Mechanical leg, wheel-foot robot and wheel-foot mobile terminal

Abstract

The invention belongs to the technical field of robots, and relates to a mechanical leg, a wheel-foot robot and a wheel-foot mobile terminal.The mechanical leg comprises a thigh unit, a shank unit and a knee joint driving device, the thigh unit comprises a thigh support, and the shank unit comprises a shank support, a first advancing wheel device and a second advancing wheel device; the knee joint driving device comprises a knee joint motor connected between the thigh bracket and the shank bracket; the knee joint motor is used for driving the thigh unit to rotate around a first axis relative to the shank unit so as to adjust the relative angle between the thigh support and the shank support; the knee joint driving device is located between the first advancing wheel device and the second advancing wheel device. According to the mechanical leg, the flexibility of a flat road surface and the obstacle crossing trafficability of a complex road condition can be well considered.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a mechanical leg, a wheel-foot robot and a wheel-foot mobile terminal. Background Art

[0002] The structural forms of wheeled robots can be roughly divided into two categories. The first category has one end of the thigh unit connected to one end of the calf unit via a rotating shaft, and the other end of the calf unit is equipped with a drive device, which enables the wheeled robot to move. This type of wheeled robot is relatively flexible on flat ground, but has poor obstacle crossing and safety in more complex road conditions, such as steps or steep slopes. The second category has one end of the thigh unit fixedly connected to the middle end of the calf unit, and a front drive device and a rear drive device are respectively installed at the front and rear ends of the calf unit. This type of wheeled robot has a certain degree of maneuverability on bumpy roads, small steps, and steep slopes. However, when encountering continuous steps, the fixed connection between the thigh unit and the calf unit makes it impossible to adjust the wheeled robot's center of gravity, resulting in poor obstacle crossing in complex road conditions such as continuous steps, and its flexibility is also poor on flat roads.

[0003] It can be seen that it is difficult for existing wheeled-legged robots to have both flexibility on flat roads and obstacle-crossing ability on complex road conditions. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a mechanical leg, a wheel-foot robot and a wheel-foot mobile terminal to solve the problem that existing wheel-foot robots find it difficult to balance flexibility on flat roads with obstacle-crossing performance on complex roads.

[0005] To solve the above technical problems, on the one hand, an embodiment of the present invention provides a mechanical leg, comprising a thigh unit, a calf unit, and a knee joint drive device, wherein the thigh unit comprises a thigh bracket, the calf unit comprises a calf bracket, a first traveling wheel device connected to the front end of the calf bracket, and a second traveling wheel device connected to the rear end of the calf bracket;

[0006] The knee joint driving device includes a knee joint motor connected between the thigh support and the calf support; the knee joint motor is used to drive the thigh unit to rotate relative to the calf unit around a first axis to adjust the relative angle between the thigh support and the calf support;

[0007] The first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor; the first motor is used to drive the first traveling wheel to rotate around the second axis relative to the calf support;

[0008] The second traveling wheel device includes a second motor and a second traveling wheel connected to the output shaft end of the second motor; the second motor is used to drive the second traveling wheel to rotate relative to the calf support around a third axis;

[0009] The knee joint driving device is located between the first traveling wheel device and the second traveling wheel device, and the axis of the first motor, the axis of the second motor and the axis of the knee joint motor are parallel.

[0010] In the mechanical leg of the embodiment of the present invention, the thigh unit and the shank unit are directly connected through the knee joint motor, and the knee joint motor is used to drive the thigh unit to rotate relative to the shank unit around the first axis. By controlling the output speed and torque of the knee joint motor and transmitting this speed, torque, etc. to the shank unit through the output shaft end, the posture and center of gravity of the wheeled robot using the mechanical leg are adjusted and maintained. In this way, the angle adjustment between the thigh unit and the shank unit can be accurately and effectively achieved. The angle adjustment between the thigh unit and the shank unit can change the relative angle between the thigh unit and the shank unit so that at least one of the first traveling wheel device connected to the front end of the shank support and the second traveling wheel device connected to the rear end of the shank support can be lifted off the ground. In this way, the wheeled robot (four wheels) using the mechanical leg can switch between a two-wheel drive mode (only one of the first traveling wheel device and the second traveling wheel device is on the ground) and a four-wheel drive mode (both the first traveling wheel device and the second traveling wheel device are on the ground), realizing two-wheel drive and four-wheel drive modes of the wheeled robot. Switching the wheeled robot to two-wheel drive mode allows it to travel flexibly and quickly on flat ground or gentle slopes; switching it to four-wheel drive mode ensures its ability to navigate complex obstacles such as continuous steps and steep slopes. This ensures a good balance between flexibility on flat roads and obstacle-crossing capabilities on complex road conditions.

[0011] In addition, when the wheeled-leg robot is idle, the relative angle between the thigh support and the calf support can be adjusted to 0 (or close to 0), and the wheeled-leg robot can be folded to save placement space.

[0012] Optionally, by adjusting the relative angle between the thigh support and the calf support, the second traveling wheel can be suspended in the air or on the ground.

[0013] Optionally, at least one of the first traveling wheel device and the second traveling wheel device is detachable from the calf support.

[0014] Optionally, at least one of the housing of the first motor and the housing of the second motor is detachably connected to the calf support.

[0015] Optionally, the first axis, the second axis and the third axis are parallel.

[0016] Optionally, the housing of the knee joint motor is fixed to the calf support, and the output shaft end of the knee joint motor is connected to the lower end of the thigh support;

[0017] The rotation axis of the output shaft end of the knee joint motor coincides with the first axis.

[0018] Optionally, a limited rotation boss is provided on one of the output shaft end of the knee joint motor and the lower end of the thigh support, and a limited rotation groove is provided on the other, and the limited rotation boss is inserted into the limited rotation groove to limit the relative rotation between the thigh support and the output shaft end of the knee joint motor.

[0019] Optionally, the calf support includes a calf support front section, a calf support rear section and a calf support middle section connected between the calf support front section and the calf support rear section, the housing of the first motor is fixed on the calf support front section, the housing of the second motor is fixed on the calf support rear section, and the housing of the knee joint motor is fixed on the calf support middle section.

[0020] Optionally, the front section of the calf support includes a calf support front section main body, a first motor inner side fixing ring connected to the inner side of the front end of the calf support front section main body, and a first motor outer side fixing ring connected to the outer side of the front end of the calf support front section main body, and the housing of the first motor is fixed on the first motor inner side fixing ring and the first motor outer side fixing ring.

[0021] Optionally, the inner fixing ring of the first motor is detachably connected to the front section body of the calf support.

[0022] Optionally, a first serration structure is provided on the inner side of the front end of the front section of the calf support body, and a second serration structure that matches and plugs into the first serration structure is provided on the rear end of the inner fixing ring of the first motor.

[0023] Optionally, the middle section of the calf support includes an inner fixing ring of a knee joint motor and an outer fixing ring of a knee joint motor, which are arranged opposite to each other on the left and right sides. The inner fixing ring of the knee joint motor is connected between the inner side of the rear end of the front section of the calf support and the inner side of the front end of the rear section of the calf support, and the outer fixing ring of the knee joint motor is connected between the outer side of the rear end of the front section of the calf support and the outer side of the front end of the rear section of the calf support;

[0024] The housing of the knee joint motor is fixed between the inner fixing ring of the knee joint motor and the outer fixing ring of the knee joint motor.

[0025] Optionally, the inner fixing ring of the knee joint motor is detachably connected to the front section of the calf support and the rear section of the calf support.

[0026] Optionally, a third serration structure is provided on the inner side of the rear end of the front section of the calf support, a fourth serration structure is provided on the inner side of the front end of the rear section of the calf support, a fifth serration structure that matches and plugs into the third serration structure is provided on the front end of the inner fixing ring of the knee joint motor, and a sixth serration structure that matches and plugs into the fourth serration structure is provided on the rear end of the inner fixing ring of the knee joint motor.

[0027] Optionally, a second motor outer fixing ring is provided on the outer side of the rear section of the calf support, and the housing of the second motor is fixed on the second motor outer fixing ring.

[0028] Optionally, the rear portion of the front section of the calf support, the middle section of the calf support and the rear section of the calf support form a square frame, and the knee joint drive device and the second motor are located in the square frame.

[0029] Optionally, the thigh support includes an inner mounting frame, an outer mounting frame and a connecting frame connected between the inner mounting frame and the outer mounting frame.

[0030] Optionally, output shaft ends are respectively provided at both axial ends of the knee joint motor, one output shaft end of the knee joint motor is connected to the lower end of the inner mounting frame, and the other output shaft end of the knee joint motor is connected to the lower end of the outer mounting frame.

[0031] Optionally, the knee joint drive device further includes a torsion spring, which is sleeved on the outer periphery of the housing of the knee joint motor, one free end of the torsion spring is fixed to the thigh support, and the other free end of the torsion spring is fixed to the calf support.

[0032] On the other hand, an embodiment of the present invention provides a wheeled robot, comprising a base and the above-mentioned mechanical legs connected to the left and right sides of the base.

[0033] Optionally, the upper end of the thigh support of the mechanical leg is rotatably connected to the base, and the mechanical leg further includes a hip joint motor;

[0034] The hip joint motor is mounted on the upper end of the thigh support and is used to drive the base to rotate relative to the thigh support around a fourth axis; wherein the fourth axis is parallel to the first axis.

[0035] Optionally, the base includes a bottom plate and a mounting seat provided below the bottom plate, and the upper end of the thigh support is rotatably connected to the mounting seat;

[0036] The housing of the hip joint motor is fixed on the mounting seat, and the output shaft end of the hip joint motor is connected to the upper end of the thigh support;

[0037] The rotation axis of the output shaft end of the hip joint motor coincides with the fourth axis.

[0038] Optionally, a power battery is also included which is installed on the base plate.

[0039] Optionally, an inner connecting plate and an outer connecting plate are oppositely arranged at the upper end of the thigh support, and the mounting seat includes an inner connecting ear and an outer connecting ear that are oppositely arranged, and the inner connecting ear and the outer connecting ear are located between the inner connecting plate and the outer connecting plate;

[0040] The hip joint motor is installed between the inner connecting ear and the outer connecting ear, and the output shaft end of the hip joint motor is connected to at least one of the inner connecting disk and the outer connecting disk.

[0041] Optionally, output shaft ends are respectively provided at both axial ends of the hip joint motor, one output shaft end of the hip joint motor is connected to the inner connecting disk, and the other output shaft end of the hip joint motor is connected to the outer connecting disk.

[0042] Optionally, it also includes an inner flange and an outer flange, the inner flange is arranged between the inner connecting ear and the inner connecting plate, the outer flange is arranged between the outer connecting ear and the outer connecting plate, the inner flange is fixed on the inner connecting plate, one output shaft end of the hip joint motor is connected to the inner flange, the outer flange is fixed on the outer connecting plate, and the other output shaft end of the hip joint motor is connected to the outer flange.

[0043] The wheeled-legged robot according to the embodiment of the present invention has all the advantages of the aforementioned mechanical legs.

[0044] When the wheeled-legged robot adopts the two-wheel drive mode, the output speed and torque of the knee joint motor are controlled and transmitted to the calf unit through its output shaft end, thereby controlling the relative angle between the thigh unit and the calf unit and realizing the two-wheel drive standing posture of the wheeled-legged robot.

[0045] When the wheeled robot is in a two-wheel drive standing posture, it relies on one of the first and second traveling wheel devices that is on the ground to provide driving power. Taking the first traveling wheel device on the ground as an example, the first motor transmits the rotational speed, torque, etc. to the first traveling wheel through its output shaft end, thereby rotating the first traveling wheel, thereby driving the wheeled robot to travel. By controlling the output speed and torque of the first motor, the driving requirements of the wheeled robot under different working conditions in the two-wheel drive mode are met. Taking the second traveling wheel device on the ground as an example, the second motor transmits the rotational speed, torque, etc. to the second traveling wheel through its output shaft end, thereby rotating the second traveling wheel, thereby driving the wheeled robot to travel. By controlling the output speed and torque of the second motor, the driving requirements of the wheeled robot under different working conditions in the two-wheel drive mode are met.

[0046] When the wheeled robot adopts four-wheel drive, the first traveling wheel device and the second traveling wheel device are both on the ground. By controlling the output speed and torque of the first motor and the second motor respectively, the driving requirements of the wheeled robot under different working conditions in the four-wheel drive mode are realized.

[0047] During the wheeled robot's travel, the output speed and torque of the knee joint motor can be controlled to change the relative angle between the thigh and shank units to adapt to different driving conditions. For example, when encountering a series of steps, the relative angle between the thigh and shank units can be adjusted in real time. By adjusting the wheeled robot's center of gravity, it can more easily overcome obstacles and improve its obstacle-crossing performance. When encountering uneven roads, the relative angle between the thigh and shank units can be adjusted in real time to adapt to the contact between the driving wheels and the road surface, reducing vibration transmitted to the wheeled robot by the road surface and improving its comfort.

[0048] On the other hand, an embodiment of the present invention provides a wheel-legged mobile terminal, which includes the above-mentioned wheel-legged robot.

[0049] The wheeled-legged mobile terminal according to the embodiment of the present invention has all the advantages of the wheeled-legged robot described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic diagram of a wheel-legged robot provided by a first embodiment of the present invention;

[0051] Figure 2 1 is a schematic diagram of a thigh support of a mechanical leg of a wheeled robot provided by a first embodiment of the present invention;

[0052] Figure 3 1 is a schematic diagram of a calf support of a mechanical leg of a wheeled robot provided by a first embodiment of the present invention;

[0053] Figure 4 is an exploded view of a shank support of a mechanical leg of a wheeled robot provided by a first embodiment of the present invention;

[0054] Figure 5 1 is a schematic diagram of a knee joint motor of a mechanical leg of a wheeled-leg robot provided by a first embodiment of the present invention;

[0055] Figure 6 Schematic diagram of a torsion spring of a mechanical leg of a wheeled robot provided by a first embodiment of the present invention;

[0056] Figure 7 1 is a schematic diagram of a base of a mechanical leg of a wheeled robot provided by a first embodiment of the present invention;

[0057] Figure 8 1 is a schematic diagram of the assembly of the torsion spring and knee joint motor of the mechanical leg of the wheeled-leg robot provided by the first embodiment of the present invention;

[0058] Figure 9 This is a schematic diagram of the assembly of the knee joint motor and the calf bracket of the mechanical leg of the wheeled robot provided by the first embodiment of the present invention. Figure 1 (Before installing the inner fixing ring of the knee motor);

[0059] Figure 10 This is a schematic diagram of the assembly of the knee joint motor and the calf bracket of the mechanical leg of the wheeled robot provided by the first embodiment of the present invention. Figure 2 (After installing the inner fixing ring of the knee joint motor);

[0060] Figure 11 This is a schematic diagram of the assembly of the first motor, the second motor and the calf bracket of the mechanical leg of the wheeled robot provided by the first embodiment of the present invention. Figure 1 (Before installing the inner fixing ring of the first motor);

[0061] Figure 12 This is a schematic diagram of the assembly of the first motor, the second motor and the calf bracket of the mechanical leg of the wheeled robot provided by the first embodiment of the present invention. Figure 2 (After installing the inner fixing ring of the first motor);

[0062] Figure 13 1 is a schematic diagram of the assembly of the first motor and the first traveling wheel, and the second motor and the second traveling wheel of the mechanical leg of the wheeled robot provided by the first embodiment of the present invention;

[0063] Figure 14 1 is a schematic diagram of the assembly of the thigh bracket and the calf bracket of the mechanical leg of the wheeled-leg robot provided by the first embodiment of the present invention;

[0064] Figure 15 This is an exploded view of the thigh support and base of the mechanical leg of the wheeled-leg robot provided by the first embodiment of the present invention before assembly;

[0065] Figure 162. It is a schematic diagram of angle adjustment of the wheel-legged robot provided by the first embodiment of the present invention;

[0066] Figure 17 1 is a schematic diagram of a wheeled robot in a two-wheel drive mode provided by the first embodiment of the present invention;

[0067] Figure 18 is a schematic diagram of a wheeled robot provided by the first embodiment of the present invention in a four-wheel drive mode;

[0068] Figure 19 Schematic diagram of the wheeled robot provided by the first embodiment of the present invention in a folded state.

[0069] The reference numerals in the specification are as follows:

[0070] 10. Base; 101. Bottom plate; 102. Mounting base; 1021. Inner connecting ear; 1022. Outer connecting ear; 20. Mechanical leg; 30. Power battery; 40. Controller;

[0071] 1. Thigh unit; 11. Thigh support; 110. Rotation limiting boss; 111. Inner mounting bracket; 112. Outer mounting bracket; 113. Connecting bracket; 114. Inner connecting plate; 115. Outer connecting plate;

[0072] 2. Calf unit; 21. Calf support; 211. Calf support front section; 2111. Calf support front section body; 21111. First sawtooth structure; 21112. Third sawtooth structure; 2112. Inside fixing ring of first motor; 21121. Second sawtooth structure; 2113. Outside fixing ring of first motor; 212. Calf support rear section; 2121. Fourth sawtooth structure; 2122. Outside fixing ring of second motor; 213. Calf support middle section; 2131. Inside fixing ring of knee joint motor; 21311. Fifth sawtooth structure; 21312. Sixth sawtooth structure; 2132. Outside fixing ring of knee joint motor; 22. First traveling wheel assembly; 221. First motor; 222. First traveling wheel; 24. Second locking structure; 241. Second open ring; 25. Second traveling wheel assembly; 251. Second motor; 252. Second traveling wheel;

[0073] 3. Knee joint drive device; 31. Knee joint motor; 311. Output shaft end of knee joint motor; 3111. Rotation limiting groove; 32. Torsion spring; 321. Free end;

[0074] 4. Hip joint motor;

[0075] 5. Inner flange;

[0076] 6. Outer flange. DETAILED DESCRIPTION

[0077] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0078] In this article, please refer to the front, back, left, right, top, and bottom directions. Figure 1 The coordinates shown are shown. Here, "front" represents the forward direction of the wheeled robot, and "rear" represents the backward direction of the wheeled robot. "Inside" and "outside" are relative to the center of the base 10; that is, the direction toward the center of the base 10 is considered "inside," and the direction away from the center of the base 10 is considered "outside."

[0079] First embodiment

[0080] See also Figures 1 to 7 The wheeled robot provided in the first embodiment of the present invention is a four-wheeled robot, including a base 10 and mechanical legs 20 connected to the left and right sides of the base 10, each of the mechanical legs 20 includes a thigh unit 1, a calf unit 2 and a knee joint drive device 3, the thigh unit 1 includes a thigh support 11, the calf unit 2 includes a calf support 21, a first traveling wheel device 22 connected to the front end of the calf support 21 and a second traveling wheel device 25 connected to the rear end of the calf support 21.

[0081] The knee joint driving device 3 includes a knee joint motor 31 connected between the thigh support 11 and the calf support 21; the knee joint motor 23 is used to drive the thigh unit 1 to rotate relative to the calf unit 2 around the first axis to adjust the relative angle between the thigh support 11 and the calf support 21.

[0082] The first traveling wheel device 22 includes a first motor 221 and a first traveling wheel 222 connected to the output shaft end of the first motor 221; the first motor 221 is used to drive the first traveling wheel 222 to rotate around a second axis relative to the calf support 21; the second traveling wheel device 25 includes a second motor 251 and a second traveling wheel 252 connected to the output shaft end of the second motor 251; the second motor 251 is used to drive the second traveling wheel 252 to rotate around a third axis relative to the calf support 21.

[0083] The knee joint driving device 3 includes a knee joint motor 31 connected between the thigh support 11 and the calf support 21; the knee joint motor 23 is used to drive the thigh unit 1 to rotate relative to the calf unit 2 around the first axis to adjust the relative angle between the thigh support 11 and the calf support 21.

[0084] The knee joint driving device 3 is located between the first traveling wheel device 22 and the second traveling wheel device 25 , and the axis of the first motor 221 and the axis of the second motor 251 are parallel to the axis of the knee joint motor 31 .

[0085] In the mechanical leg 20 and wheeled-foot robot of the first embodiment of the present invention, the thigh unit 1 and the calf unit 2 are directly connected via a knee joint motor 31. The knee joint motor 31 is used to drive the thigh unit 1 to rotate relative to the calf unit 2 around a first axis. By controlling the output speed and torque of the knee joint motor 23 and transmitting this speed, torque, etc. to the calf unit 2 through the output shaft end, the posture and center of gravity of the wheeled-foot robot using the mechanical leg 20 are adjusted and maintained. In this way, the angle adjustment between the thigh unit 1 and the calf unit 2 can be achieved accurately and effectively. The angle adjustment between the thigh unit 1 and the calf unit 2 can change the relative angle between the thigh unit 1 and the calf unit 2, so that at least one of the first traveling wheel device 22 connected to the front end of the calf support 11 and the second traveling wheel device 25 connected to the rear end of the calf support 21 can be lifted off the ground. In this way, a wheeled robot (four wheels) using the mechanical legs 20 can switch between a two-wheel drive mode (only one of the first and second traveling wheel devices 22 and 25 is on the ground) and a four-wheel drive mode (both the first and second traveling wheel devices 22 and 25 are on the ground), thus achieving both two-wheel drive and four-wheel drive modes for the wheeled robot. When the wheeled robot is switched to two-wheel drive mode, it can travel flexibly and quickly on flat ground or gentle slopes; when the wheeled robot is switched to four-wheel drive mode, it can ensure the wheeled robot's ability to overcome obstacles in complex working conditions such as continuous steps and steep slopes. In this way, it is possible to strike a good balance between flexibility on flat roads and obstacle-crossing ability on complex road conditions.

[0086] The axis of the first motor 221 and the axis of the second motor 251 are parallel to the axis of the knee joint motor 31, so that the rotation of the knee joint motor 31 of the wheeled robot using the mechanical leg 20 is more flexible.

[0087] The distance between the axis of the first motor 221 and the axis of the knee joint motor 31 is greater than the distance between the axis of the second motor 251 and the axis of the knee joint motor 31. That is, the knee joint driving device 3 is closer to the second traveling wheel device 25.

[0088] The first traveling wheel device 22 is a front-wheel drive device, and the second traveling wheel device 25 is a rear-wheel drive device. That is, the first traveling wheel device 22 is not coaxial with the knee joint drive device 3, and the second traveling wheel device 25 is not coaxial with the knee joint drive device 3. In this way, the size of the knee joint and the difficulty of arrangement can be reduced, the structural design is simpler, the mechanical structure is more reliable, and the structure is more compact, which makes the wheeled robot lightweight and improves the endurance of the wheeled robot. At least one of the first traveling wheel device 22 and the second traveling wheel device 25 can be detached from the calf bracket 21. When switching from the four-wheel drive mode to the two-wheel drive mode, the non-ground traveling wheel device can be removed and switched to the two-wheel drive mode. Compared with the non-ground traveling wheel device being suspended (not disassembled), disassembling the non-ground traveling wheel device can reduce the weight and volume of the wheeled robot, and can travel flexibly and quickly on flat ground or gentle slope conditions.

[0089] Preferably, the first traveling wheel device 22 and the second traveling wheel device 25 can be detached from the calf bracket 21. In this way, the wheeled robot can select front drive and rear drive in the two-wheel drive mode.

[0090] The first axis, the second axis and the third axis are parallel to each other, so as to ensure the vertical state of the first traveling wheel 222 and the second traveling wheel 252 and improve the driving stability.

[0091] The housing of the first motor 221 is fixed to the front end of the calf support 21, and the housing of the second motor 251 is fixed to the rear end of the calf support 21. At least one of the housing of the first motor 221 and the housing of the second motor 251 is detachably connected to the calf support 21. Preferably, the housing of the first motor 221 is detachably connected to the calf support 21, and the housing of the second motor 251 is detachably connected to the calf support 21.

[0092] The housing of the knee joint motor 31 is fixed to the middle of the calf support 21. The output shaft end 311 of the knee joint motor 31 is connected to the lower end of the thigh support 11. The rotation axis of the output shaft end 311 of the knee joint motor 31 coincides with the first axis. This ensures that there is no eccentricity between the rotation axes (first axis) of the thigh support 11 and the calf support 21 and the rotation axis of the output shaft end 311 of the knee joint motor 31, improving the rotational stability of the thigh support 11 and the calf support 21 and the operating efficiency of the knee joint motor 31.

[0093] The output shaft end 311 of the knee joint motor 31 is provided with a rotation-limiting groove 3111, and the lower end of the thigh support 11 is provided with a rotation-limiting boss 110. The rotation-limiting boss 110 is inserted into the rotation-limiting groove 3111 to limit the relative rotation between the thigh support 11 and the output shaft end 311 of the knee joint motor 31. In other words, the output shaft end 311 of the knee joint motor 31 is fixed to the thigh support 11.

[0094] The cross section of the rotation limiting boss 110 is a non-circular shape such as a polygon or an ellipse, and is shown as a hexagon in the figure. The cross section of the rotation limiting groove 3111 matches the cross section of the rotation limiting boss 110, and is shown as a hexagon in the figure.

[0095] The calf support includes a calf support front section 211, a calf support rear section 212 and a calf support middle section 213 connected between the calf support front section 211 and the calf support rear section 212. The housing of the first motor 221 is fixed on the calf support front section 211, the housing of the second motor 251 is fixed on the calf support rear section 212, and the housing of the knee joint motor 31 is fixed on the calf support middle section 213.

[0096] The calf support front section 211 includes a calf support front section body 2111, a first motor inner fixing ring 2112 connected to the inner side of the front end of the calf support front section body 2111, and a first motor outer fixing ring 2113 connected to the outer side of the front end of the calf support front section body 2111. The housing of the first motor 221 is fixed to the first motor inner fixing ring 2112 and the first motor outer fixing ring 2113 by bolts. The first traveling wheel device 22 can be detached from the calf support 21 by removing the bolts on the first motor inner fixing ring 2112 and the first motor outer fixing ring 2113.

[0097] Preferably, the first motor outer fixing ring 2113 and the calf support front section body 2111 are integrally formed to simplify installation.

[0098] The first motor inner fixing ring 2112 is detachably connected to the calf support front section body 2111. Specifically, a first serration structure 21111 is provided on the inner side of the front end of the calf support front section body 2111, and a second serration structure 21121 is provided on the rear end of the first motor inner fixing ring 2112 to mate with the first serration structure 21111. The first serration structure 21111 and the second serration structure 21121 are fixed by bolts.

[0099] The middle section 213 of the calf support includes an inner fixing ring 2131 of the knee joint motor and an outer fixing ring 2132 of the knee joint motor, which are arranged opposite to each other on the left and right. The inner fixing ring 2131 of the knee joint motor is connected between the inner side of the rear end of the calf support front section 211 and the inner side of the front end of the calf support rear section 212, and the outer fixing ring 2132 of the knee joint motor is connected between the outer side of the rear end of the calf support front section 211 and the outer side of the front end of the calf support rear section 212; the shell of the knee joint motor 31 is fixed between the inner fixing ring 2131 of the knee joint motor and the outer fixing ring 2132 of the knee joint motor.

[0100] Preferably, the outer fixing ring 2132 of the knee joint motor is integrally formed with the rear section 212 of the calf support to simplify installation.

[0101] The inner fixing ring 2131 of the knee joint motor is detachably connected to the front section 211 and the rear section 213 of the calf support. Specifically, a third sawtooth structure 21112 is provided on the inner side of the rear end of the calf support front section 211, and a fourth sawtooth structure 2121 is provided on the inner side of the front end of the calf support rear section 212. The front end of the inner fixing ring 2131 of the knee joint motor is provided with a fifth sawtooth structure 21311 that mates with the third sawtooth structure 21112, and the rear end of the inner fixing ring 2131 of the knee joint motor is provided with a sixth sawtooth structure 21312 that mates with the fourth sawtooth structure 2121. The third sawtooth structure 21112 is bolted to the fifth sawtooth structure 21311, and the fourth sawtooth structure 2121 is bolted to the sixth sawtooth structure 21312.

[0102] A second motor outer fixing ring 2122 is provided on the outer side of the calf support rear section 212, and the housing of the second motor 251 is fixed to the second motor outer fixing ring 2122 by bolts. By removing the bolts on the second motor outer fixing ring 2122, the second traveling wheel device 25 can be detached from the calf support 21.

[0103] The rear portion (left and right extending portion) of the calf support front section 211, the calf support middle section 213, and the calf support rear section 212 form a square frame, and the knee joint drive device 3 and the second motor 251 are located within the square frame. In this way, the square frame can provide protection for the knee joint drive device 3 and the second motor 251.

[0104] The thigh support 11 includes an inner mounting frame 111 , an outer mounting frame 112 and a connecting frame 113 connected between the inner mounting frame 111 and the outer mounting frame 112 .

[0105] The knee joint motor 31 is provided with output shaft ends 311 at both axial ends. One output shaft end of the knee joint motor 31 is connected to the lower end of the inner mounting frame 111, and the other output shaft end of the knee joint motor 31 is connected to the lower end of the outer mounting frame 112. Preferably, the lower ends of the inner mounting frame 111 and the outer mounting frame 112 are both provided with the rotation-limiting boss 110. Correspondingly, both output shaft ends of the knee joint drive device 3 are provided with rotation-limiting grooves 3111.

[0106] The knee joint drive device 3 also includes a torsion spring, and the torsion spring 32 is sleeved on the outer periphery of the housing of the knee joint motor 31. The inner ring of the torsion spring 32 is in close contact with the outer periphery of the housing of the knee joint motor 31. One of the free ends 321 of the torsion spring 32 is fixed to the thigh support 11, and the other free end 321 of the torsion spring 32 is fixed to the calf support 21. When the wheeled robot is stationary and moving, the torsion spring 32 of the knee joint drive device 3 uses its own elastic deformation to provide auxiliary support for maintaining the posture of the wheeled robot and increase the carrying capacity of the wheeled robot. In addition, it also saves the power consumption of the knee joint motor 31, reduces the power consumption of the wheeled robot, and improves its endurance. In addition, the torsion spring 32 has a shock-absorbing effect, reducing the impact force when the wheeled robot passes an obstacle.

[0107] The thigh support 11 is provided with a first locking structure (not shown in the figure) for fixing one free end 321 of the torsion spring 32, and the calf support 21 is provided with a second locking structure 24 for fixing the other free end 321 of the torsion spring 32. Specifically, the first locking structure and the second locking structure 24 are fixed or integrally formed on the inner wall surface of the square frame.

[0108] The first locking structure is a first open ring, the interior of which is formed with a first slot opening toward the knee joint motor 31, and one free end 321 of the torsion spring 32 is clamped in the first slot. Figure 3 The second locking structure 24 is a second open ring 241 , and a second slot is formed inside the second open ring 241 with an opening toward the knee joint motor 31 , and the other free end 321 of the torsion spring 32 is mounted in the second slot. Figure 3 In the embodiment, two second open rings 241 are arranged side by side in the left-right direction to enhance the connection strength of the other free end 321 of the torsion spring 32. Of course, one or more than three second open rings 241 may also be arranged.

[0109] However, a snap ring may be used to replace at least one of the first open ring and the second open ring 241. The free end 321 of the torsion spring 32 may be inserted into the snap ring to fix the free end 321 of the torsion spring 32.

[0110] See also Figure 1 When both the first and second traveling wheel assemblies 22, 25 are mounted on the calf support 21 and both are on the ground, a four-wheel drive mode can be used. When the wheeled robot uses four-wheel drive, the output speed and torque of the first and second motors 221, 251 are controlled separately to meet the driving requirements of the wheeled robot under different operating conditions in the four-wheel drive mode.

[0111] In the four-wheel drive mode, the output speed and torque of the knee joint motor 31 are controlled to control the relative angles of the thigh unit 1 and the calf unit 2, so that one of the first and second traveling wheel devices 22 and 25 touches the ground and the other is suspended in the air, and the wheeled robot switches from the four-wheel drive mode to the two-wheel drive mode. Figure 17 , the first traveling wheel device 22 is on the ground, and the second traveling wheel device 25 is suspended. In addition, the suspended second traveling wheel device 25 can be removed as needed to reduce the weight and volume of the wheel-foot robot during travel, increase its passability, and reduce energy consumption.

[0112] When the wheeled-legged robot adopts a two-wheel drive mode, the output speed and torque of the knee joint motor 31 are controlled, and this speed, torque, etc. are transmitted to the calf unit 2 through its output shaft end, thereby controlling the relative angle between the thigh unit 1 and the calf unit 2, and realizing the two-wheel drive standing posture of the wheeled-legged robot.

[0113] When the wheeled robot is in a two-wheel drive standing posture, the driving force is provided by the one of the first traveling wheel device 22 and the second traveling wheel device 23 that is on the ground. Figure 17 Taking the first traveling wheel device 22 landing on the ground as an example, the first motor 221 transmits the speed, torque, etc. to the first traveling wheel 222 through its output shaft end, realizing the rotation of the first traveling wheel 222, thereby driving the wheeled robot to move. By controlling the output speed and torque of the first motor 221, the driving requirements of the wheeled robot under different working conditions in the two-wheel drive mode are realized.

[0114] During the wheeled-leg robot's travel, the output speed and torque of the knee joint motor 31 can be controlled to change the relative angle between the thigh unit 1 and the calf unit 2 to adapt to the travel requirements of different working conditions. For example, when encountering continuous steps, the relative angle between the thigh unit 1 and the calf unit 2 can be adjusted in real time. By adjusting the center of gravity of the wheeled-leg robot, it can be made easier to overcome obstacles, thereby improving its obstacle-crossing performance. When encountering uneven roads, the relative angle between the thigh unit 1 and the calf unit 2 can be adjusted in real time to adapt to the contact between the traveling wheels and the road surface, reducing the vibration transmitted to the wheeled-leg robot by the road surface and improving the comfort of the wheeled-leg robot.

[0115] When the wheeled robot is traveling on a relatively flat road or slope, one of the first traveling wheel device 22 and the second traveling wheel device 25 is removed from the calf support 21 or hung in the air (see Figure 17 ), adopts a two-wheel drive mode to achieve a standing form, and realizes the movement of the wheeled robot through the first traveling wheel device 22; when the wheeled robot encounters a higher step, continuous stairs or steep slope, see Figure 18 The first traveling wheel device 22 and the second traveling wheel device 25 are driven together to realize a four-wheel drive mode, thereby improving obstacle crossing capability and safety in complex road conditions.

[0116] like Figure 1 As shown, the mechanical leg 20 includes a first traveling wheel device 22 and a second traveling wheel device 25, and the wheeled robot is a four-wheeled robot. When the four wheels (two first traveling wheels 222 and two second traveling wheels 252) touch the ground at the same time, the wheeled robot is in a wheeled mode.

[0117] When the second traveling wheel device 25 is no longer needed to drive, the second traveling wheel device 25 can be detached from the calf bracket 21, and the mechanical leg 20 only includes the first traveling wheel device 22. At this time, two wheels (two first traveling wheels 222) are on the ground, and the wheel-foot robot is in foot mode.

[0118] Alternatively, see Figure 17 When the second traveling wheel assembly 25 is no longer needed, the thigh support 11 and the calf support 21 can be rotated a certain angle, so that the first traveling wheel assembly 22 is on the ground and the second traveling wheel assembly 25 is off the ground. The robotic leg 20 is then driven only by the first traveling wheel assembly 22, and the second motor 252 of the second traveling wheel assembly 25 is not powered. In this state, both wheels are on the ground, and the wheeled-leg robot is in the foot-type mode.

[0119] Therefore, the wheeled-legged robot of this embodiment can realize dual-mode switching between wheeled and legged modes.

[0120] Referring to the figure, the upper end of the thigh support 11 of the robotic leg 20 is rotatably connected to the base 10. The robotic leg 20 also includes a hip joint motor 4. The hip joint motor 4 is mounted on the upper end of the thigh support 11 and is used to drive the base 10 to rotate relative to the thigh support 11 about a fourth axis; wherein the fourth axis is parallel to the first axis.

[0121] The base 10 includes a bottom plate 101 and a mounting base 102 disposed below the bottom plate 101. The upper end of the thigh support 11 is rotatably connected to the mounting base 102. The housing of the hip joint motor 4 is fixed to the mounting base 102. The output shaft end of the hip joint motor 4 is connected to the upper end of the thigh support 11; the rotation axis of the output shaft end of the hip joint motor 4 coincides with the fourth axis.

[0122] See also Figure 1 , and also includes a power battery 30 installed on the base plate 101.

[0123] See also Figure 1 , further comprising a controller 40. The controller 40 is electrically connected to the power battery 30, the first motor 221, the second motor 225, the knee joint motor 31, and the hip joint motor 4, respectively. The power battery 30 can supply power to the controller 40, the first motor 221, the second motor 225, the knee joint motor 31, and the hip joint motor 4.

[0124] The controller 40 may be mounted on the base plate 101, the calf support 21 or the thigh support 11. For example, see Figure 1 The controller 40 is installed on the connecting frame 113 of the thigh support 11.

[0125] The upper end of the thigh support 11 is relatively provided with an inner connecting plate 114 and an outer connecting plate 115, and the mounting seat 102 includes an inner connecting ear 1021 and an outer connecting ear 1022 relatively provided, and the inner connecting ear 1021 and the outer connecting ear 1022 are located between the inner connecting plate 114 and the outer connecting plate 115; the hip joint motor 4 is installed between the inner connecting ear 1021 and the outer connecting ear 1022, and the output shaft end of the hip joint motor 4 is connected to at least one of the inner connecting plate 114 and the outer connecting plate 115.

[0126] Preferably, the hip joint motor 4 is provided with output shaft ends at both axial ends, one output shaft end of the hip joint motor 4 is connected to the inner connecting plate 114, and the other output shaft end of the hip joint motor 4 is connected to the outer connecting plate 115. The double-ended output of the hip joint motor 4 makes the relative rotation of the thigh support 11 and the base 10 more stable.

[0127] It also includes an inner flange 5 and an outer flange 6, the inner flange 5 is arranged between the inner connecting ear 1021 and the inner connecting plate 114, the outer flange 6 is arranged between the outer connecting ear 1022 and the outer connecting plate 115, the inner flange 5 is fixed on the inner connecting plate 114, one output shaft end of the hip joint motor 4 is connected to the inner flange 5, the outer flange 6 is fixed on the outer connecting plate 115, and the other output shaft end of the hip joint motor 4 is connected to the outer flange 6.

[0128] A gyroscope can also be installed on the base 10. The center of gravity of the wheel-foot robot can be adjusted by the gyroscope and each motor.

[0129] See also Figure 16By adjusting the relative angle b between the thigh support 11 and the base plate 101 through the hip joint motor 31 and combining the adjustment of the gyroscope, the base 10 can always be level.

[0130] Also, see Figure 16 、 Figure 18 and Figure 19 When the wheeled robot is idle, the relative angle a between the thigh support 11 and the base 101 can be adjusted to 0 (or close to 0), and the relative angle b between the thigh support 11 and the calf support 21 can be adjusted to 0 (or close to 0). The wheeled robot can be folded completely to save storage space.

[0131] See also Figures 8-15 The installation process of the wheeled robot of this embodiment is as follows:

[0132] (1) See Figures 8 to 10 , put the torsion spring 32 on the outer periphery of the knee joint motor 31, fix the shell of the knee joint motor 31 to the calf support 21 by bolts, match and insert the fifth serration structure 21311 of the inner fixing ring 2131 of the knee joint motor with the third serration structure 21112 of the front section 211 of the calf support, match and insert the sixth serration structure 21312 of the inner fixing ring 2131 of the knee joint motor with the fourth serration structure 2121 of the rear section 213 of the calf support, use bolts to fasten the inner fixing ring 2131 of the knee joint motor and the shell of the knee joint motor 31, finally fasten the fifth serration structure 21311 and the third serration structure 21112 with bolts, fasten the sixth serration structure 21312 and the fourth serration structure 2121 with bolts, and at the same time, clamp the free end of the torsion spring 32 into the second open ring 241.

[0133] (2) See Figure 11 and Figure 13 First, fix the first motor 221 on the inner fixing ring 2112 of the first motor and the outer fixing ring 2113 of the first motor with bolts, and fix the second motor 225 on the outer fixing ring 2122 of the second motor with bolts. The first serrated structure 21111 of the front section 211 of the calf support is matched with the second serrated structure 21121 on the inner fixing ring 2112 of the first motor, and the first serrated structure 21111 and the second serrated structure 21121 are fastened with bolts. Then, the first traveling wheel 222 is installed on the output shaft end of the first motor 221, and the second traveling wheel 252 is installed on the output shaft end of the second motor 225.

[0134] (3) See Figure 2 、 Figure 5 and Figure 14, insert the rotation-limiting boss 110 on the thigh bracket 11 into the rotation-limiting groove 3111 of the output shaft end 311 of the knee joint motor 31, insert the torsion spring 32 into the thigh bracket 11, and finally tighten it with bolts.

[0135] (4) See Figure 15 , install the hip joint motor 4 in the mounting seat 102, connect the inner flange 5 to one output shaft end of the hip joint motor 4, connect the outer flange 6 to the other output shaft end of the hip joint motor 4, and rotate the inner connecting plate 114 of the thigh support 11 to the inner connecting ear 1021 through a rotating shaft, and rotate the outer connecting plate 115 of the thigh support 11 to the outer connecting ear 1022 through a rotating shaft. Fix the inner connecting plate 114 to the inner flange with bolts, and fix the outer connecting plate 115 to the outer flange with bolts.

[0136] The installation of the mechanical leg 20 on one side to one side of the base 10 is achieved through the above-mentioned installation steps (1)-(4), and the mechanical leg 20 on the other side is installed on the other side of the base 10 using the same steps.

[0137] Second embodiment

[0138] The wheeled robot provided in the second embodiment of the present invention differs from the first embodiment in that the wheeled robot further includes a seat disposed above the base. By disposing the seat above the base, the wheeled robot can realize a passenger-carrying function.

[0139] By adjusting the relative angle between the thigh support and the base plate through the hip joint motor and combining it with the adjustment of the gyroscope, the seat on the base can always be kept level, giving passengers a better riding experience.

[0140] Third embodiment

[0141] The wheeled robot provided by the third embodiment of the present invention differs from the second embodiment in that the wheeled robot also includes a seat steering motor arranged between the seat and the base, the shell of the seat steering motor is installed in the middle position of the base, and the output shaft of the seat steering motor is connected to the seat to drive the seat to rotate horizontally.

[0142] By setting up a seat turning motor, the seat can be rotated to adjust the sitting position of the person, so that the passengers can get a better riding experience.

[0143] In addition, an embodiment of the present invention further provides a wheeled-legged mobile terminal, which includes the wheeled-legged robot of the above embodiment.

[0144] The wheeled mobile terminal may also include a touch screen to provide a human-machine interaction interface. The touch screen is connected to the power battery and the controller respectively.

[0145] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mechanical leg, characterized in that: The vehicle comprises a thigh unit, a calf unit and a knee joint driving device, wherein the thigh unit comprises a thigh support, and the calf unit comprises a calf support, a first traveling wheel device connected to the front end of the calf support, and a second traveling wheel device connected to the rear end of the calf support; The knee joint driving device includes a knee joint motor connected between the thigh support and the calf support; the knee joint motor is used to drive the thigh unit to rotate relative to the calf unit around a first axis to adjust the relative angle between the thigh support and the calf support; The first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor; The first motor is used to drive the first traveling wheel to rotate relative to the calf support around a second axis; The second traveling wheel device includes a second motor and a second traveling wheel connected to the output shaft end of the second motor; the second motor is used to drive the second traveling wheel to rotate relative to the calf support around a third axis; The knee joint driving device is located between the first traveling wheel device and the second traveling wheel device, and the axis of the first motor, the axis of the second motor and the axis of the knee joint motor are parallel.

2. The mechanical leg according to claim 1, characterized in that: The distance between the axis of the first motor and the axis of the knee joint motor is greater than the distance between the axis of the second motor and the axis of the knee joint motor.

3. The mechanical leg according to claim 1 or 2, characterized in that: By adjusting the relative angle between the thigh support and the calf support, the second traveling wheel can be suspended in the air or on the ground.

4. The mechanical leg according to claim 1 or 2, characterized in that: At least one of the first traveling wheel device and the second traveling wheel device is detachable from the calf support.

5. The mechanical leg according to claim 1 or 2, characterized in that: At least one of the housing of the first motor and the housing of the second motor is detachably connected to the calf support.

6. The mechanical leg according to claim 1 or 2, characterized in that: The first axis, the second axis and the third axis are parallel.

7. The mechanical leg according to claim 1 or 2, characterized in that: The housing of the knee joint motor is fixed on the calf support, and the output shaft end of the knee joint motor is connected to the lower end of the thigh support; The rotation axis of the output shaft end of the knee joint motor coincides with the first axis.

8. The mechanical leg according to claim 7, characterized in that: A limited rotation boss is provided on one of the output shaft end of the knee joint motor and the lower end of the thigh support, and a limited rotation groove is provided on the other. The limited rotation boss is inserted into the limited rotation groove to limit the relative rotation between the thigh support and the output shaft end of the knee joint motor.

9. The mechanical leg according to claim 8, characterized in that: The calf support includes a calf support front section, a calf support rear section and a calf support middle section connected between the calf support front section and the calf support rear section. The housing of the first motor is fixed on the calf support front section, the housing of the second motor is fixed on the calf support rear section, and the housing of the knee joint motor is fixed on the calf support middle section.

10. The mechanical leg according to claim 9, characterized in that: The front section of the calf support includes a calf support front section main body, a first motor inner side fixing ring connected to the inner side of the front end of the calf support front section main body, and a first motor outer side fixing ring connected to the outer side of the front end of the calf support front section main body. The housing of the first motor is fixed on the first motor inner side fixing ring and the first motor outer side fixing ring.

11. The mechanical leg according to claim 10, characterized in that: The inner fixing ring of the first motor is detachably connected to the front section main body of the calf support.

12. The mechanical leg according to claim 11, characterized in that: A first sawtooth structure is provided on the inner side of the front end of the front section of the calf support body, and a second sawtooth structure that matches and plugs into the first sawtooth structure is provided on the rear end of the fixing ring on the inner side of the first motor.

13. The mechanical leg according to claim 9, characterized in that: The middle section of the calf support comprises an inner fixing ring of a knee joint motor and an outer fixing ring of a knee joint motor which are arranged opposite to each other on the left and right sides, wherein the inner fixing ring of the knee joint motor is connected between the inner side of the rear end of the front section of the calf support and the inner side of the front end of the rear section of the calf support, and the outer fixing ring of the knee joint motor is connected between the outer side of the rear end of the front section of the calf support and the outer side of the front end of the rear section of the calf support; The housing of the knee joint motor is fixed between the inner fixing ring of the knee joint motor and the outer fixing ring of the knee joint motor.

14. The mechanical leg according to claim 13, characterized in that: The inner fixing ring of the knee joint motor is detachably connected to the front section of the calf support and the rear section of the calf support.

15. The mechanical leg according to claim 14, characterized in that: A third serration structure is provided on the inner side of the rear end of the front section of the calf support, a fourth serration structure is provided on the inner side of the front end of the rear section of the calf support, a fifth serration structure that matches and plugs into the third serration structure is provided on the front end of the inner fixing ring of the knee joint motor, and a sixth serration structure that matches and plugs into the fourth serration structure is provided on the rear end of the inner fixing ring of the knee joint motor.

16. The mechanical leg according to claim 9, characterized in that: A second motor outer fixing ring is provided on the outer side of the rear section of the calf support, and the housing of the second motor is fixed on the second motor outer fixing ring.

17. The mechanical leg according to claim 9, characterized in that: The rear part of the front section of the calf support, the middle section of the calf support and the rear section of the calf support form a square frame, and the knee joint driving device and the second motor are located in the square frame.

18. The mechanical leg according to claim 1, wherein: The thigh support includes an inner mounting frame, an outer mounting frame and a connecting frame connected between the inner mounting frame and the outer mounting frame.

19. The mechanical leg according to claim 18, wherein: Output shaft ends are respectively provided at both axial ends of the knee joint motor, one output shaft end of the knee joint motor is connected to the lower end of the inner mounting frame, and the other output shaft end of the knee joint motor is connected to the lower end of the outer mounting frame.

20. The mechanical leg according to claim 1, wherein: The knee joint driving device also includes a torsion spring, which is sleeved on the outer periphery of the housing of the knee joint motor. One free end of the torsion spring is fixed to the thigh support, and the other free end of the torsion spring is fixed to the calf support.

21. A wheel-legged robot, characterized in that: It comprises a base and the mechanical leg according to any one of claims 1 to 20 connected to the left and right sides of the base.

22. The wheeled robot according to claim 20, characterized in that: The upper end of the thigh support of the mechanical leg is rotatably connected to the base, and the mechanical leg also includes a hip joint motor; The hip joint motor is mounted on the upper end of the thigh support and is used to drive the base to rotate relative to the thigh support around a fourth axis; wherein the fourth axis is parallel to the first axis.

23. The wheeled robot according to claim 22, characterized in that: The base includes a bottom plate and a mounting seat provided below the bottom plate, and the upper end of the thigh support is rotatably connected to the mounting seat; The housing of the hip joint motor is fixed on the mounting seat, and the output shaft end of the hip joint motor is connected to the upper end of the thigh support; The rotation axis of the output shaft end of the hip joint motor coincides with the fourth axis.

24. The wheeled-legged robot according to claim 23, characterized in that: It also includes a power battery installed on the base plate.

25. The wheeled robot according to claim 23, characterized in that: The upper end of the thigh support is provided with an inner connecting plate and an outer connecting plate opposite to each other, and the mounting seat includes an inner connecting ear and an outer connecting ear opposite to each other, and the inner connecting ear and the outer connecting ear are located between the inner connecting plate and the outer connecting plate; The hip joint motor is installed between the inner connecting ear and the outer connecting ear, and the output shaft end of the hip joint motor is connected to at least one of the inner connecting disk and the outer connecting disk.

26. The wheeled robot according to claim 25, characterized in that: Output shaft ends are respectively provided at both axial ends of the hip joint motor, one output shaft end of the hip joint motor is connected to the inner connecting disk, and the other output shaft end of the hip joint motor is connected to the outer connecting disk.

27. The wheeled-legged robot according to claim 26, characterized in that: It also includes an inner flange and an outer flange, the inner flange is arranged between the inner connecting ear and the inner connecting plate, the outer flange is arranged between the outer connecting ear and the outer connecting plate, the inner flange is fixed on the inner connecting plate, one output shaft end of the hip joint motor is connected to the inner flange, the outer flange is fixed on the outer connecting plate, and the other output shaft end of the hip joint motor is connected to the outer flange.

28. A wheeled mobile terminal, characterized in that: A wheel-legged robot comprising the method described in any one of claims 21 to 27.

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