting member 47 and the third driving joint 411 constitute a hip joint, and the calf rod 48 is a knee joint.

[0050] The first drive joint 41 controls the thigh rod 44 and the shank rod 45 to rotate, the second drive joint 410 controls the thigh rod 44 to swing, and the third drive joint 411 controls the shank rod 45 to swing. The thigh and the shank are connected in series to enhance the reliability and stability of the robot's movement, and can withstand a larger load. The complex leg structure caused by the wheel not being retracted reduces the reliability and stability of the robot's operation, and the wheel of the wheel-foot fusion type is always placed at the robot's knee joint, resulting in large leg inertia and high energy consumption. By setting the robot to alternately retract the wheel and foot, in the foot mode, that is, when the wheel is idle, the wheel-foot switching drive joint 51 controls the switching of the thigh rod 43 to rotate the wheel along the groove of the thigh rod 43 to the hip joint; in the wheel mode, that is, when the foot is idle, it rotates along the groove of the thigh rod 43 to the knee joint. This can reduce the inertia of the robot's walking, reduce the energy consumption required by the robot, and solve the problem of complex internal structure of the leg.

[0051] By setting the foot of the calf rod 45 and the buffer fixing pin 33, when the foot of the calf rod 45 rotates into the movable groove 11, the foot contacts the buffer fixing pin 33 to form a triangle, which plays a role of fixing and buffering in the wheeling mode.

[0052] The robot switches the foot movement mode to the wheel movement mode. When the robot does not need the foot mode to cross obstacles, the control system converts the wheel-foot assembly to the wheel movement mode:

[0053] First, the upper electromagnet inside the thigh rod 44 is energized, the fixing pin is retracted, and the spring is tightened, so that the switching rod 52 is in a movable state;

[0054] Then the wheel-foot switching driving joint 51 is controlled to control the switching rod 52 and the connected driving wheel 55 to rotate to a corresponding angle.

[0055] While waiting to turn to the corresponding position, the lower wheel foot electromagnet 54 inside the thigh rod 43 is controlled to be in an unpowered state, so that the wheel foot spring 57 pops out, and the wheel foot fixing pin 53 pops out, and cooperates with the limit member 56 to fix the switching rod 52, and then the control system simultaneously coordinates and controls the third drive joint 411 and the second drive joint 410 to bend the thigh rod 44 and the calf rod 45, so that the driving wheel 55 of the robot falls to the ground, and finally the calf rod 48 is fixed to keep the robot as a whole stable, thereby realizing the switching function.

[0056] When the robot is in wheel movement mode, it is fixed by fixing the buffer assembly 3. After the calf rod 45 of the robot is bent up, the buffer electromagnet 32 ​​loses power, causing the buffer fixing pin 33 to pop out, thereby fixing the foot of the calf rod 45. This can play a buffering role when the robot moves at high speed on an uneven road surface.

[0057] In the wheel movement mode, the robot is driven by the rotation of the driving wheel 55 to move the robot in a directional high-speed manner. When the robot is turning, the steering function of the robot is achieved by the differential speed of the driving wheel 55 and the control of the first driving joint 41.

[0058] When the robot climbs a slope in the wheel movement mode, the driving wheel 55 rotates to drive the robot to climb the slope. At the same time, the gas spring 31 and the slider 35 of the fixed buffer assembly 3 are used to adjust the lateral distance and the height of the driving wheel 55. The center of gravity of the robot when climbing is adjusted to improve the stability of the robot when climbing.

[0059] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0060] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wheel-foot composite mobile robot, characterized in that: include: A robot trunk, wherein an energy supply compartment is provided in the robot trunk, an induction detection component is provided on the robot trunk, movable grooves are symmetrically provided on the left and right sides of the robot trunk, the movable grooves are arranged along the walking direction of the robot trunk, two movable grooves are arranged at intervals on each side of the robot trunk, a fixed buffer component and a drive motor are provided in each movable groove, and the drive motor is electrically connected to the energy supply compartment; The driving mechanism is arranged in the movable groove, and the driving mechanism is arranged in four groups, and its structure is exactly the same. The driving mechanism is arranged corresponding to the fixed buffer assembly, and each group of the driving mechanism includes a wheel-foot composite driving assembly and a wheel-foot switching assembly, and the wheel-foot switching assembly is arranged on the wheel-foot composite driving assembly.

2. A wheel-foot composite mobile robot according to claim 1, characterized in that: The fixed buffer assembly includes a gas spring, a buffer electromagnet, a buffer fixing pin and a buffer spring. The gas spring is arranged in the movable groove. A slider is provided on the gas spring. The buffer fixing pin is connected to the slider through the buffer electromagnet. The buffer spring is sleeved on the buffer fixing pin. The axis of the buffer fixing pin is consistent with the axis of the buffer spring. The axis of the buffer fixing pin is perpendicular to the axis of the slider and the buffer electromagnet. The axis of the slider and the buffer electromagnet is parallel to the moving direction of the gas spring.

3. A wheel-foot composite mobile robot according to claim 2, characterized in that: The wheel-foot composite driving assembly includes a first driving joint, a crank, a thigh rod, a thigh rod and a calf rod, the first driving joint is connected to the driving motor, the first driving joint is connected to the second driving joint through a vertical connecting member, the second driving joint is connected to the third driving joint through a horizontal connecting member, the crank is connected to the third driving joint, the two ends of the thigh rod are respectively connected to the end of the crank and the beginning of the calf rod, the third driving joint, the crank and the thigh rod are all arranged inside the thigh rod, the calf rod is connected to the thigh rod through the calf rod, and the end of the calf rod away from the thigh rod is set as a foot.

4. A wheel-foot composite mobile robot according to claim 3, characterized in that: The wheel-foot switching assembly includes a wheel-foot switching drive joint, a switching rod, a wheel-foot fixing pin and a wheel-foot electromagnet. The wheel-foot switching drive joint is arranged in the thigh rod, and the wheel-foot switching drive joint extends from the thigh rod and is connected to the switching rod. A driving wheel is provided at one end of the switching rod away from the wheel-foot switching drive joint, and a limiting member is provided on the side of the switching rod away from the driving wheel. Two wheel-foot fixing pins are arranged on the thigh rod at intervals, and the two fixing pins are located on both sides of the wheel-foot switching drive joint. The wheel-foot electromagnet is arranged in the thigh rod, and the wheel-foot electromagnet is connected to the wheel-foot fixing pin. A wheel-foot spring is sleeved on the wheel-foot fixing pin.

5. The wheel-foot composite mobile robot according to claim 4, characterized in that: A tray is also included, and the tray is arranged at one end of the calf rod away from the calf rod member.

6. The wheel-foot composite mobile robot according to claim 1, characterized in that: The sensing side detection component includes a laser radar and a 3D camera. The laser radar is arranged on the top of the robot body, and the 3D camera is arranged on the side wall of the robot body.

7. The wheel-foot composite mobile robot according to claim 1, characterized in that: It also includes a gripper mechanism, which is arranged at one end of the robot body away from the inductive detection assembly.

Images