Variable-form wheel foot ball picking robot

Abstract

The invention discloses a variable-form wheel foot ball picking robot which is characterized in that the functions of wheel foot form switching, efficient ball picking and vibration reduction are achieved through modular design. The robot comprises a trunk module, a wheel leg module and a ball picking module. The trunk module is of an active and passive composite vibration reduction cylinder structure and is connected with a vibration-reduced unit through a vibration reduction cylinder guide rail, and vibration suppression is achieved. The wheel-leg module is composed of a thigh driving joint, a spring damper, a shank driving joint and a single-side shaft wheel-leg assembly, switching of two forms of a double-leg wheel-leg and a four-leg wheel-leg is achieved through separation and reunion of a telescopic push rod, and the wheel-leg module adapts to different terrains. The ball picking module drives a push plate to move along a guide rail through a push plate motor and is matched with a ball storage bin spring to collect and release balls. The core innovation point of the robot lies in wheel-foot shape variability, an active and passive composite vibration reduction system and an integrated ball picking mechanism, has wheel-type high-speed movement and foot-type complex terrain adaptability, is suitable for autonomous ball picking operation in stadiums, outdoor environments and other scenes, can efficiently complete ball picking tasks, and is high in practicability. And meanwhile, the robot has the capabilities of obstacle crossing, vibration reduction and terrain self-adaption.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a variable-form wheel-legged ball-picking robot, which is particularly suitable for automated ball-picking operations in scenarios such as stadiums and golf courses. Background Art

[0002] The emergence and development of robot technology have greatly liberated the productive forces of human society and improved production efficiency. At present, the main solutions for ball-picking work on golf courses can be roughly divided into two types. One is a ball-picking cart pushed by manpower with a cage-shaped structure, and the other is a wheeled ball-picking robot similar to a floor-cleaning robot. The existing mainstream solutions have problems such as low automation, poor terrain adaptability of the robot, and low ball-picking efficiency.

[0003] Traditional wheeled robots are difficult to adapt to unstructured terrains, while legged robots have low movement efficiency. Most existing automated ball-picking robots adopt a fixed-form design, have a single movement mode, lack the ability to adapt to complex terrains, and when a joint of the robot fails, the robot will be unable to operate. In addition, due to the inevitable vibration when the robot operates on complex terrains, external perception sensors such as vision become blurred, resulting in problems such as the inability to recognize the ball. Therefore, how to design a high-efficiency ball-picking robot device that can adapt to unstructured complex terrains and has a redundant drive design, and can improve external environment sensor devices such as vision by adding a vibration damping system. This has become an urgent problem to be solved by current ball-picking robots. Summary of the Invention

[0004] The object of the present invention is to propose a variable-form wheel-legged ball-picking robot with wheel-foot variable form, vibration damping regulation, and ball-picking functions. The robot includes a torso module, a wheel-leg module, and a ball-picking module. The torso module adopts a main-passive composite vibration damping cylinder structure and is connected to the vibration-damped unit through a vibration damping cylinder guide rail to achieve vibration suppression and prevent the impact of vibrations caused by uneven terrains on robot sensors, control devices, etc.; the wheel-leg module consists of a thigh drive joint, a spring damper, a calf drive joint, and a single-side axle wheel-foot assembly, and realizes the switching between two forms of double-leg wheel-foot and four-leg wheel-foot through a telescopic push rod clutch, can adapt to different terrains, and the double-leg wheel-foot form has a redundant backup of the drive joint and the single-side axle wheel-foot to prevent the robot from being unable to operate due to failures; the ball-picking module presses the balls down through multiple parallel ball-picking springs, and can pick multiple balls in one press, with high ball-picking effect. The core innovation points of the present invention lie in the variability of the wheel-foot form, the main-passive composite vibration damping system, and the integrated ball-picking mechanism, combining the high-speed movement of the wheeled form and the complex terrain adaptability of the legged form.

[0005] The technical solution of the present invention is:

[0006] A variable - form wheel - leg ball - picking robot, comprising a torso module, a wheel - leg module, and a ball - picking module. The two wheel - leg modules are symmetrically installed with respect to the torso module, and the ball - picking module is fixedly installed below the torso module.

[0007] The torso module is composed of a torso shell, a shock - absorbing cylinder, and a shock - absorbing unit. The bottom of the shock - absorbing cylinder is fixedly connected to the torso shell, and the top of the shock - absorbing cylinder is fixedly connected to the shock - absorbing unit.

[0008] The wheel - leg module consists of two thigh drive joints, two thigh components, two thigh spring - dampers, two calf drive joints, two calf components, and two single - side axle - wheel - foot assemblies. The stator of the thigh drive joint is fixedly connected to the torso shell. One end of the thigh spring - damper is rotatably connected to the torso shell, and the other end is rotatably connected to the thigh component. One end of the thigh component is fixedly connected to the rotor of the thigh drive joint and rotates around the thigh drive joint. The end of the thigh component close to the torso module is fixedly connected to the rotor of the thigh drive joint by a fastener and a gasket. The end of the thigh component far from the torso module is fixedly connected to the stator of the calf drive joint. One end of the calf component is fixedly connected to the rotor of the calf drive joint and rotates around the calf drive joint. The other end of the calf component is fixedly connected to the single - side axle - wheel - foot assembly.

[0009] The ball - picking module is composed of a ball storage bin, ball - picking springs, a push plate, a push - plate motor, and guide rails. Multiple ball - picking springs are arranged in parallel with equal gaps in an array and are connected in parallel. The two ends are respectively fixedly connected to the bottoms of the left and right side surfaces of the ball storage bin. Guide rails are fixedly connected to the left and right inner side surfaces of the ball storage bin. The guide rails are located above the ball - picking springs and are perpendicular to the ball - picking springs. The push - plate motor is fixedly connected to the push plate. The push plate linearly moves along the guide rails under the push of the push - plate motor and is always perpendicular to the guide rails.

[0010] Preferably, the shock - absorbing cylinder is a main - passive composite shock - absorbing cylinder composed of a passive shock - absorbing structure and an active control unit. The passive shock - absorbing structure can be an air - floating, magnetic - floating, air - magnetic hybrid, air - electromagnetic hybrid, or hydraulic component.

[0011] The active control unit is composed of a vibration sensor, a vibration controller, a linear driver, and an electromagnetic actuator.

[0012] The shock - absorbing unit includes a power supply, a controller, and an external sensor. The external sensor includes a camera, a lidar, an IMU, etc.

[0013] Preferably, the unilateral shaft wheel foot assembly consists of a hub steering joint, a wheel foot shock absorber, a unilateral shaft hub assembly and the telescopic push rod clutch. The stator of the hub steering joint is connected to the calf member. The hub steering joint is fixedly connected to the upper end of the wheel foot shock absorber. The lower end of the wheel foot shock absorber is fixedly connected to the unilateral shaft hub assembly. The telescopic push rod clutch is fixedly installed at the unilateral center of the unilateral shaft hub assembly. The unilateral shaft hub assembly can form two forms: double-leg wheel feet and four-leg wheel feet by locking and opening the telescopic push rod clutch. In the form of double-leg wheel feet, the wheel leg modules on the same side form a five-bar linkage structure and are jointly driven by two thigh drive joints and two calf drive joints. The two unilateral shaft wheel foot assemblies rotate concentrically and synchronously. In the form of four-leg wheel feet, the wheel leg modules on the same side are two series joint branch structures. The unilateral shaft wheel foot assemblies rotate independently and are driven by a single thigh drive joint and a single calf drive joint connected in series with them.

[0014] Preferably, the ball storage bin is provided with a side groove, and the side groove is closed by the upper cover through a hinge. The balls in the ball storage bin can fall out from the side groove under the push of the push plate.

[0015] Preferably, when in the form of double-leg wheel feet, any two of the two thigh drive joints and two calf drive joints can be used to drive to adjust the five-bar linkage structure formed by the wheel leg modules. Any one of the two unilateral shaft wheel foot assemblies can be used as a drive wheel to realize the rotation of the wheel.

[0016] Preferably, the unilateral shaft wheel foot assembly adopts a modular design, and the unilateral shaft wheel foot assembly and its sub-modules, such as the hub steering joint, the wheel foot shock absorber, and the unilateral shaft hub assembly, can be disassembled and assembled or replaced separately.

[0017] The beneficial effects of the present invention are as follows:

[0018] (1) Multi-form wheel feet cooperate to improve terrain adaptability and movement efficiency: The present invention can realize the form switching between double-leg wheel feet and four-leg wheel feet through the telescopic push rod clutch mechanism. In the form of four-leg wheel feet, independent joint drive and hub steering design are adopted to support omnidirectional movement and crossing of complex terrains (such as steps and gullies), significantly enhancing the adaptability to unstructured terrains. In the form of double-leg wheel feet, the five-bar linkage structure and redundant drive design (any two drive joints can complete the movement control) take into account the characteristics of high-speed wheeled movement and improve the traveling efficiency on flat terrains. The concentric synchronous or independent drive design of the unilateral shaft wheel foot assembly ensures that the basic movement function can still be maintained in case of a single-point failure, greatly improving the system reliability.

[0019] (2) The active and passive composite vibration damping system ensures sensing stability: In the present invention, a wheel-foot vibration damping device (primary level) and a thigh spring damper (secondary level) are designed to reduce ground impact, and the active and passive composite vibration damping cylinder (tertiary level) of the torso module further suppresses residual vibration, forming a hierarchical vibration damping system; through the closed-loop control of vibration sensors, linear drivers, and electromagnetic actuators, high-frequency vibrations are offset in real time, avoiding image blurring or data distortion of external sensors (cameras, lidar, etc.) caused by vibration, and ensuring the accuracy of sensing and attitude adjustment.

[0020] (3) The integrated ball-picking mechanism enables efficient operation: In the present invention, the ball-picking springs arranged in a parallel and equally spaced array can capture multiple spheres with a single downward press (the spring spacing is slightly smaller than the sphere diameter), significantly increasing the number of balls picked per unit time. The side groove of the ball storage bin cooperates with the guide rail push plate driven by the push plate motor to achieve rapid loading and controllable release, reducing the operation interruption time and improving the ball-picking efficiency. The elastic deformation of the ball-picking springs adapts to spheres of different sizes, enhancing the compatibility with different types of venues.

[0021] (4) Redundant drive and fault-tolerant design enhance system reliability: When the variable-form wheel-foot robot of the present invention is in the double-leg wheel-foot form, the selective activation function of the drive joints of the five-link structure (any two joints can drive to control the movement), and the redundant backup of the drive joints and wheel-foot components greatly reduce the risk of downtime caused by local failures, ensuring that the basic movement ability can still be maintained in case of joint failures and improving the continuous operation ability of the robot. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is an overall schematic diagram of the four-leg wheel-foot form of the variable-form wheel-foot ball-picking robot of the present invention;

[0024] Figure 2 It is an overall schematic diagram of the double-leg wheel-foot form of the variable-form wheel-foot ball-picking robot of the present invention;

[0025] Figure 3 It is a partial structural schematic diagram of the torso module of the variable-form wheel-foot ball-picking robot of the present invention;

[0026] Figure 4 It is a partial structural schematic diagram of the wheel-leg module of the variable-form wheel-foot ball-picking robot of the present invention;

[0027] Figure 5This is a partial structural schematic diagram of the ball-picking module of the variable-form wheel-foot ball-picking robot in the present invention;

[0028] Main reference numerals description:

[0029] 100 Trunk module, 200 Wheel-leg module, 300 Ball-picking module, 110 Trunk housing, 120 Vibration damping cylinder, 130 Vibration-damped unit, 210 Thigh drive joint, 220 Thigh component, 230 Thigh spring damper, 240 Calf drive joint, 250 Calf component, 260 Unilateral shaft wheel-foot assembly, 310 Ball storage bin, 320 Ball-picking spring, 330 Pusher plate, 340 Pusher plate motor, 350 Guide rail, 261 Hub steering joint, 262 Wheel-foot shock absorber, 263 Unilateral shaft hub assembly, 264 Telescopic push rod clutch. Specific embodiments

[0030] To elaborate on the technical content, structural features, achieved objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings of the specification.

[0031] A variable-form wheel-foot ball-picking robot provided by the present invention, as Figure 1 shown in Figure 2 the figure, includes a trunk module (100), a wheel-leg module (200) and a ball-picking module (300). The two wheel-leg modules (200) are symmetrically installed with respect to the trunk module (100), and the ball-picking module (300) is fixedly installed below the trunk module (100);

[0032] As Figure 3 shown in the figure, the trunk module (100) is composed of a trunk housing (110), a vibration damping cylinder (120) and a vibration-damped unit (130). The bottom of the vibration damping cylinder (120) is fixedly connected to the trunk housing (110), and the top of the vibration damping cylinder (120) is fixedly connected to the vibration-damped unit (130);

[0033] As Figure 4As shown, the wheel-leg module (200) consists of two thigh drive joints (210), two thigh components (220), two thigh spring dampers (230), two calf drive joints (240), two calf components (250), and two single-sided axle-wheel foot assemblies (260). The stator of the thigh drive joint (210) is fixedly connected to the torso housing (110). One end of the thigh spring damper (230) is rotatably connected to the torso housing (110), and the other end is rotatably connected to the thigh component (220). One end of the thigh component (220) is fixedly connected to the rotor of the thigh drive joint (210) and rotates around the thigh drive joint (210). One end of the thigh component (220) near the torso module (200) is fixedly connected to the rotor of the thigh drive joint (210) by a fastener and a gasket. The end of the thigh component (220) far from the torso module (200) is fixedly connected to the stator of the calf drive joint (240). One end of the calf component (250) is fixedly connected to the rotor of the calf drive joint (240) and rotates around the calf drive joint (240). The other end of the calf component (250) is fixedly connected to the single-sided axle-wheel foot assembly (260).

[0034] As Figure 5 shown, the ball-picking module (300) consists of a ball storage bin (310), ball-picking springs (320), a push plate (330), a push plate motor (340), and a guide rail (350). Multiple ball-picking springs (320) are arranged in parallel with equal gaps in an array and are connected in parallel. The two ends are respectively fixedly connected to the bottoms of the left and right side surfaces of the ball storage bin (310). The guide rails (340) are fixedly connected to the left and right side surfaces inside the ball storage bin (310). The guide rail (350) is located above the ball-picking springs (320) and is perpendicular to the ball-picking springs (320). The push plate motor (340) is fixedly connected to the push plate (330). The push plate (330) linearly moves along the guide rail (350) under the push of the push plate motor (340) and is always perpendicular to the guide rail (350).

[0035] Preferably, the shock absorber cylinder (120) is a main-passive composite shock absorber cylinder composed of a passive shock absorption structure and an active control unit. The passive shock absorption structure can be an air-floating, magnetic-floating, air-magnetic hybrid, air-electromagnetic hybrid, or hydraulic component;

[0036] The active control unit consists of a vibration sensor, a vibration controller, a linear driver, and an electromagnetic actuator;

[0037] The unit to be shock-absorbed (130) includes a power supply, a controller, and an external sensor. The external sensor includes a camera, a lidar, an IMU, etc.

[0038] Preferably, the single-sided axle-wheel foot assembly (260) is composed of a hub steering joint (261), a wheel-foot shock absorber (262), a single-sided axle hub assembly (263), and the telescopic push rod clutch (264). The stator of the hub steering joint (261) is connected to the calf member (250). The hub steering joint (261) is fixedly connected to the upper end of the wheel-foot shock absorber (262), and the lower end of the wheel-foot shock absorber (262) is fixedly connected to the single-sided axle hub assembly (263). The telescopic push rod clutch (264) is fixedly installed at the single-sided center of the single-sided axle hub assembly (263). The single-sided axle hub assembly (263) can form two forms: double-leg wheel feet and four-leg wheel feet through the locking and opening of the telescopic push rod clutch (264). In the form of double-leg wheel feet, the wheel-leg modules (200) on the same side form a five-link structure and are jointly driven by two thigh drive joints (210) and two calf drive joints (240). The two single-sided axle-wheel foot assemblies (260) rotate concentrically and synchronously. In the form of four-leg wheel feet, the wheel-leg modules (200) on the same side are two series joint branch structures. The single-sided axle-wheel foot assemblies (260) rotate independently and are driven by a single thigh drive joint (210) and a single calf drive joint (240) connected in series with them.

[0039] Preferably, the ball storage bin (310) is provided with a side groove, and the side groove is closed by an upper cover through a hinge. The balls in the ball storage bin (310) can fall out from the side groove under the push of the push plate (330).

[0040] Preferably, when in the form of double-leg wheel feet, any two of the two thigh drive joints (210) and the two calf drive joints (240) can be used to adjust the five-link structure formed by the wheel-leg module (200), and any one of the two single-sided axle-wheel foot assemblies (260) can be used to drive the wheel to rotate.

[0041] Preferably, the single-sided axle-wheel foot assembly (260) adopts a modular design, and the single-sided axle-wheel foot assembly (260) and its sub-modules, such as the hub steering joint (261), the wheel-foot shock absorber (262), and the single-sided axle hub assembly (263), can be disassembled, assembled, or replaced separately.

[0042] The operation process of this embodiment is realized as follows:

[0043] First, the trunk module (100) and the ball-picking module (300) of the variable-form wheel-legged ball-picking robot are supported by the wheel-leg module (200) and move omnidirectionally. When the external sensors of the trunk module (100) sense that there are balls to be picked up around, the variable-form wheel-legged ball-picking robot moves above the detected ball, and presses the ball-picking module (300) onto the ball by controlling the thigh drive joint (210) and the calf drive joint (240). The distance between multiple ball-picking springs (320) is slightly less than the diameter of the ball. Due to the downward pressure, the ball is picked up by the ball-picking springs (320) and enters the ball storage bin (310). When all the balls are picked up or the ball storage bin is full, the variable-form wheel-legged ball-picking robot moves to the area of the ball-releasing device, and the push plate motor (340) pushes the balls in the ball storage bin out by pushing the push plate (330).

[0044] When the variable-form wheel-legged ball-picking robot is in the four-leg wheel-foot form, the thigh drive joint (210), thigh component (220), thigh spring damper (230), calf drive joint (240), calf component (250), and single-side shaft wheel-foot assembly (260) in the wheel-leg module (200) are connected in series to form one leg of the four-leg wheel-foot. Each leg is driven independently. Through the coordination of the four legs, it can adapt to different terrain heights, cross steps, gullies, and thresholds, and achieve omnidirectional movement of the variable-form wheel-legged ball-picking robot through the hub steering joint (261). The wheel-foot shock absorber (262) realizes the primary shock absorption for the non-smooth contact between the single-side shaft wheel-foot assembly (260) and the ground, and the thigh spring damper (230) realizes the secondary shock absorption, reducing the vibration impact of the terrain on the trunk module (100). When the two single-side shaft wheel-foot assemblies (260) on the same side are in the concentric position, the push rod of the telescopic push rod clutch (264) extends and locks. At this time, the variable-form wheel-legged ball-picking robot switches to the two-leg wheel-foot form. At this time, the wheel-leg module (200) forms a five-bar linkage structure and is jointly driven by two of the thigh drive joints (210) and two of the calf drive joints (240). Any two of these drive joints are used as the main drive joints, and the other two drive joints are slave joints. In other words, if any two drive joints in the wheel-leg module (200) fail, the two-leg wheel-foot can still operate normally. The two single-side shaft wheel-foot assemblies (260) rotate concentrically and synchronously. If one of the single-side shaft wheel-foot assemblies fails, it can still be rotated by the other single-side shaft wheel-foot assembly.

[0045] The above embodiments only represent one implementation mode of the present invention, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A shape-changing wheeled ball-picking robot, characterized in that: It comprises a trunk module (100), a wheel-leg module (200) and a ball-picking module (300), wherein the two wheel-leg modules (200) are symmetrically installed with respect to the trunk module (100), and the ball-picking module (300) is fixedly installed below the trunk module (100); The trunk module (100) is composed of a trunk shell (110), a vibration-damping cylinder (120) and a vibration-damped unit (130); the bottom of the vibration-damping cylinder (120) is fixedly connected to the trunk shell (110), and the top of the vibration-damping cylinder (120) is fixedly connected to the vibration-damped unit (130); The wheel-leg module (200) is composed of two thigh drive joints (210), two thigh components (220), two thigh spring dampers (230), two shank drive joints (240), two shank components (250), and two single-side axle wheel-foot assemblies (260), wherein the stator of the thigh drive joint (210) is fixedly connected to the trunk shell (110), one end of the thigh spring damper (230) is rotationally connected to the trunk shell (110), the other end of the thigh spring damper (230) is rotationally connected to the thigh component (220), and one end of the thigh component (220) is rotationally connected to the thigh drive joint (240). The rotor of the joint (210) is fixedly connected and rotates around the thigh drive joint (210); one end of the thigh component (220) close to the trunk module (200) is fixedly connected to the rotor of the thigh drive joint (210) by a fastener and a gasket, one end of the thigh component (220) away from the trunk module (200) is fixedly connected to the stator of the shank drive joint (240), one end of the shank component (250) is fixedly connected to the rotor of the shank drive joint (240) and rotates around the shank drive joint (240), and the other end of the shank component (250) is fixedly connected to the unilateral axle wheel foot assembly (260); The ball picking module (300) is composed of a ball storage bin (310), a ball picking spring (320), a push plate (330), a push plate motor (340) and a guide rail (350). A plurality of the ball picking springs (320) are arranged in parallel in an array with equal spacing, and both ends are fixedly connected to the bottom of the left and right sides of the ball storage bin (310). The left and right sides inside the ball storage bin (310) are fixedly connected with the guide rail (340). The guide rail (350) is located above the ball picking spring (320) and is perpendicular to the ball picking spring (320). The push plate motor (340) is fixedly connected to the push plate (330). The push plate (330) moves linearly along the guide rail (350) under the push of the push plate motor (340) and is always perpendicular to the guide rail (350).

2. The shape-changing wheeled ball-picking robot according to claim 1, characterized in that: The vibration reduction cylinder (120) is an active-passive composite vibration reduction cylinder composed of a passive vibration reduction structure and an active control unit, and the passive vibration reduction structure can be an air suspension, a magnetic suspension, an air-magnetic hybrid, an air-electromagnetic hybrid or a hydraulic element; The active control unit is composed of a vibration sensor, a vibration controller, a linear drive and an electromagnetic actuator; The vibration-damped unit (130) comprises a power supply, a controller and an external sensor, wherein the external sensor comprises a camera, a laser radar, an IMU and the like.

3. The shape-changing wheeled ball-picking robot according to claim 1, characterized in that: The single-side shaft wheel-foot assembly (260) is composed of a wheel hub steering joint (261), a wheel-foot shock absorbing device (262), a single-side shaft wheel hub assembly (263) and a telescopic push rod clutch (264); the stator of the wheel hub steering joint (261) is connected to the lower leg member (250); the wheel hub steering joint (261) is fixedly connected to the upper end of the wheel-foot shock absorbing device (262); the lower end of the wheel-foot shock absorbing device (262) is fixedly connected to the single-side shaft wheel hub assembly (263); the telescopic push rod clutch (264) is fixedly installed at the center of one side of the single-side shaft wheel hub assembly (263); the single-side shaft wheel hub assembly (26 3) Two forms of double-leg wheel foot and four-leg wheel foot can be formed by locking and opening the telescopic push rod clutch (264); in the double-leg wheel foot form, the wheel-leg module (200) on the same side forms a five-link structure, and is driven by the two thigh drive joints (210) and the two shank drive joints (240), and the two single-side axle wheel foot assemblies (260) rotate concentrically and synchronously; in the four-leg wheel foot form, the wheel-leg module (200) on the same side is a two-series joint branch structure, and the single-side axle wheel foot assembly (260) rotates independently and is driven by a single thigh drive joint (210) and a single shank drive joint (240) connected in series.

4. The shape-changing wheeled ball-picking robot according to claim 1, characterized in that: The ball storage bin (310) is provided with a side groove, and the side groove is closed by a hinge through an upper opening cover, and the balls in the ball storage bin (310) can fall out of the side groove under the push of a push plate (330).

5. The shape-changing wheeled ball-picking robot according to claim 3, characterized in that: When the legs are in a double-wheel-foot configuration, the five-link structure formed by the wheel-leg module (200) can be adjusted by driving any two of the two thigh driving joints (210) and the two calf driving joints (240), and the wheel rotation can be achieved by driving any one of the driving wheels of the two single-side shaft wheel-foot assemblies (260).

6. The shape-changing wheeled ball-picking robot according to claim 1, characterized in that: The single-side axle wheel-foot assembly (260) adopts a modular design, and the single-side axle wheel-foot assembly (260) and its submodules, such as the wheel hub steering joint (261), the wheel-foot shock absorbing device (262), and the single-side axle wheel hub assembly (263), can be disassembled or replaced separately.

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