Multi-form full-electric driving switching system and method for wheel-track composite walking unit

Abstract

The invention belongs to the technical field of vehicle action system control, and particularly relates to a multi-form full-electric driving switching system and method for a wheel-track composite walking unit, and the system comprises a support (1), an upper limb and leg joint motor (2), a lug (3), a track driving motor (4), a coupler (5), an electromagnetic clutch (6), a limb and leg (7) and a controller (8); free switching of full-electric driving of three walking modes of a wheel type, a crawler belt and walking can be achieved, the complexity of a driving system is simplified through modular integration of joint electric driving and traveling electric driving, meanwhile, the response speed of joint action is increased through full-electric driving, and the driving efficiency is improved. Therefore, the adaptability of the vehicle to a complex environment is further improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle motion system control, and in particular relates to a multi-modal fully electrified drive switching system and method for a wheel-walk composite walking unit. Background Art

[0002] The principle of a new wheeled walking system is as follows Figure 5 As shown in the figure, it mainly includes 6 sets of wheeled crawler walking units, each of which is mainly composed of a hydraulic motor, a rotary reducer, a crawler drive motor, a crawler assembly, a hydraulic cylinder, a lower leg, and an electric wheel. The walking system can realize the free switching of three walking modes: wheeled, crawler, and walking. However, the upper leg joints and lower leg joints that determine the switching of the walking mode are hydraulically driven. Therefore, two sets of energy supply methods are required for driving and joint driving. The system is relatively complex. At the same time, given the characteristics of the hydraulic system, the joint action response speed is slow. The walking system often needs to face complex environments. In order to achieve the goals of rapid maneuverability, rapid adaptation, and rapid maintenance, the walking system structure is required to be as simple as possible, the drive source is relatively integrated, and the action response speed is fast. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the present invention is: how to provide a multi-form fully electric drive switching system and method for a wheel-track composite walking unit, which can realize the free switching of the three walking modes of wheel, track and walking with fully electric drive, and simplify the complexity of the drive system through modular integration of joint electric drive and traveling electric drive. At the same time, the response speed of joint movements is improved by adopting fully electric drive, thereby further increasing the adaptability of the vehicle when facing complex environments.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a multi-form fully electrified drive switching system for a wheel-track-step composite walking unit, wherein the wheel-track-step composite walking unit multi-form fully electrified drive switching system comprises: a support (1), an upper limb leg joint motor (2), an ear seat (3), a crawler drive motor (4), a coupling (5), an electromagnetic clutch (6), a limb leg (7), and a controller (8);

[0007] The limbs (7) include an upper limb (71) and a lower limb (72);

[0008] The upper limb leg (71) is a crawler assembly, comprising a flange (711), a drive shaft (712), a driving wheel (713), a crawler (714), a support frame (715), a driven wheel (716) and a driven output shaft (717);

[0009] The lower limb leg (72) comprises a lower limb leg frame (721), a wheel hub motor (722) and a wheel (723);

[0010] The upper limb leg joint motor (2) rotates to drive the limb (7) to rotate as a whole, completing the electrical drive of the upper limb leg joint;

[0011] When the electromagnetic clutch (6) is engaged, the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the crawler drive motor (4) is transmitted to the lower limb leg frame (721) to drive the lower limb leg (72) to swing, thereby completing the electric drive of the lower limb leg joint;

[0012] The lower limb leg (72) is rotatably connected to the upper limb leg (71).

[0013] The support (1) and the ear seat (3) are welded to the vehicle frame; the upper limb leg joint motor (2) is fixedly connected to the vehicle body via the support (1); and the output end flange of the upper limb leg joint motor (2) is fixedly connected to the flange (711) of the upper limb leg (71).

[0014] The crawler drive motor (4) is fixedly connected to the vehicle body through the ear seat (3); the output shaft of the crawler drive motor (4) is connected to the drive shaft (712) of the upper limb leg (71) through the coupling (5); the drive shaft (712) is fixedly connected to the driving wheel (713); the driving wheel (713) is connected to the driven wheel (716) through the crawler (714); the driven output shaft (717) is fixedly connected to the driven wheel (716);

[0015] The flange (711) and the driving shaft (712) are arranged at one end of the support frame (715), and the driven output shaft (717) is arranged at the other end of the support frame (715);

[0016] The upper limb leg joint motor (2) has a through hole for allowing the drive shaft (712) of the upper limb leg (71) to pass through.

[0017] Wherein, the lower limb leg (72) is hingedly connected to the upper limb leg (71).

[0018] Wherein, the input end of the electromagnetic clutch (6) is connected to the driven output shaft (717), and the output end of the electromagnetic clutch (6) is fixedly connected to the lower limb leg frame (721);

[0019] When the electromagnetic clutch (6) is engaged, the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the crawler drive motor (4) is transmitted in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler (714), the driven wheel (716), the driven output shaft (717), the electromagnetic clutch input end, and the electromagnetic clutch output end, and finally transmitted to the lower limb leg frame (721) to drive the lower limb leg (72) to swing, thereby completing the electric drive of the lower limb leg joint; the electric drive of the upper limb leg joint and the electric drive of the lower limb leg joint are integrated to complete the electric drive of the walking mode;

[0020] When the electromagnetic clutch (6) is disengaged, the input end and the output end of the electromagnetic clutch (6) are disconnected, and the output power of the crawler drive motor (4) is transmitted to the input end of the electromagnetic clutch in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler track (714), the driven wheel (716), and the driven output shaft (717), but cannot be transmitted to the lower limb leg (72) through the output end of the electromagnetic clutch, and finally only the crawler track (714) is driven to rotate, completing the electric drive travel in the crawler walking mode.

[0021] The housing of the wheel hub motor (722) is fixedly connected to the lower limb leg frame (721), and the output end of the wheel hub motor (722) is fixedly connected to the wheel (723). The rotation of the wheel hub motor (722) drives the wheel (723) to rotate, thereby completing electric drive travel in the wheeled walking mode.

[0022] Wherein, the controller (8) is respectively connected to the upper limb leg joint motor (2), the track drive motor (4), the wheel hub motor (722) and the electromagnetic clutch (6).

[0023] In addition, the present invention also provides a multi-mode fully electrified drive switching method for a wheel-step composite walking unit, which is implemented based on the multi-mode fully electrified drive switching system for a wheel-step composite walking unit according to claim 7, and the multi-mode fully electrified drive switching method for a wheel-step composite walking unit includes the following working modes:

[0024] A. When switching to the wheeled walking mode, the controller (8) controls the upper leg joint motor (2) and the track drive motor (4) to not operate, and through the electromagnetic brake function of the upper leg joint motor (2) and the track drive motor (4), the position of the upper leg (71) and the lower leg (72) is locked; the controller (8) controls the wheel hub motor (722) to rotate to drive the wheel (723) to rotate, thereby completing the electric drive travel in the wheeled walking mode.

[0025] B. When switching to the crawler walking mode, the lower leg (72) is retracted to the extreme position, and the upper leg (71) rotates until the crawler (714) is completely in contact with the ground. The controller (8) controls the upper leg joint motor (2) and the wheel hub motor (722) to not move, and the position of the upper leg (71) is locked through the electromagnetic brake function of the upper leg joint motor (2); the controller (8) controls the electromagnetic clutch (6) to separate, and at this time, the input end and the output end of the electromagnetic clutch (6) are disconnected, and the output power of the crawler drive motor (4) is transmitted to the input end of the electromagnetic clutch (6) in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler (714), the driven wheel (716), and the driven output shaft (717), but cannot be transmitted to the lower leg (72) through the output end of the electromagnetic clutch (6), and finally only drives the crawler (714) to rotate, completing the electric drive travel in the crawler walking mode.

[0026] C. When switching to the walking mode, the controller (8) controls the upper leg joint motor (2) to rotate, thereby driving the upper leg (71) to rotate as a whole, and completing the electrical drive of the upper leg (71) joint; the controller (8) controls the electromagnetic clutch (6) to engage, at which time the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the track drive motor (4) will pass through the coupling (5), the drive shaft (712), the track (714), the driven wheel (716), the driven output shaft (717), the electromagnetic clutch input end, and the electromagnetic clutch output end in sequence, and finally be transmitted to the lower leg frame (721) to drive the lower leg (72) to swing, and complete the electrical drive of the lower leg (72) joint; the electrical drive of the upper leg (71) joint and the electrical drive of the lower leg (72) joint are integrated to complete the electrical drive of the walking mode.

[0027] (III) Beneficial effects

[0028] Compared with the prior art, the present invention proposes a multi-form fully electric drive switching system and method for a wheel-track composite walking unit, which can realize the free switching of the three walking modes of wheel, track and walking, and improve the movement response speed by realizing the full electric drive of driving and joint drive; at the same time, by modularizing the joint electric drive and driving electric drive, the structural complexity of the walking system and the number of drive sources are reduced, thereby further increasing the adaptability of the vehicle in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a composition diagram of the multi-mode fully electrified drive switching system of the wheel-walk composite walking unit;

[0030] Figure 2 This is a diagram of the limb composition of the wheel-walking composite walking unit;

[0031] Figure 3This is the principle diagram of the wheeled walking mode of the wheel-walking composite walking unit;

[0032] Figure 4 This is the schematic diagram of the crawler walking mode of the wheel-and-walk composite walking unit.

[0033] Figure 5 This is the schematic diagram of the new wheel-walking system.

[0034] In the figure: 1 support; 2 upper limb leg joint motor; 3 ear seat; 4 track drive motor; 5 coupling; 6 electromagnetic clutch; 7 limb leg; 8 controller; 71 upper limb leg; 72 lower limb leg; 711 flange; 712 drive shaft; 713 driving wheel; 714 crawler track; 715 support frame; 716 driven wheel; 717 driven output shaft; 721 lower limb leg frame; 722 hub motor; 723 wheel. DETAILED DESCRIPTION

[0035] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0036] In order to solve the above technical problems, the present invention provides a multi-form fully electrified drive switching system for a wheel-track-step composite walking unit, wherein the wheel-track-step composite walking unit multi-form fully electrified drive switching system comprises: a support (1), an upper limb leg joint motor (2), an ear seat (3), a crawler drive motor (4), a coupling (5), an electromagnetic clutch (6), a limb leg (7), and a controller (8);

[0037] The limbs (7) include an upper limb (71) and a lower limb (72);

[0038] The upper limb leg (71) is a crawler assembly, comprising a flange (711), a drive shaft (712), a driving wheel (713), a crawler (714), a support frame (715), a driven wheel (716) and a driven output shaft (717);

[0039] The lower limb leg (72) comprises a lower limb leg frame (721), a wheel hub motor (722) and a wheel (723);

[0040] The upper limb leg joint motor (2) rotates to drive the limb (7) to rotate as a whole, completing the electrical drive of the upper limb leg joint;

[0041] When the electromagnetic clutch (6) is engaged, the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the crawler drive motor (4) is transmitted to the lower limb leg frame (721) to drive the lower limb leg (72) to swing, thereby completing the electric drive of the lower limb leg joint;

[0042] The lower limb leg (72) is rotatably connected to the upper limb leg (71).

[0043] The support (1) and the ear seat (3) are welded to the vehicle frame; the upper limb leg joint motor (2) is fixedly connected to the vehicle body via the support (1); and the output end flange of the upper limb leg joint motor (2) is fixedly connected to the flange (711) of the upper limb leg (71).

[0044] The crawler drive motor (4) is fixedly connected to the vehicle body through the ear seat (3); the output shaft of the crawler drive motor (4) is connected to the drive shaft (712) of the upper limb leg (71) through the coupling (5); the drive shaft (712) is fixedly connected to the driving wheel (713); the driving wheel (713) is connected to the driven wheel (716) through the crawler (714); the driven output shaft (717) is fixedly connected to the driven wheel (716);

[0045] The flange (711) and the driving shaft (712) are arranged at one end of the support frame (715), and the driven output shaft (717) is arranged at the other end of the support frame (715);

[0046] The upper limb leg joint motor (2) has a through hole for allowing the drive shaft (712) of the upper limb leg (71) to pass through.

[0047] Wherein, the lower limb leg (72) is hingedly connected to the upper limb leg (71).

[0048] Wherein, the input end of the electromagnetic clutch (6) is connected to the driven output shaft (717), and the output end of the electromagnetic clutch (6) is fixedly connected to the lower limb leg frame (721);

[0049] When the electromagnetic clutch (6) is engaged, the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the crawler drive motor (4) is transmitted in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler (714), the driven wheel (716), the driven output shaft (717), the electromagnetic clutch input end, and the electromagnetic clutch output end, and finally transmitted to the lower limb leg frame (721) to drive the lower limb leg (72) to swing, thereby completing the electric drive of the lower limb leg joint; the electric drive of the upper limb leg joint and the electric drive of the lower limb leg joint are integrated to complete the electric drive of the walking mode;

[0050] When the electromagnetic clutch (6) is disengaged, the input end and the output end of the electromagnetic clutch (6) are disconnected, and the output power of the crawler drive motor (4) is transmitted to the input end of the electromagnetic clutch in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler track (714), the driven wheel (716), and the driven output shaft (717), but cannot be transmitted to the lower limb leg (72) through the output end of the electromagnetic clutch, and finally only the crawler track (714) is driven to rotate, completing the electric drive travel in the crawler walking mode.

[0051] The housing of the wheel hub motor (722) is fixedly connected to the lower limb leg frame (721), and the output end of the wheel hub motor (722) is fixedly connected to the wheel (723). The rotation of the wheel hub motor (722) drives the wheel (723) to rotate, thereby completing electric drive travel in the wheeled walking mode.

[0052] Wherein, the controller (8) is respectively connected to the upper limb leg joint motor (2), the track drive motor (4), the wheel hub motor (722) and the electromagnetic clutch (6).

[0053] In addition, the present invention also provides a multi-mode fully electrified drive switching method for a wheel-step composite walking unit, which is implemented based on the multi-mode fully electrified drive switching system for a wheel-step composite walking unit according to claim 7, and the multi-mode fully electrified drive switching method for a wheel-step composite walking unit includes the following working modes:

[0054] A. When switching to the wheeled walking mode, the controller (8) controls the upper leg joint motor (2) and the track drive motor (4) to not operate, and through the electromagnetic brake function of the upper leg joint motor (2) and the track drive motor (4), the position of the upper leg (71) and the lower leg (72) is locked; the controller (8) controls the wheel hub motor (722) to rotate to drive the wheel (723) to rotate, thereby completing the electric drive travel in the wheeled walking mode.

[0055] B. When switching to the crawler walking mode, the lower leg (72) is retracted to the extreme position, and the upper leg (71) rotates until the crawler (714) is completely in contact with the ground. The controller (8) controls the upper leg joint motor (2) and the wheel hub motor (722) to not move, and the position of the upper leg (71) is locked through the electromagnetic brake function of the upper leg joint motor (2); the controller (8) controls the electromagnetic clutch (6) to separate, and at this time, the input end and the output end of the electromagnetic clutch (6) are disconnected, and the output power of the crawler drive motor (4) is transmitted to the input end of the electromagnetic clutch (6) in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler (714), the driven wheel (716), and the driven output shaft (717), but cannot be transmitted to the lower leg (72) through the output end of the electromagnetic clutch (6), and finally only drives the crawler (714) to rotate, completing the electric drive travel in the crawler walking mode.

[0056] C. When switching to the walking mode, the controller (8) controls the upper leg joint motor (2) to rotate, thereby driving the upper leg (71) to rotate as a whole, and completing the electrical drive of the upper leg (71) joint; the controller (8) controls the electromagnetic clutch (6) to engage, at which time the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the track drive motor (4) will pass through the coupling (5), the drive shaft (712), the track (714), the driven wheel (716), the driven output shaft (717), the electromagnetic clutch input end, and the electromagnetic clutch output end in sequence, and finally be transmitted to the lower leg frame (721) to drive the lower leg (72) to swing, and complete the electrical drive of the lower leg (72) joint; the electrical drive of the upper leg (71) joint and the electrical drive of the lower leg (72) joint are integrated to complete the electrical drive of the walking mode.

[0057] Example 1

[0058] As attached Figure 1 , Figure 2 As shown, this embodiment provides a multi-form fully electrified drive switching method for a wheel-walk composite walking unit, which mainly consists of a support (1), an upper limb leg joint motor (2), an ear seat (3), a crawler drive motor (4), a coupling (5), an electromagnetic clutch (6), a limb leg (7), and a controller (8). The limb leg (7) consists of an upper limb leg (71) and a lower limb leg (72); the upper limb leg (71) is a crawler track assembly, which consists of a flange (711), a drive shaft (712), a driving wheel (713), a crawler track (714), a support frame (715), a driven wheel (716), and a driven output shaft (717); the lower limb leg (72) consists of a lower limb leg frame (721), a wheel hub motor (722), and a wheel (723).

[0059] As attached Figure 1 , Figure 2As shown, the wheel-track composite walking unit is fixedly connected to the vehicle body through a support (1) and an ear seat (3) to support the load of the entire vehicle; the upper limb leg joint motor (2) is fixedly connected to the vehicle body through the support (1), and the output end flange is fixedly connected to the upper limb leg (71) flange (711), so when the controller (8) controls the upper limb leg joint motor (2) to rotate, it will drive the upper limb leg (71) to rotate, and then drive the entire limb leg (7) to rotate; the crawler drive motor (4) is fixedly connected to the vehicle body through the ear seat (3), and the output shaft is connected to the upper limb leg (71) drive shaft (712) through the coupling (5), and the upper limb leg (71) drive shaft (712) passes through the through hole reserved in the upper limb leg joint motor (2) and is fixedly connected to the upper limb leg (71) driving wheel (713); the input end of the electromagnetic clutch (6) is connected to the driven output The output shaft (717) is connected, and the output end is fixedly connected to the lower limb leg frame (721); when the controller (8) controls the crawler drive motor (4) to rotate, the output power of the crawler drive motor (4) is transmitted to the input end of the electromagnetic clutch (6) in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler (714), the driven wheel (716), and the driven output shaft (717); when the electromagnetic clutch (6) is engaged, the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and at this time, the output power of the crawler drive motor (4) is transmitted to the lower limb leg frame (721) through the output end of the electromagnetic clutch (6), thereby driving the lower limb leg (72) to rotate; the electrical drive of the joints of the upper limb leg (71) and the lower limb leg (72) is integrated to finally complete the electrical drive of the walking mode;

[0060] like Figure 3 As shown, when the controller (8) controls the upper leg joint motor (2) not to rotate and turns on the electromagnetic brake function, the upper leg joint motor (2) is locked, and the upper leg (71) cannot rotate to achieve position locking; when the controller (8) controls the crawler drive motor (4) not to move and turns on the electromagnetic brake function, the crawler drive motor (4) is locked. At this time, if the controller (8) controls the electromagnetic clutch (6) to engage, the electromagnetic brake locking force will be sequentially transmitted through the coupling (5), the drive shaft (712), the driving wheel (71 3), the crawler track (714), the driven wheel (716), the driven output shaft (717), the input end of the electromagnetic clutch (6), and the output end of the electromagnetic clutch (6) are transmitted to the lower limb leg frame (721), and finally the position locking of the lower limb leg (72) is realized; when the position locking of the upper limb leg (71) and the lower limb leg (72) is realized, the wheel-walking composite walking unit is in a wheeled walking mode, and the controller (8) controls the wheel hub motor (722) to rotate to drive the wheel (723) to rotate, thereby completing the electric drive driving in the wheeled walking mode.

[0061] like Figure 4As shown, when the lower leg (72) is retracted to the extreme position, the upper leg (71) rotates until the crawler track (714) is completely in contact with the ground, and the position of the upper leg (71) is locked, the wheel-walk composite walking unit is in the crawler track walking mode. When the controller (8) controls the crawler track drive motor (4) to rotate, the output power of the crawler track drive motor (4) is transmitted to the input end of the electromagnetic clutch (6) in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler track (714), the driven wheel (716), and the driven output shaft (717); when the electromagnetic clutch (6) is separated, the input end and the output end of the electromagnetic clutch (6) are disconnected. At this time, the output power of the crawler track drive motor (4) will not be transmitted to the lower leg frame (721) through the output end of the electromagnetic clutch (6), thereby only driving the crawler track (714) to rotate, completing the electric drive travel in the crawler track walking mode.

[0062] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-mode fully electrified drive switching system for a wheel-walk composite walking unit, characterized in that: The multi-form fully electrified drive switching system of the wheel-walk composite walking unit comprises: a support (1), an upper limb leg joint motor (2), an ear seat (3), a track drive motor (4), a coupling (5), an electromagnetic clutch (6), a limb leg (7), and a controller (8); The limbs (7) include an upper limb (71) and a lower limb (72); The upper limb leg (71) is a crawler assembly, comprising a flange (711), a drive shaft (712), a driving wheel (713), a crawler (714), a support frame (715), a driven wheel (716) and a driven output shaft (717); The lower limb leg (72) comprises a lower limb leg frame (721), a wheel hub motor (722) and a wheel (723); The upper limb leg joint motor (2) rotates to drive the limb (7) to rotate as a whole, thus completing the electrical drive of the upper limb leg joint; When the electromagnetic clutch (6) is engaged, the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the crawler drive motor (4) is transmitted to the lower limb leg frame (721) to drive the lower limb leg (72) to swing, thereby completing the electric drive of the lower limb leg joint; The lower limb leg (72) is rotatably connected to the upper limb leg (71).

2. The multi-mode fully electrified drive switching system of the wheel-walk composite walking unit according to claim 1, characterized in that: The support (1) and the ear seat (3) are welded to the vehicle frame; the upper limb leg joint motor (2) is fixedly connected to the vehicle body via the support (1); and the output end flange of the upper limb leg joint motor (2) is fixedly connected to the flange (711) of the upper limb leg (71).

3. The multi-mode fully electrified drive switching system of the wheel-walk composite walking unit according to claim 2 is characterized in that: The crawler drive motor (4) is fixedly connected to the vehicle body via the ear seat (3); the output shaft of the crawler drive motor (4) is connected to the drive shaft (712) of the upper limb leg (71) via the coupling (5); the drive shaft (712) is fixedly connected to the driving wheel (713); the driving wheel (713) is connected to the driven wheel (716) via the crawler (714); and the driven output shaft (717) is fixedly connected to the driven wheel (716); The flange (711) and the driving shaft (712) are arranged at one end of the support frame (715), and the driven output shaft (717) is arranged at the other end of the support frame (715); The upper limb leg joint motor (2) has a through hole for allowing the drive shaft (712) of the upper limb leg (71) to pass through.

4. The multi-mode fully electrified drive switching system of the wheel-walk composite walking unit according to claim 3 is characterized in that: The lower limb leg (72) is hingedly connected to the upper limb leg (71).

5. The multi-mode fully electrified drive switching system of the wheel-walk composite walking unit according to claim 4 is characterized in that: The input end of the electromagnetic clutch (6) is connected to the driven output shaft (717), and the output end of the electromagnetic clutch (6) is fixedly connected to the lower limb leg frame (721); When the electromagnetic clutch (6) is engaged, the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the crawler drive motor (4) is transmitted in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler (714), the driven wheel (716), the driven output shaft (717), the electromagnetic clutch input end, and the electromagnetic clutch output end, and finally transmitted to the lower limb leg frame (721) to drive the lower limb leg (72) to swing, thereby completing the electric drive of the lower limb leg joint; the electric drive of the upper limb leg joint and the electric drive of the lower limb leg joint are integrated to complete the electric drive of the walking mode; When the electromagnetic clutch (6) is disengaged, the input end and the output end of the electromagnetic clutch (6) are disconnected, and the output power of the crawler drive motor (4) is transmitted to the input end of the electromagnetic clutch in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler track (714), the driven wheel (716), and the driven output shaft (717), but cannot be transmitted to the lower limb leg (72) through the output end of the electromagnetic clutch, and finally only the crawler track (714) is driven to rotate, completing the electric drive travel in the crawler walking mode.

6. The multi-mode fully electrified drive switching system of the wheel-walk composite walking unit according to claim 5, characterized in that: The housing of the wheel hub motor (722) is fixedly connected to the lower limb leg frame (721), and the output end of the wheel hub motor (722) is fixedly connected to the wheel (723). The rotation of the wheel hub motor (722) drives the wheel (723) to rotate, thereby completing electric drive travel in the wheeled walking mode.

7. The multi-mode fully electrified drive switching system of the wheel-walk composite walking unit according to claim 6 is characterized in that: The controller (8) is respectively connected to the upper limb leg joint motor (2), the track drive motor (4), the wheel hub motor (722) and the electromagnetic clutch (6).

8. A method for switching multi-mode fully electrified drive of a wheel-walk composite walking unit, characterized in that: The multi-mode fully electrified drive switching method of the wheel-step composite walking unit is implemented based on the multi-mode fully electrified drive switching system of the wheel-step composite walking unit according to claim 7, and the multi-mode fully electrified drive switching method of the wheel-step composite walking unit includes the following working modes: A. When switching to the wheeled walking mode, the controller (8) controls the upper leg joint motor (2) and the track drive motor (4) to not operate, and through the electromagnetic brake function of the upper leg joint motor (2) and the track drive motor (4), the position of the upper leg (71) and the lower leg (72) is locked; the controller (8) controls the wheel hub motor (722) to rotate to drive the wheel (723) to rotate, thereby completing the electric drive travel in the wheeled walking mode.

9. The multi-mode fully electrified drive switching method of the wheel-walk composite walking unit according to claim 8, characterized in that: The multi-mode all-electric drive switching method of the wheel-walk composite walking unit also includes the following working modes: B. When switching to the crawler walking mode, the lower leg (72) is retracted to the extreme position, and the upper leg (71) rotates until the crawler (714) is completely in contact with the ground. The controller (8) controls the upper leg joint motor (2) and the wheel hub motor (722) to not move, and the position of the upper leg (71) is locked through the electromagnetic brake function of the upper leg joint motor (2); the controller (8) controls the electromagnetic clutch (6) to separate, and at this time, the input end and the output end of the electromagnetic clutch (6) are disconnected, and the output power of the crawler drive motor (4) is transmitted to the input end of the electromagnetic clutch (6) in sequence through the coupling (5), the drive shaft (712), the driving wheel (713), the crawler (714), the driven wheel (716), and the driven output shaft (717), but cannot be transmitted to the lower leg (72) through the output end of the electromagnetic clutch (6), and finally only drives the crawler (714) to rotate, completing the electric drive travel in the crawler walking mode.

10. The multi-mode fully electrified drive switching method of the wheel-walk composite walking unit according to claim 9, characterized in that: The multi-mode all-electric drive switching method of the wheel-walk composite walking unit also includes the following working modes: C. When switching to the walking mode, the controller (8) controls the upper leg joint motor (2) to rotate, thereby driving the upper leg (71) to rotate as a whole, and completing the electrical drive of the upper leg (71) joint; the controller (8) controls the electromagnetic clutch (6) to engage, at which time the input end and the output end of the electromagnetic clutch (6) are fixedly connected, and the output power of the track drive motor (4) will pass through the coupling (5), the drive shaft (712), the track (714), the driven wheel (716), the driven output shaft (717), the electromagnetic clutch input end, and the electromagnetic clutch output end in sequence, and finally be transmitted to the lower leg frame (721) to drive the lower leg (72) to swing, and complete the electrical drive of the lower leg (72) joint; the electrical drive of the upper leg (71) joint and the electrical drive of the lower leg (72) joint are integrated to complete the electrical drive of the walking mode.

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