Multi-motion-mode wheel-legged robot

Abstract

The invention discloses a multi-motion-mode wheel-legged robot. The multi-motion-mode wheel-legged robot comprises a robot body, bionic leg walking mechanisms and wheel paddle mechanisms; an electric power storage control system is mounted on the machine body; the number of the bionic leg walking mechanisms is four, and the four bionic leg walking mechanisms are symmetrically installed on the two sides of the robot body through the side swing leg lifting assemblies correspondingly. The side swing leg lifting assembly is used for obstacle avoidance of the bionic leg walking mechanism. The four groups of wheel paddle mechanisms are respectively mounted at four corners of the machine body; the wheel paddle mechanism comprises walking wheel assemblies and propeller assemblies, the walking wheel assemblies are installed at the four corners of the fuselage through the mode switching assemblies, and the propeller assemblies are installed on the walking wheel assemblies. The high-speed moving characteristic of a wheeled robot, the advantage of obstacle crossing ability of a legged robot and the high-speed flying ability of an aerial robot are integrated, and the all-terrain robot has excellent all-terrain adaptability and can efficiently pass through various complex terrains.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a multi-motion-modal wheel-leg robot. Background Art

[0002] In today's era, robot technology has become a key force driving the transformation of industry, service industry and even daily life. As a type of robot, mobile robots have brought revolutionary changes to fields such as industrial automation, logistics transportation, service industry and personal assistance with their continuous development.

[0003] In the prior art, wheeled robots have the advantage of high-speed and stable motion ability, but their disadvantage is limited obstacle-crossing ability. Legged robots have stronger terrain adaptability and flexibility, but they have the disadvantage of low energy conversion efficiency. Flying robots have extremely strong flexibility and motion ability in the air, but their motion ability is extremely limited after landing. However, robots with a single motion mode have their own advantages and disadvantages, and it is difficult to achieve efficient passage in various complex terrains.

[0004] Therefore, a multi-motion-modal wheel-leg robot is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-motion-modal wheel-leg robot, which has multiple motion modes such as wheeled, legged, wheel-leg composite, and flying modes, aiming to solve or improve at least one of the above technical problems.

[0006] To achieve the above purpose, the present invention provides the following solution: The present invention provides a multi-motion-modal wheel-leg robot, including:

[0007] A fuselage, on which a power storage control system is installed;

[0008] A bionic leg walking mechanism, there are four groups of the bionic leg walking mechanisms, and the four groups of bionic leg walking mechanisms are symmetrically installed on both sides of the fuselage through side-swing leg-lifting components; the side-swing leg-lifting components are used for obstacle avoidance of the bionic leg walking mechanism;

[0009] A wheel-propeller mechanism, there are four groups of the wheel-propeller mechanisms, and the four groups of wheel-propeller mechanisms are respectively installed at the four corners of the fuselage; the wheel-propeller mechanism includes a walking wheel assembly and a propeller assembly, the walking wheel assembly is installed at the four corners of the fuselage through a mode switching component, and the propeller assembly is installed on the walking wheel assembly;

[0010] Wherein, the mode switching component is used to switch the walking wheel assembly to a wheel walking mode, a leg walking mode or a flying mode; the bionic leg walking mechanism, the side-swing leg-lifting component, the walking wheel assembly, the propeller assembly and the mode switching component are all electrically connected to the power storage control system.

[0011] A multi - motion - modality wheel - leg robot provided by the present invention, the side - swing and leg - lifting assembly includes a first motor electrically connected to the power storage control system. The first motor is horizontally installed on the inner wall of the fuselage, and the output shaft of the first motor is fixedly connected to the bionic - leg walking mechanism. The four first motors are symmetrically arranged on both sides of the fuselage.

[0012] A multi - motion - modality wheel - leg robot provided by the present invention, the bionic - leg walking mechanism includes:

[0013] A second motor, the second motor is fixedly installed on the output shaft of the first motor through a first connecting plate;

[0014] A first link assembly, the first link assembly is installed at the output end of the second motor;

[0015] A third motor, the third motor is installed on the first connecting plate, and the third motor is located directly below the second motor;

[0016] A second connecting plate, the second connecting plate is fixedly installed between the third motor and the second motor;

[0017] A thigh rod, the thigh rod is fixedly installed at the output end of the third motor;

[0018] A calf rod, the calf rod is installed on the thigh rod through a second link assembly, and the second link assembly is connected to the first link assembly;

[0019] An end - round foot, the end - round foot is installed at the bottom of the calf rod;

[0020] Wherein, the thigh rod, the calf rod and the second link assembly enclose a parallelogram structure; both the second motor and the third motor are electrically connected to the power storage control system.

[0021] A multi - motion - modality wheel - leg robot provided by the present invention, the modality - switching assembly includes:

[0022] A fourth motor, the fourth motor is horizontally installed on the inner wall of the fuselage;

[0023] A fifth motor, the fifth motor is installed on the output shaft of the fourth motor through a swing - arm motor fixing bracket. The fifth motor is vertically arranged and is located outside the fuselage;

[0024] A large arm, the large arm is installed on the output shaft of the fifth motor;

[0025] A connecting sleeve, one end of the connecting sleeve is fixedly connected to the boom, and the other end is fixedly connected to the walking wheel assembly;

[0026] Wherein, the fourth motor and the fifth motor are both electrically connected to the power storage control system, and the four fourth motors are respectively installed at the four corners of the fuselage.

[0027] According to a multi-motion-mode wheel-legged robot provided by the present invention, the walking wheel assembly includes:

[0028] A wheel motor fixing bracket, the wheel motor fixing bracket is installed at one end of the connecting sleeve away from the boom;

[0029] A wheel drive DC motor, the wheel drive DC motor is installed on the wheel motor fixing bracket;

[0030] A wheel, the wheel is installed on the output shaft of the wheel drive DC motor through a connecting member;

[0031] A thrust cylindrical roller bearing, the thrust cylindrical roller bearing is installed between the wheel motor fixing bracket and the connecting member;

[0032] Wherein, the propeller assembly is installed on the wheel, and the wheel drive DC motor is electrically connected to the power storage control system.

[0033] According to a multi-motion-mode wheel-legged robot provided by the present invention, the propeller assembly includes a brushless motor and a three-blade rotor. The brushless motor is nested at the center of the wheel, the three-blade rotor is installed on the output shaft of the brushless motor, and the brushless motor is electrically connected to the power storage control system.

[0034] According to a multi-motion-mode wheel-legged robot provided by the present invention, the first link assembly includes a first link and a second link; one end of the first link is installed on the output shaft of the second motor, and the other end is rotatably connected to the second link;

[0035] The end of the second link away from the first link is rotatably connected to the second link assembly.

[0036] According to a multi-motion-mode wheel-legged robot provided by the present invention, the second link assembly includes a third link and a fourth link. One end of the third link is rotatably connected to the top of the side wall of the thigh rod, and the other end is rotatably connected to the top of the side wall of the calf rod;

[0037] One end of the fourth link is rotatably connected to the bottom of the side wall of the thigh rod, and the other end is rotatably connected to the middle section of the side wall of the calf rod;

[0038] One end of the second connecting rod away from the first connecting rod is rotatably connected to the middle section of the third connecting rod; the thigh rod, the calf rod, the third connecting rod and the fourth connecting rod enclose a parallelogram structure.

[0039] According to a multi-motion-modal wheel-leg robot provided by the present invention, the power storage control system is installed at the bottom of the fuselage through a fixing frame. Two limit blocks are installed at the bottom of the fuselage, and the two limit blocks are respectively in contact with both ends of the power storage control system. A plurality of heat dissipation slots are opened on the fixing frame.

[0040] According to a multi-motion-modal wheel-leg robot provided by the present invention, two windows are opened on both side walls of the fuselage, and the second motor and the third motor are located at the windows.

[0041] The present invention discloses the following technical effects:

[0042] The present invention realizes bionic leg walking through four groups of bionic leg walking mechanisms, which can be applicable to complex road conditions such as large slopes or gullies on the ground, and improves the obstacle-crossing performance of the robot; when there is a slope or height difference on one side of the ground where the robot moves, the bionic leg walking mechanism can be lifted by the side-swinging leg-lifting assembly to avoid obstacles, ensuring the moving ability and stability of the robot;

[0043] The present invention switches the walking wheel assembly to the wheel walking mode, the leg walking mode or the flight mode through the mode switching assembly. When in the wheel walking mode, the four groups of bionic leg walking mechanisms are retracted, and the walking wheel assembly is adjusted to be placed on the ground. The four groups of walking wheel assemblies are controlled by the power storage control system to start, which is especially applicable to the state where the robot passes through a flat road surface, improving the moving efficiency and energy utilization rate of the robot; when in the flight mode, the four groups of walking wheel assemblies are retracted, and the four groups of propeller assemblies are controlled by the power storage control system to start for flight. When the robot is on a flat road surface, the bionic leg walking mechanism is not required to assist in taking off, and at this time, the four groups of bionic leg walking mechanisms are retracted; when the robot needs to land on an uneven road surface, the four groups of bionic leg walking mechanisms are lowered when the robot is about to land, and the bionic leg walking mechanism supports outward to improve the stability of the robot and enable it to land stably;

[0044] The robot of the present invention overcomes the limitations of a single wheeled robot and a legged robot, combines the high-speed moving characteristics of a wheeled robot, the stability advantages of a legged robot and the flight ability of an aerial robot, has excellent terrain adaptability, and can efficiently pass through various complex terrains. Description of the Drawings

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0046] Figure 1 Isometric view of the present invention Figure Ⅰ ;

[0047] Figure 2 Isometric view of the present invention Figure Ⅱ ;

[0048] Figure 3 Is a schematic diagram of the internal structure of the fuselage in the present invention;

[0049] Figure 4 Is Figure 3 Partial enlarged view of A in

[0050] Wherein, 1, fuselage; 2, power storage control system; 3, first motor; 4, second motor; 5, first connecting plate; 6, third motor; 7, second connecting plate; 8, thigh rod; 9, calf rod; 10, end round foot; 11, first connecting rod; 12, second connecting rod; 13, third connecting rod; 14, fourth connecting rod; 15, fourth motor; 16, fifth motor; 17, swing arm motor fixing bracket; 18, upper arm; 19, connecting sleeve; 20, wheel motor fixing bracket; 21, wheel drive DC motor; 22, wheel; 23, thrust cylindrical roller bearing; 24, three-blade rotor; 25, fixing bracket; 26, limit block; 27, heat dissipation slot. Detailed implementation manners

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0052] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0053] Refer to Figures 1-4 , the present invention provides a multi-motion-modal wheel-legged robot, including:

[0054] Fuselage 1, on which a power storage control system 2 is installed;

[0055] Bionic leg walking mechanism. There are four groups of bionic leg walking mechanisms, and the four groups of bionic leg walking mechanisms are symmetrically installed on both sides of the fuselage 1 through the side-swinging leg-lifting components; the side-swinging leg-lifting components are used for obstacle avoidance of the bionic leg walking mechanism.

[0056] Wheel paddle mechanism. There are four groups of wheel paddle mechanisms, and the four groups of wheel paddle mechanisms are respectively installed at the four corners of the fuselage 1; the wheel paddle mechanism includes a walking wheel component and a propeller component. The walking wheel component is installed at the four corners of the fuselage 1 through a mode switching component, and the propeller component is installed on the walking wheel component.

[0057] Among them, the mode switching component is used to switch the walking wheel component to the wheel walking mode, leg walking mode or flight mode; the bionic leg walking mechanism, side-swinging leg-lifting component, walking wheel component, propeller component and mode switching component are all electrically connected to the power storage control system 2.

[0058] With such a setting, the present invention realizes bionic leg walking through four groups of bionic leg walking mechanisms, which can be applied to complex road conditions such as large slopes or gullies on the ground, and improves the obstacle-crossing performance of the robot; when there is a slope or height difference on one side of the ground where the robot moves, the side-swinging leg-lifting component can drive two walking wheel components on one side of the bionic leg walking mechanism to lift for obstacle avoidance, ensuring the mobility and stability of the robot.

[0059] The present invention switches the walking wheel component to the wheel walking mode, leg walking mode or flight mode through the mode switching component. When in the wheel walking mode, the four groups of bionic leg walking mechanisms are retracted, and the walking wheel components are adjusted to be placed on the ground. The four groups of walking wheel components are controlled by the power storage control system 2 to start, which is especially suitable for the state where the robot passes through a flat road surface, improving the moving efficiency and energy utilization rate of the robot; when in the flight mode, the four groups of walking wheel components are retracted, and the four groups of propeller components are controlled by the power storage control system 2 to start for flight. When the robot is on a flat road surface, the bionic leg walking mechanism is not required to assist in takeoff, and at this time, the four groups of bionic leg walking mechanisms are retracted; when the robot needs to land on an uneven road surface, the four groups of bionic leg walking mechanisms are lowered when the robot is about to land, and the bionic leg walking mechanism supports outward to improve the stability of the robot and make it land stably.

[0060] The robot of the present invention overcomes the limitations of single-wheeled robots and legged robots, integrates the high-speed movement characteristics of wheeled robots, the stability advantages of legged robots and the flight ability of aerial robots, has excellent terrain adaptability, and can efficiently pass through various complex terrains.

[0061] For a further optimized solution, the side-swing and leg-lifting assembly includes a first motor 3 electrically connected to the power storage control system 2. The first motor 3 is horizontally installed on the inner wall of the fuselage 1. The output shaft of the first motor 3 is fixedly connected to the bionic leg walking mechanism. Four first motors 3 are symmetrically arranged on both sides of the fuselage 1;

[0062] The turning and leg-lifting actions of the bionic leg walking mechanism are realized by the first motor 3. The first motor 3 drives the rotation of its output shaft, and then drives the bionic leg walking mechanism fixedly connected thereto to turn, realizing the leg-lifting action. Furthermore, the position of the bionic leg walking mechanism can be adjusted according to the mode.

[0063] For a further optimized solution, the bionic leg walking mechanism includes:

[0064] A second motor 4, which is fixedly installed on the output shaft of the first motor 3 through a first connecting plate 5;

[0065] A first link assembly, which is installed at the output end of the second motor 4;

[0066] A third motor 6, which is installed on the first connecting plate 5 and is located directly below the second motor 4;

[0067] A second connecting plate 7, which is fixedly installed between the third motor 6 and the second motor 4;

[0068] A thigh rod 8, which is fixedly installed at the output end of the third motor 6;

[0069] A calf rod 9, which is installed on the thigh rod 8 through a second link assembly. The second link assembly is connected to the first link assembly;

[0070] An end-round foot 10, which is installed at the bottom of the calf rod 9;

[0071] Among them, the thigh rod 8, the calf rod 9 and the second link assembly enclose a parallelogram structure; both the second motor 4 and the third motor 6 are electrically connected to the power storage control system 2;

[0072] The bionic leg walking mechanism simulates the movement mode of a biological leg through the coordinated operation of the second motor 4 and the third motor 6; the thigh rod 8, the calf rod 9 and the second link assembly enclose a parallelogram structure, providing stable support and allowing the bionic leg walking mechanism to expand and contract in the vertical direction to adapt to terrains of different heights; the end-round foot 10 increases the contact area with the ground, improving the grip and stability of the robot on soft or uneven ground; it is applicable to actual search and rescue scenarios, including complex terrains such as ruins and mountains, ensuring the mobility and stability of the robot.

[0073] For a further optimized solution, the mode switching assembly includes:

[0074] The fourth motor 15 is horizontally installed on the inner wall of the fuselage 1;

[0075] The fifth motor 16 is installed on the output shaft of the fourth motor 15 through the swing arm motor fixing bracket 17. The fifth motor 16 is vertically arranged and is located outside the fuselage 1;

[0076] The boom 18 is installed on the output shaft of the fifth motor 16;

[0077] The connecting sleeve 19, one end of the connecting sleeve 19 is fixedly connected to the boom 18, and the other end is fixedly connected to the walking wheel assembly;

[0078] Wherein, both the fourth motor 15 and the fifth motor 16 are electrically connected to the power storage control system 2, and the four fourth motors 15 are respectively installed at the four corners of the fuselage 1;

[0079] Through the combined drive of the fourth motor 15 and the fifth motor 16, the walking wheel assembly is switched between the wheel walking mode, the leg walking mode and the flight mode; the fourth motor 15 drives the fifth motor 16 and the walking wheel assembly to rotate to realize the position adjustment of the walking wheel assembly. When the fourth motor 15 drives the walking wheel assembly to rotate above the fuselage 1, leg walking or flight can be carried out. When the fourth motor 15 drives the walking wheel assembly to rotate to the side of the fuselage 1, the walking wheel assembly is placed on the ground and leg walking can be realized; by driving the connecting sleeve 19 and the walking wheel assembly to rotate through the fifth motor 16, the installation height of the walking wheel assembly can be adjusted to facilitate adjusting the height of the fuselage 1 according to the road conditions; the wheel walking mode is suitable for movement in flat or structured environments, such as manufacturing, logistics distribution, hospital services, agricultural planting, urban patrol, etc., and scenarios that require rapid movement such as driverless vehicles.

[0080] For a further optimized solution, the walking wheel assembly includes:

[0081] The wheel motor fixing bracket 20 is installed at one end of the connecting sleeve 19 away from the boom 18;

[0082] The wheel drive DC motor 21 is installed on the wheel motor fixing bracket 20;

[0083] The wheel 22 is installed on the output shaft of the wheel drive DC motor 21 through a connecting member;

[0084] The thrust cylindrical roller bearing 23 is installed between the wheel motor fixing bracket 20 and the connecting member;

[0085] Among them, the propeller assembly is installed on the wheel 22, and the wheel-driven DC motor 21 is electrically connected to the power storage control system 2; the wheel 22 is driven to rotate by the wheel-driven DC motor 21 to achieve wheel walking.

[0086] In a further optimized solution, the propeller assembly includes a brushless motor and a three-blade rotor 24. The brushless motor is nested at the center of the wheel 22, and the three-blade rotor 24 is installed on the output shaft of the brushless motor. The brushless motor is electrically connected to the power storage control system 2; flight is achieved by driving the three-blade rotor 24 to rotate by the brushless motor. During flight, the rotation speed of the brushless motor can be adjusted by a controller to control the flight height and speed of the robot.

[0087] In a further optimized solution, the first link assembly includes a first link 11 and a second link 12; one end of the first link 11 is installed on the output shaft of the second motor 4, and the other end is rotatably connected to the second link 12;

[0088] The end of the second link 12 far from the first link 11 is rotatably connected to the second link assembly.

[0089] In a further optimized solution, the second link assembly includes a third link 13 and a fourth link 14. One end of the third link 13 is rotatably connected to the top of the side wall of the thigh rod 8, and the other end is rotatably connected to the top of the side wall of the calf rod 9;

[0090] One end of the fourth link 14 is rotatably connected to the bottom of the side wall of the thigh rod 8, and the other end is rotatably connected to the middle section of the side wall of the calf rod 9;

[0091] The end of the second link 12 far from the first link 11 is rotatably connected to the middle section of the third link 13; the thigh rod 8, the calf rod 9, the third link 13 and the fourth link 14 enclose a parallelogram structure.

[0092] In a further optimized solution, the power storage control system 2 is installed at the bottom of the fuselage 1 through a fixing bracket 25. Two limiting blocks 26 are installed at the bottom of the fuselage 1, and the two limiting blocks 26 are respectively in contact with both ends of the power storage control system 2. A plurality of heat dissipation slots 27 are opened on the fixing bracket 25.

[0093] In a further optimized solution, two windows are opened on both side walls of the fuselage 1, and the second motor 4 and the third motor 6 are located at the windows.

[0094] In a further optimized solution, the power storage control system 2 includes a controller and a battery. The battery is installed at the bottom of the fuselage 1 through a fixing bracket 25, and the two limiting blocks 26 respectively abut against both ends of the battery;

[0095] The controller is installed inside the fuselage 1, and the battery, the first motor 3, the second motor 4, the third motor 6, the fourth motor 15, the fifth motor 16, the wheel drive DC motor 21, and the brushless motor are all electrically connected to the controller.

[0096] The present invention includes six modes, namely the wheel mode, the flight mode, the walking mode + assisted takeoff and landing, the two-wheel balance mode, the side-roll obstacle avoidance mode, and the front-back tilt obstacle avoidance mode.

[0097] Among them, referring to Figure 5 , when the wheel mode is adopted, the four groups of bionic leg walking mechanisms are retracted, and the walking wheel assemblies are adjusted to be placed on the ground. The four groups of walking wheel assemblies are controlled to start by the power storage control system 2, which is especially suitable for the state where the robot passes through a flat road surface, improving the moving efficiency and energy utilization rate of the robot;

[0098] Among them, referring to Figure 6 , when the flight mode is adopted, the four groups of walking wheel assemblies are retracted, and the four groups of propeller assemblies are controlled to start by the power storage control system 2 to achieve flight. When the robot is on a flat road surface, the bionic leg walking mechanism is not required to assist in takeoff, and at this time, the four groups of bionic leg walking mechanisms are retracted;

[0099] Among them, referring to Figure 7 , when the walking mode + assisted takeoff and landing is adopted, on the basis of the above flight mode, when the robot needs to land on an uneven road surface, the four groups of bionic leg walking mechanisms are lowered when the robot is about to land, and the bionic leg walking mechanisms support outward to enhance the stability of the robot and enable it to land stably;

[0100] Among them, referring to Figure 8 , when the two-wheel balance mode is adopted, on the basis of the above wheel mode, the fifth motor 16 of the side-swing leg-lifting assembly drives the connecting sleeve 19 and the walking wheel assembly to rotate, driving the two walking wheel assemblies at one end of the bionic leg walking mechanism to lift, and walking alone through the two walking wheel assemblies at the other end to achieve the standing and two-wheel walking of the robot;

[0101] Among them, referring to Figures 9-10 , when the side-roll obstacle avoidance mode is adopted, on the basis of the above wheel mode, the bionic leg walking mechanism drives the two walking wheel assemblies on one side to lift to avoid obstacles, ensuring the moving ability and stability of the robot;

[0102] Among them, referring to Figures 11-12 , when the front-back tilt obstacle avoidance mode is adopted, on the basis of the above wheel mode, the fifth motor 16 of the side-swing leg-lifting assembly drives the connecting sleeve 19 and the walking wheel assembly to rotate, and the installation height of the walking wheel assembly can be adjusted, thereby adjusting the height of the fuselage 1 to avoid obstacles.

[0103] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0104] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A multi-motion mode wheel-leg robot, characterized in that: include: A fuselage (1), wherein a power storage control system (2) is installed on the fuselage (1); A bionic leg walking mechanism, wherein the bionic leg walking mechanism is provided with four groups, and the four groups of bionic leg walking mechanisms are symmetrically mounted on both sides of the fuselage (1) through side-swinging leg-lifting assemblies; the side-swinging leg-lifting assemblies are used for obstacle avoidance of the bionic leg walking mechanism; A wheel-paddle mechanism, wherein four groups of the wheel-paddle mechanism are provided, and the four groups of the wheel-paddle mechanism are respectively mounted at the four corners of the fuselage (1); the wheel-paddle mechanism comprises a running wheel assembly and a propeller assembly, the running wheel assembly is mounted at the four corners of the fuselage (1) via a mode switching assembly, and the propeller assembly is mounted on the running wheel assembly; The mode switching component is used to switch the walking wheel component to a wheel walking mode, a leg walking mode or a flight mode; the bionic leg walking mechanism, the side swing leg raising component, the walking wheel component, the propeller component and the mode switching component are all electrically connected to the power storage control system (2).

2. The multi-motion mode wheel-leg robot according to claim 1, characterized in that: The side-swinging leg-lifting assembly comprises a first motor (3) electrically connected to the power storage control system (2); the first motor (3) is transversely mounted on the inner wall of the fuselage (1); the output shaft of the first motor (3) is fixedly connected to the bionic leg walking mechanism; and four first motors (3) are symmetrically arranged on both sides of the fuselage (1).

3. The multi-motion mode wheel-leg robot according to claim 2, characterized in that: The bionic leg walking mechanism comprises: a second motor (4), the second motor (4) being fixedly mounted on the output shaft of the first motor (3) via a first connecting plate (5); a first connecting rod assembly, the first connecting rod assembly being mounted at an output end of the second motor (4); a third motor (6), the third motor (6) being mounted on the first connecting plate (5), and the third motor (6) being located directly below the second motor (4); A second connecting plate (7), the second connecting plate (7) being fixedly mounted between the third motor (6) and the second motor (4); A thigh rod (8), wherein the thigh rod (8) is fixedly mounted on the output end of the third motor (6); A calf rod (9), wherein the calf rod (9) is mounted on the thigh rod (8) via a second connecting rod assembly, wherein the second connecting rod assembly is connected to the first connecting rod assembly; An end round foot (10), the end round foot (10) being mounted on the bottom of the shank rod (9); The thigh rod (8), the calf rod (9) and the second connecting rod assembly together form a parallelogram structure; the second motor (4) and the third motor (6) are both electrically connected to the power storage control system (2).

4. The multi-motion mode wheel-leg robot according to claim 1, characterized in that: The mode switching component includes: a fourth motor (15), the fourth motor (15) being laterally mounted on the inner wall of the fuselage (1); a fifth motor (16), the fifth motor (16) being mounted on the output shaft of the fourth motor (15) via a swing arm motor fixing bracket (17), the fifth motor (16) being arranged vertically, and the fifth motor (16) being located outside the fuselage (1); A large arm (18), wherein the large arm (18) is mounted on an output shaft of the fifth motor (16); A connecting sleeve (19), one end of which is fixedly connected to the upper arm (18), and the other end of which is fixedly connected to the traveling wheel assembly; The fourth motor (15) and the fifth motor (16) are both electrically connected to the power storage control system (2), and the four fourth motors (15) are respectively installed at the four corners of the fuselage (1).

5. The multi-motion mode wheel-leg robot according to claim 4, characterized in that: The walking wheel assembly comprises: A wheel motor fixing frame (20), wherein the wheel motor fixing frame (20) is mounted on an end of the connecting sleeve (19) away from the upper arm (18); A wheel drive DC motor (21), wherein the wheel drive DC motor (21) is mounted on the wheel motor fixing frame (20); A wheel (22), wherein the wheel (22) is mounted on an output shaft of the wheel drive DC motor (21) via a connecting piece; A thrust cylindrical roller bearing (23), wherein the thrust cylindrical roller bearing (23) is installed between the wheel motor fixing frame (20) and the connecting member; The propeller assembly is mounted on the wheel (22), and the wheel drive DC motor (21) is electrically connected to the power storage control system (2).

6. The multi-motion mode wheel-leg robot according to claim 5, characterized in that: The propeller assembly comprises a brushless motor and a three-blade rotor (24), wherein the brushless motor is nested at the center of the wheel (22), the three-blade rotor (24) is mounted on the output shaft of the brushless motor, and the brushless motor is electrically connected to the power storage control system (2).

7. The multi-motion mode wheel-leg robot according to claim 3, characterized in that: The first connecting rod assembly comprises a first connecting rod (11) and a second connecting rod (12); one end of the first connecting rod (11) is mounted on the output shaft of the second motor (4), and the other end is rotatably connected to the second connecting rod (12); One end of the second connecting rod (12) away from the first connecting rod (11) is rotatably connected to the second connecting rod assembly.

8. The multi-motion mode wheel-leg robot according to claim 7, characterized in that: The second connecting rod assembly comprises a third connecting rod (13) and a fourth connecting rod (14), one end of the third connecting rod (13) is rotatably connected to the top of the side wall of the thigh rod (8), and the other end is rotatably connected to the top of the side wall of the calf rod (9); One end of the fourth connecting rod (14) is rotatably connected to the bottom of the side wall of the thigh rod (8), and the other end is rotatably connected to the middle section of the side wall of the calf rod (9); One end of the second connecting rod (12) away from the first connecting rod (11) is rotatably connected to the middle section of the third connecting rod (13); the thigh rod (8), the calf rod (9), the third connecting rod (13) and the fourth connecting rod (14) together form a parallelogram structure.

9. The multi-motion mode wheel-leg robot according to claim 1, characterized in that: The power storage control system (2) is installed at the bottom of the body (1) via a fixing frame (25); two limit blocks (26) are installed at the bottom of the body (1); the two limit blocks (26) are respectively in contact with two ends of the power storage control system (2); and a plurality of heat dissipation slots (27) are provided on the fixing frame (25).

10. The multi-motion mode wheel-leg robot according to claim 3, characterized in that: Two windows are provided on both side walls of the body (1), and the second motor (4) and the third motor (6) are located at the windows.

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