A multi-modal wheel-leg separable humanoid robot lower limb and its deformation method

Abstract

The present invention discloses a multi-modal wheel-leg separation humanoid robot lower limb and its deformation method, which relates to the technical field of humanoid robots, including: a leg mechanism connected to a wheel mechanism through a connector; a driving deformation component, which is transmission-connected with the leg mechanism and the wheel mechanism, and is used to drive the leg mechanism and the wheel mechanism to jointly transform into a leg mode or a wheel mode; when facing different scenes, the leg mechanism can be flexibly selected to walk upright or the wheel mechanism can be flexibly selected to walk horizontally, and the leg mechanism has excellent comprehensive mobility performance, greatly improving the comprehensive mobility efficiency and scope of application. The leg mechanism can be transformed into a clamping form, and cooperates with the robot upper limbs to realize functions such as joint grasping, which can meet a variety of work needs.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a multi-modal wheel-leg separated humanoid robot lower limb and a deformation method thereof. Background Art

[0002] The lower limbs of humanoid robots are mainly divided into two structural forms: wheel type and leg type.

[0003] Wheeled mechanisms rely on wheels as their main moving parts and can move quickly and stably on relatively flat roads, which makes them widely used in factory workshops, warehouses, flat aisles, etc. However, the limitations of this type of robot are also obvious. When the road surface is slightly undulating, potholes appear, or when encountering stairs, steps and other terrains with vertical drops, their mobility will drop sharply, or even be unable to move forward.

[0004] The leg-type mechanism has good mobility performance when facing complex terrain, and can achieve operations such as crossing obstacles and climbing stairs. However, the leg-type mechanism moves slowly, and its mobility efficiency in flat areas is much lower than that of the wheeled mechanism, resulting in limited comprehensive mobility performance when switching between different scenes.

[0005] In addition, the lower limbs of existing humanoid robots generally only have mobility capabilities and relatively simple functions. When grasping or carrying operations are required, they can only rely on simple grasping and carrying by the upper limbs, which limits the application scope of humanoid robots and makes them unable to adapt to more work requirements.

[0006] In view of this, how to provide a humanoid robot lower limb with good comprehensive mobility and diverse functions is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0007] The purpose of the present invention is to provide a multi-modal wheel-leg separated humanoid robot lower limb and a deformation method thereof, so as to solve the problems existing in the prior art.

[0008] To achieve the above object, the present invention provides a multi-modal wheel-leg separation humanoid robot lower limb, comprising:

[0009] The leg mechanism is connected to the wheel mechanism through a connecting piece;

[0010] A driving deformation assembly is connected to the leg mechanism and the wheel mechanism in a transmission manner, and is used to drive the leg mechanism and the wheel mechanism to be deformed into a leg mode or a wheel mode;

[0011] When deformed into a leg mode, the leg-type mechanism is deformed into an upright walking state, the driving deformation component can drive the leg-type mechanism to walk on the ground, and the wheel-type mechanism is away from the ground;

[0012] When deformed into the wheel mode, the wheeled mechanism is deformed into a horizontal walking form, the driving and deforming assembly can drive the wheeled mechanism to walk on the ground, and the legged mechanism is away from the ground.

[0013] Further, the legged mechanism includes: a thigh part, a calf part and a foot part, and the driving and deforming assembly includes: a hip outer motor, a hip inner motor and an ankle motor. The hip outer motor is arranged on the connecting piece, and its output end is connected to the thigh part for driving the thigh part to rotate relative to the connecting piece; the hip inner motor is arranged on the connecting piece, and its output end is connected to the calf part for driving the calf part to rotate relative to the thigh part; the ankle motor is arranged on the calf part, and its output end is connected to the foot part for driving the foot part to rotate relative to the calf part.

[0014] When deformed into the leg mode, the hip outer motor, the hip inner motor and the ankle motor drive the thigh part, the calf part and the foot part to rotate and deform into an upright walking state respectively. When the thigh part, the calf part and the foot part rotate at a preset angle, the legged mechanism can walk on the ground.

[0015] Further, the wheeled mechanism includes: a front wheel group and a rear wheel group, and the driving and deforming assembly further includes a front wheel rotation motor, a rear wheel rotation motor and a hub motor;

[0016] The front wheel rotation motor is arranged on the connecting piece, and its output end is connected to the front wheel group through a first connecting rod for driving the front wheel group to rotate relative to the connecting piece;

[0017] The rear wheel rotation motor is arranged on the first connecting rod, and its output end is connected to the rear wheel group through a second connecting rod for driving the rear wheel group to rotate relative to the first connecting rod;

[0018] The output end of the hub motor is connected to the rear wheel group for driving the rollers of the rear wheel group to rotate;

[0019] When deformed into the wheel mode, the front wheel rotation motor and the rear wheel rotation motor drive the first connecting rod and the second connecting rod to rotate to the same horizontal plane, and the front wheel group and the rear wheel group are away from each other. The wheeled mechanism is deformed into a horizontal walking form, and the hub motor drives the rollers of the rear wheel group to rotate, and the wheeled mechanism can walk on the ground.

[0020] Further, the connecting piece includes two first connecting pieces and a second connecting piece. The legged mechanism has two, namely a left leg mechanism and a right leg mechanism. The left leg mechanism and the right leg mechanism are respectively arranged corresponding to the two first connecting pieces. The hip outer motor and the hip inner motor are arranged on the first connecting piece, and the front wheel rotation motor is arranged on the second connecting piece;

[0021] The driving and deforming assembly further includes:

[0022] Two waist motors are arranged on the second connecting member and correspond to the two first connecting members one by one. The output end of the waist motor penetrates through the second connecting member and is connected to the first connecting member; the waist motor is used to drive the left leg mechanism and the right leg mechanism to rotate inward and approach each other or rotate outward and move away from each other; when the left leg mechanism and the right leg mechanism approach each other, the leg-type mechanism can be deformed into an upright walking form, and when the left leg mechanism and the right leg mechanism move away from each other, the leg-type mechanism is deformed into a clamping form.

[0023] Further, it further includes:

[0024] A third connecting member is provided with a hip joint rear motor, and the output end of the hip joint rear motor is connected to the first connecting member; the output end of the waist motor penetrates through the second connecting member and is connected to the third connecting member; when the leg-type mechanism is deformed into a clamping form, the hip joint rear motor can drive the first connecting member to rotate and then drive the leg-type mechanism to rotate up and down.

[0025] Further, the driving and deforming assembly further includes:

[0026] A first link rotary electric cylinder is arranged on the connecting member, and its output end is connected to the first link, and is used to drive the front wheel set to rotate relative to the connecting member.

[0027] Further, the driving and deforming assembly further includes:

[0028] A steering mechanism is connected to the front wheel set and is used to control the roller steering of the front wheel set.

[0029] The present invention also provides a deformation method for the lower limbs of a multi-modal wheel-leg separated humanoid robot, which is applied to the lower limbs of the multi-modal wheel-leg separated humanoid robot;

[0030] When the lower limbs of the multi-modal wheel-leg separated humanoid robot are deformed from the leg mode to the wheel mode, it includes the following steps:

[0031] S1: In the leg mode, the first link and the second link of the wheeled mechanism are in the same vertical plane, the front wheel set is lower, the rear wheel set is higher, and the front wheel set and the rear wheel set are far from the ground;

[0032] Drive the thigh part to rotate downward through the outer hip joint motor, drive the calf part to rotate forward through the inner hip joint motor, the leg-type mechanism is deformed into a squatting form, and at the same time, the front wheel rotary motor drives the front wheel set to rotate to a target angle in the direction of the foot through the first link;

[0033] S2: When the current wheel set contacts the ground, the rear-wheel rotation motor drives the rear-wheel set to rotate towards the ground through the second link until the rear-wheel set contacts the ground. At this time, the foot, the front-wheel set, and the rear-wheel set are all on the ground, and an obtuse angle is formed between the first link and the second link.

[0034] S3: The hip joint outer motor controls the rotation of the thigh part, causing the legged mechanism to rotate upward and leave the ground. At this time, the front-wheel set and the rear-wheel set are on the ground, and the rear-wheel rotation motor drives the rear-wheel set to rotate through the second link. The front-wheel set and the rear-wheel set move away from each other until the first link and the second link rotate to the same horizontal plane, and the wheeled mechanism deforms into a horizontal walking form. The lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the leg mode to the wheel mode.

[0035] The lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the wheel mode to the leg mode according to the reverse steps of steps S1 - S3.

[0036] Furthermore, the following steps are also included:

[0037] S4: After the lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the leg mode to the wheel mode, the waist motor drives the left leg mechanism and the right leg mechanism to rotate outward and move away from each other, and the legged mechanism deforms into a clamping form.

[0038] The ankle motor drives the feet of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, and the two feet form a clamping end. When the hip joint outer motor drives the thighs of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, and the hip joint inner motor drives the calves of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, the two feet can clamp an object.

[0039] Furthermore, the following steps are also included:

[0040] S5: After the legged mechanism deforms into a clamping form, the hip joint rear motor drives the first connecting member to rotate, thereby driving the legged mechanism to rotate up and down to adjust the clamping height of the two feet.

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

[0042] 1. The present invention integrates the wheeled mechanism and the legged mechanism into one, and switches between the leg mode and the wheel mode by the way of robot deformation. When facing different scenarios, it can flexibly choose to walk upright with the legged mechanism or walk horizontally with the wheeled mechanism, having excellent comprehensive mobility performance, greatly improving the comprehensive movement efficiency and the applicable range.

[0043] 2. When deformed into the wheel mode, the legged mechanism can be further deformed into a clamping form, using the feet of the legged mechanism to form the clamping end, and completing the clamping action by the relative rotation of the thighs and calves of the legged mechanism; the legged mechanism can cooperate with the robot's upper limb to achieve functions such as joint grasping, and can meet various working requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the 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 drawings can also be obtained based on these drawings.

[0045] Figure 1 Schematic diagram of the leg mode of the present invention;

[0046] Figure 2 Back view schematic diagram of the leg mode of the present invention;

[0047] Figure 3 Schematic diagram of the first-stage deformation;

[0048] Figure 4 Back view schematic diagram of the first-stage deformation;

[0049] Figure 5 Schematic diagram of the second-stage deformation;

[0050] Figure 6 Schematic diagram of the third-stage deformation;

[0051] Figure 7 Schematic diagram of the fourth-stage deformation;

[0052] Figure 8 Schematic diagram of the fifth-stage deformation;

[0053] Figure 9 Schematic diagram of clamping height adjustment;

[0054] Wherein, 1, legged mechanism; 101, thigh; 102, calf; 103, foot; 2, wheel mechanism; 201, front wheel group; 202, rear wheel group; 203, first connecting rod; 204, second connecting rod; 3, outer hip joint motor; 4, inner hip joint motor; 5, ankle motor; 6, front wheel rotation motor; 7, rear wheel rotation motor; 8, first connecting member; 9, second connecting member; 10, waist motor; 11, third connecting member; 12, rear hip joint motor; 13, first connecting rod rotation electric cylinder; 14, steering mechanism; 15, hub motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] 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 embodiments.

[0057] An embodiment of the present invention provides a multi-modal wheel-leg separated humanoid robot lower limb, including:

[0058] A leg mechanism 1, connected to a wheel mechanism 2 through a connecting member;

[0059] A driving and deforming assembly, drivingly connected to the leg mechanism 1 and the wheel mechanism 2, for driving the leg mechanism 1 and the wheel mechanism 2 to jointly deform into a leg mode or a wheel mode;

[0060] When deformed into the leg mode, the leg mechanism 1 deforms into an upright walking form, and the driving and deforming assembly can drive the leg mechanism 1 to walk on the ground, and the wheel mechanism 2 is away from the ground;

[0061] When deformed into the wheel mode, the wheel mechanism 2 deforms into a horizontal walking form, and the driving and deforming assembly can drive the wheel mechanism 2 to walk on the ground, and the leg mechanism 1 is away from the ground.

[0062] In this embodiment, the leg mechanism 1 includes: a thigh part 101, a calf part 102, and a foot part 103, and the overall form imitates the human leg. The driving and deforming assembly includes: a hip joint outer motor 3, a hip joint inner motor 4, and an ankle joint motor 5. The hip joint outer motor 3 is arranged on the connecting member, and its output end is connected to the thigh part 101 for driving the thigh part 101 to rotate relative to the connecting member; the hip joint inner motor 4 is arranged on the connecting member, and its output end is connected to the calf part 102 for driving the calf part 102 to rotate relative to the thigh part 101; the ankle joint motor 5 is arranged on the calf part 102, and the setting position is close to the knee joint, and its output end is connected to the foot part 103 for driving the foot part 103 to rotate relative to the calf part 102;

[0063] When deformed into the leg mode, the outer hip joint motor 3, the inner hip joint motor 4, and the ankle joint motor 5 drive the thigh part 101, the calf part 102, and the foot part 103 to rotate and deform into an upright walking state respectively. When the thigh part 101, the calf part 102, and the foot part 103 rotate at a preset angle, the legged mechanism 1 can walk on the ground. Driving the thigh part 101, the calf part 102, and the foot part 103 to rotate relative to each other and deform into an upright walking state to walk on the ground belongs to the prior art and will not be elaborated here.

[0064] In this embodiment, the wheeled mechanism 2 includes: a front wheel group 201 and a rear wheel group 202. The drive deformation assembly further includes a front wheel rotation motor 6, a rear wheel rotation motor 7, and a hub motor 15;

[0065] The front wheel rotation motor 6 is arranged on the connecting member, and its output end is connected to the front wheel group 201 through a first connecting rod 203 for driving the front wheel group 201 to rotate relative to the connecting member;

[0066] The rear wheel rotation motor 7 is arranged on the first connecting rod 203, and its output end is connected to the rear wheel group 202 through a second connecting rod 204 for driving the rear wheel group 202 to rotate relative to the first connecting rod 203;

[0067] The output end of the hub motor 15 is connected to the rear wheel group 202 for driving the rollers of the rear wheel group 202 to rotate;

[0068] When deformed into the wheel mode, the front wheel rotation motor 6 and the rear wheel rotation motor 7 drive the first connecting rod 203 and the second connecting rod 204 to rotate to the same horizontal plane, and the front wheel group 201 and the rear wheel group 202 move away from each other. The wheeled mechanism 2 deforms into a horizontal walking form, and the hub motor 15 drives the rollers of the rear wheel group 202 to rotate, and the wheeled mechanism 2 can walk on the ground.

[0069] In this embodiment, the connecting member includes two first connecting members 8 and a second connecting member 9. The legged mechanism 1 has two, namely a left leg mechanism and a right leg mechanism. The left leg mechanism and the right leg mechanism are respectively arranged corresponding to the two first connecting members 8. The outer hip joint motor 3 and the inner hip joint motor 4 are arranged on the first connecting member 8, and the front wheel rotation motor 6 is arranged on the second connecting member 9;

[0070] The drive deformation assembly further includes: two waist motors 10, which are arranged on the second connecting member 9 and correspond to the two first connecting members 8 one by one. The output ends of the waist motors 10 penetrate through the second connecting member 9 and are connected to the first connecting member 8; the waist motors 10 are used for driving the left leg mechanism and the right leg mechanism to rotate inward and approach each other or rotate outward and move away from each other; when the left leg mechanism and the right leg mechanism approach each other, the legged mechanism 1 can deform into an upright walking form, and when the left leg mechanism and the right leg mechanism move away from each other, the legged mechanism 1 deforms into a clamping form.

[0071] In this embodiment, it further includes: a third connecting member 11, provided with a rear hip motor 12, the output end of the rear hip motor 12 is connected to the first connecting member 8; the output end of the waist motor 10 penetrates through the second connecting member 9 and is connected to the third connecting member 11; when the leg mechanism 1 is deformed into a clamping form, the rear hip motor 12 can drive the first connecting member 8 to rotate, thereby driving the leg mechanism 1 to rotate up and down.

[0072] In this embodiment, the driving and deforming assembly further includes: a first link rotary electric cylinder 13, arranged on the connecting member, its output end is connected to the first link 203, and is used to drive the front wheel set 201 to rotate relative to the connecting member. The function of the front wheel selection electric cylinder is to assist the rotation of the first link 203 and the front wheel set 201, but the main driving force still comes from the front wheel rotation motor 6.

[0073] In this embodiment, the driving and deforming assembly further includes: a steering mechanism 14, connected to the front wheel set 201, and is used to control the rolling steering of the front wheel set 201. The steering mechanism of the steering mechanism 14 belongs to the prior art and will not be elaborated here.

[0074] The present invention also provides a deformation method for the lower limbs of a multi-modal wheel-leg separated humanoid robot, which is applied to the lower limbs of a multi-modal wheel-leg separated humanoid robot;

[0075] When it is deformed from the leg mode to the wheel mode, it includes the following steps:

[0076] S1: In the leg mode, the first link 203 and the second link 204 of the wheeled mechanism 2 are located in the same vertical plane, the front wheel set 201 is lower, the rear wheel set 202 is higher, and the front wheel set 201 and the rear wheel set 202 are far from the ground;

[0077] The thigh 101 is driven to rotate downward by the outer hip motor 3, the calf 102 is driven to rotate forward by the inner hip motor 4, the leg mechanism 1 is deformed into a squatting form, and at the same time, the front wheel rotation motor 6 drives the front wheel set 201 to rotate towards the foot 103 by a target angle through the first link 203. The slight forward rotation of the front wheel set 201 is beneficial to form a stable support after the front wheel set 201 lands, and at the same time, it can also accelerate the speed of the wheeled mechanism 2 deforming into a horizontal shape; before the front wheel set 201 contacts the ground, the entire robot is independently supported by the leg mechanism 1. Considering that there is a certain pulling force on the leg mechanism 1 during the landing process of the front wheel set 201, the leg mechanism 1 is deformed into a squatting form to improve the stability of the leg mechanism 1;

[0078] S2: When the current wheel set 201 contacts the ground, the rear-wheel rotation motor 7 drives the rear-wheel set 202 to rotate towards the ground through the second connecting rod 204 until the rear-wheel set 202 contacts the ground. At this time, the foot 103, the front-wheel set 201, and the rear-wheel set 202 are all on the ground and maintain a large damping state. The first connecting rod 203 and the second connecting rod 204 are arranged at an obtuse angle. At this time, the first-stage deformation is completed;

[0079] S3: The hip joint outer motor 3 controls the rotation of the thigh 101, causing the legged mechanism 1 to rotate upward and leave the ground, similar to the legged mechanism 1 leaning against the connecting member in form. At this time, the second-stage deformation is completed. The front-wheel set 201 and the rear-wheel set 202 are on the ground, and the rear-wheel rotation motor 7 drives the rear-wheel set 202 to rotate through the second connecting rod 204. The front-wheel set 201 and the rear-wheel set 202 move away from each other until the first connecting rod 203 and the second connecting rod 204 rotate to the same horizontal plane, and the wheeled mechanism 2 deforms into a horizontal walking form. The lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the leg mode to the wheel mode, similar to the legged mechanism 1 lying on the wheeled mechanism 2 in form. At this time, the third-stage deformation is completed;

[0080] The lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the wheel mode to the leg mode according to the reverse steps of steps S1 - S3.

[0081] When it is necessary to use the legged mechanism 1 to clamp an object, the following steps are also included:

[0082] S4: After the lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the leg mode to the wheel mode, the waist motor 10 drives the left leg mechanism and the right leg mechanism to rotate outward and move away from each other. The structures of the left leg mechanism and the right leg mechanism are exactly the same. The action of the waist motor 10 driving the left leg mechanism and the right leg mechanism to rotate outward is like a person's legs spreading apart. At this time, the legged mechanism 1 deforms into a clamping form. At this time, the fourth-stage deformation is completed;

[0083] The ankle motor 5 drives the feet 103 of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, and the two feet 103 form a clamping end; when the hip joint outer motor 3 drives the thighs 101 of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, and the hip joint inner motor 4 drives the calves 102 of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, the two feet 103 can clamp an object.

[0084] S5: After the legged mechanism 1 deforms into a clamping form, the hip joint rear motor 12 drives the first connecting member 8 to rotate, thereby driving the legged mechanism 1 to rotate up and down, adjusting the clamping height of the two feet 103. At this time, the fifth-stage deformation is completed, and the legged mechanism 1 deforms into a clamping form and has the ability to clamp goods at different heights.

[0085] 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. It 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. Therefore, it should not be construed as a limitation to the present invention.

[0086] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A lower limb of a multi-modal wheel-leg separated humanoid robot, characterized in that, Comprising: A leg mechanism (1) connected to a wheel mechanism (2) through a connecting member; A driving deformation assembly, which is in transmission connection with the leg mechanism (1) and the wheel mechanism (2) and is used to drive the leg mechanism (1) and the wheel mechanism (2) to jointly deform into a leg mode or a wheel mode; the leg mechanism (1) includes: a thigh portion (101), a calf portion (102), and a foot portion (103); When deformed into the leg mode, the leg mechanism (1) deforms into an upright walking form, and the driving deformation assembly can drive the leg mechanism (1) to walk on the ground, and the wheel mechanism (2) is away from the ground; When deformed into the wheel mode, the wheel mechanism (2) deforms into a horizontal walking form, the driving deformation assembly can drive the wheel mechanism (2) to walk on the ground, the leg mechanism (1) moves upward away from the ground, the leg mechanism (1) deforms into a clamping form, a clamping end is formed by using the foot portion (103) of the leg mechanism (1), and the clamping action is completed by the relative rotation of the thigh portion (101) and the calf portion (102) of the leg mechanism.

2. The lower limb of a multi-modal wheel-leg separated humanoid robot according to claim 1, characterized in that The driving deformation assembly includes: a hip outer motor (3), a hip inner motor (4), and an ankle motor (5). The hip outer motor (3) is arranged on the connecting member, and its output end is connected to the thigh portion (101) and is used to drive the thigh portion (101) to rotate relative to the connecting member; the hip inner motor (4) is arranged on the connecting member, and its output end is connected to the calf portion (102) and is used to drive the calf portion (102) to rotate relative to the thigh portion (101); the ankle motor (5) is arranged on the calf portion (102), and its output end is connected to the foot portion (103) and is used to drive the foot portion (103) to rotate relative to the calf portion (102); When deformed into the leg mode, the hip outer motor (3), the hip inner motor (4), and the ankle motor (5) respectively drive the thigh portion (101), the calf portion (102), and the foot portion (103) to rotate and deform into an upright walking state. When the thigh portion (101), the calf portion (102), and the foot portion (103) rotate at a preset angle, the leg mechanism (1) can walk on the ground.

3. The lower limb of a multi-modal wheel-leg separated humanoid robot according to claim 2, characterized in that, The wheel mechanism (2) includes: a front wheel group (201) and a rear wheel group (202), and the driving deformation assembly further includes a front wheel rotation motor (6), a rear wheel rotation motor (7), and a hub motor (15); The front wheel rotation motor (6) is arranged on the connecting member, and its output end is connected to the front wheel group (201) through a first connecting rod (203) and is used to drive the front wheel group (201) to rotate relative to the connecting member; The rear wheel rotation motor (7) is arranged on the first connecting rod (203), and its output end is connected to the rear wheel group (202) through a second connecting rod (204) and is used to drive the rear wheel group (202) to rotate relative to the first connecting rod (203); The output end of the hub motor (15) is connected to the rear wheel group (202) and is used to drive the rollers of the rear wheel group (202) to rotate; When deformed into the wheel mode, the front-wheel rotation motor (6) and the rear-wheel rotation motor (7) drive the first link (203) and the second link (204) to rotate to the same horizontal plane, and the front-wheel group (201) and the rear-wheel group (202) move away from each other. The wheel mechanism (2) is deformed into a horizontal walking form, and the hub motor (15) drives the rollers of the rear-wheel group (202) to rotate, so that the wheel mechanism (2) can walk on the ground.

4. The lower limb of a multi-modal wheel-leg separated humanoid robot according to claim 3, characterized in that, The connecting member includes two first connecting members (8) and a second connecting member (9). The legged mechanism (1) has two parts, namely a left leg mechanism and a right leg mechanism. The left leg mechanism and the right leg mechanism are respectively arranged corresponding to the two first connecting members (8). The outer hip motor (3) and the inner hip motor (4) are arranged on the first connecting member (8), and the front-wheel rotation motor (6) is arranged on the second connecting member (9); The drive deformation assembly further includes: Two waist motors (10) are arranged on the second connecting member (9) and correspond to the two first connecting members (8) one by one. The output end of the waist motor (10) penetrates through the second connecting member (9) and is connected to the first connecting member (8). The waist motor (10) is used to drive the left leg mechanism and the right leg mechanism to rotate inward and approach each other or rotate outward and move away from each other. When the left leg mechanism and the right leg mechanism approach each other, the legged mechanism (1) can be deformed into an upright walking form. When the left leg mechanism and the right leg mechanism move away from each other, the legged mechanism (1) is deformed into a clamping form.

5. The lower limb of a multi-modal wheel-leg separated humanoid robot according to claim 4, characterized in that, It further includes: A third connecting member (11) is provided with a rear hip motor (12). The output end of the rear hip motor (12) is connected to the first connecting member (8). The output end of the waist motor (10) penetrates through the second connecting member (9) and is connected to the third connecting member (11). When the legged mechanism (1) is deformed into a clamping form, the rear hip motor (12) can drive the first connecting member (8) to rotate, thereby driving the legged mechanism (1) to rotate up and down.

6. The lower limb of a multi-modal wheel-leg separated humanoid robot according to claim 4, characterized in that, The drive deformation assembly further includes: A first link rotation electric cylinder (13) is arranged on the connecting member, and its output end is connected to the first link (203), and is used to drive the front-wheel group (201) to rotate relative to the connecting member.

7. The lower limb of a multi-modal wheel-leg separated humanoid robot according to claim 4, characterized in that The drive deformation assembly further includes: A steering mechanism (14) is connected to the front-wheel group (201) and is used to control the steering of the rollers of the front-wheel group (201).

8. A deformation method for the lower limbs of a multi-modal wheel-leg separable humanoid robot, characterized in that, Apply the lower limbs of the multi-modal wheel-leg separated humanoid robot according to any one of claims 5-7; When the lower limbs of the multi-modal wheel-leg separated humanoid robot are deformed from the leg mode to the wheel mode, it includes the following steps: S1: In the leg mode, the first link (203) and the second link (204) of the wheel mechanism (2) are located in the same vertical plane. The front-wheel group (201) is lower, the rear-wheel group (202) is higher, and the front-wheel group (201) and the rear-wheel group (202) are away from the ground; The hip joint outer motor (3) drives the thigh part (101) to rotate downward, and the hip joint inner motor (4) drives the calf part (102) to rotate forward, and the leg mechanism (1) deforms into a squatting form. At the same time, the front wheel rotation motor (6) drives the front wheel set (201) to rotate towards the foot part (103) by the first connecting rod (203) to the target angle; S2: When the front wheel set (201) contacts the ground, the rear wheel rotation motor (7) drives the rear wheel set (202) to rotate towards the ground by the second connecting rod (204) until the rear wheel set (202) contacts the ground. At this time, the foot part (103), the front wheel set (201) and the rear wheel set (202) are all on the ground, and an obtuse angle is arranged between the first connecting rod (203) and the second connecting rod (204); S3: The hip joint outer motor (3) controls the rotation of the thigh part (101) so that the leg mechanism (1) rotates upward and leaves the ground. At this time, the front wheel set (201) and the rear wheel set (202) are on the ground, and the rear wheel rotation motor (7) drives the rear wheel set (202) to rotate through the second connecting rod (204). The front wheel set (201) and the rear wheel set (202) move away from each other until the first connecting rod (203) and the second connecting rod (204) rotate to the same horizontal plane, and the wheel mechanism (2) deforms into a horizontal walking form. The lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the leg mode to the wheel mode; The lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the wheel mode to the leg mode according to the reverse steps of steps S1 - S3.

9. A deformation method for the lower limbs of a multi-modal wheel-leg separable humanoid robot according to claim 8, characterized in that It also includes the following steps: S4: After the lower limbs of the multi-modal wheel-leg separated humanoid robot deform from the leg mode to the wheel mode, the waist motor (10) drives the left leg mechanism and the right leg mechanism to rotate outward and move away from each other, and the leg mechanism (1) deforms into a clamping form; The ankle motor (5) drives the feet (103) of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, and the two feet (103) form a clamping end; when the hip joint outer motor (3) drives the thighs (101) of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, and the hip joint inner motor (4) drives the calves (102) of the left leg mechanism and the right leg mechanism to rotate inward and approach each other, the two feet (103) can clamp an object.

10. A deformation method for the lower limbs of a multi-modal wheel-leg separable humanoid robot according to claim 9, characterized in that, It also includes the following steps: S5: After the leg mechanism (1) deforms into a clamping form, the hip joint rear motor (12) drives the first connecting piece (8) to rotate, thereby driving the leg mechanism (1) to rotate up and down to adjust the clamping height of the two feet (103).

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