Variable-diameter wheel driving device of leg-foot robot

Abstract

The application discloses a variable-diameter wheel driving device of a leg-foot robot and belongs to the technical field of robot driving. The variable-diameter wheel driving device comprises a supporting table, a connecting block is fixedly arranged on the top of the supporting table, a receiving groove is symmetrically arranged in the supporting table, a wheel hub is rotatably arranged in the receiving groove, an electromagnet is arrayed around the wheel hub, a telescopic plate corresponding to the electromagnet is arrayed around the wheel hub, an arc-shaped block is fixedly connected to one end of the telescopic plate, a permanent magnet corresponding to the electromagnet is fixedly connected to the side of the arc-shaped block close to the wheel hub. The electromagnet, the permanent magnet and the arc-shaped block are installed to facilitate the adjustment of the diameter of the wheel body, the variable-diameter wheel driving device is suitable for walking on different terrains, when the electromagnet has current, the change of the magnetic field will control the magnetic attraction or repulsion of the permanent magnets, drive the arc-shaped block to move, expand or reduce the diameter of the tire, ensure that the diameter of the tire is automatically adjusted according to the ground conditions, provide the best performance, ensure the comfort and stability of the tire, and avoid uneven driving.

Description

Technical Field

[0001] This invention specifically relates to a variable diameter wheel drive device for a legged robot, belonging to the field of robot drive technology. Background Technology

[0002] Legged robots, also known as bipedal robots or walking robots, are robots designed to mimic the structure and gait of human lower limbs. They walk on uneven terrain (stairs, carpets, floor gaps, etc.) indoors and outdoors, undertaking tasks such as carrying, cleaning, and companionship. Especially when wheeled robots cannot be relied upon, they can explore, search and rescue, and deliver supplies through complex terrain (rubble, dirt, etc.) and enter areas that are difficult for humans to reach.

[0003] Existing legged robots often struggle to achieve the same speeds as wheeled robots when walking on flat surfaces. The transition from wheeled to legged mode is often inconvenient, impacting flexibility and responsiveness in practical applications. Furthermore, limitations exist in wheel diameter adjustment and cross-terrain switching: achieving optimal walking performance in different terrains often requires frequent wheel replacements or gait parameter recalibration, increasing structural complexity, maintenance costs, and uncertainty in use. Therefore, it is necessary to develop a variable-diameter wheel drive device for legged robots. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a variable diameter wheel drive device for a legged robot, which allows switching between wheeled and legged modes and can adjust the wheel diameter according to the terrain for walking.

[0005] A variable-diameter wheel drive device for a legged robot includes a support platform. A connecting block is fixedly mounted on the top of the support platform. Symmetrically arranged storage slots are arranged inside the support platform. A wheel hub is rotatably mounted inside the storage slots. A drive mechanism for driving the wheel hub is arranged inside the support platform. Electromagnets are arranged in a circular array around the wheel hub. Telescopic plates corresponding to the electromagnets are arranged in a circular array around the wheel hub. Monitoring sensors are symmetrically arranged on the telescopic plates. An arc-shaped block is fixedly connected to one end of the telescopic plate. A permanent magnet corresponding to the electromagnet is fixedly connected to the side of the arc-shaped block near the wheel hub. A positioning mechanism is arranged on the telescopic plate. An IMU measurement sensor is arranged inside the wheel hub. A control module is arranged inside the support platform. An assist mechanism is arranged on the support platform. A heat dissipation mechanism for cooling the wheel hub is arranged inside the support platform.

[0006] Furthermore, the telescopic plate is provided with a guide groove, and a guide block is fixedly provided on the telescopic plate, and the guide block engages with the guide groove.

[0007] Furthermore, the positioning mechanism includes a movable frame, a telescopic rod, a plate, a guide shaft, and a positioning block. The movable frame is symmetrically arranged on the telescopic plate. The telescopic rod is fixedly arranged inside the movable frame. The plate is fixedly connected to the telescopic end of the telescopic rod. The guide shaft is fixedly arranged inside the movable frame and passes through the plate. The positioning block passes through the movable frame and is fixedly connected to the plate.

[0008] Furthermore, the drive mechanism includes a first dual-output shaft motor, a reducer, and a drive shaft. The first dual-output shaft motor is fixedly installed inside the support platform, the reducers are symmetrically installed inside the support platform, and the output end of the first dual-output shaft motor is fixedly connected to the corresponding input end of the reducer. One end of the drive shaft is fixedly connected to the output end of the reducer, and the other end of the drive shaft is fixedly connected to the corresponding center position of the wheel hub.

[0009] Furthermore, the heat dissipation mechanism includes a mounting slot, an air inlet, and a fan. The mounting slot, corresponding to the storage slot, is located inside the support platform and is situated on one side of the storage slot. The fan is fixedly mounted inside the mounting slot, and the air inlet is located on the mounting slot. An air ring is fixedly mounted inside the storage slot, and a drive shaft passes through the center of the air ring, which is situated on one side of the hub.

[0010] Furthermore, the air ring is provided with a ring array of nozzles.

[0011] Furthermore, the assist mechanism includes a wind tunnel, a propeller, and a drive motor. The wind tunnel is symmetrically arranged on the support platform. The propeller is rotatably arranged inside the wind tunnel via a shaft. The drive motor is fixedly arranged inside the wind tunnel, and the output end of the drive motor is fixedly connected to the end of the supporting propeller shaft.

[0012] Furthermore, a frame is fixedly installed on the support platform, and an adjustment component for adjusting the position of the air duct is installed inside the frame, as well as a guide component.

[0013] Furthermore, the adjustment assembly includes a support plate, a second dual-output shaft motor, a threaded rod, a sliding plate, a threaded ring, and a connecting plate. The support plate is fixedly installed inside the frame, the second dual-output shaft motor is fixedly installed on the support plate, the threaded rod is symmetrically rotated inside the frame, and the end of the threaded rod is fixedly connected to the output end of the second dual-output shaft motor. The sliding plate is symmetrically installed inside the frame, the threaded ring is fixedly installed inside the sliding plate, and the threaded rod is threadedly connected to the corresponding threaded ring. The connecting plate is fixedly installed on the sliding plate and passes through the frame and is fixedly connected to the air duct.

[0014] Furthermore, a limiting shaft is fixedly installed inside the frame, and the limiting shaft passes through the sliding plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. This invention utilizes electromagnets, permanent magnets, and arc-shaped blocks to facilitate adjustment of the wheel diameter, adapting to different terrains. Multiple electromagnets are embedded within the wheel hub, each surrounded by a permanent magnet module. The strength of the magnetic force can be adjusted by regulating the current. The electromagnet modules are arranged in a ring, evenly distributed on the inner side of the wheel hub. A powerful permanent magnet is embedded within the outer wheel module of the corresponding arc-shaped block. When the electromagnet is energized, the change in the magnetic field controls the attraction or repulsion of these permanent magnets, causing the arc-shaped block to move. Each arc-shaped block is composed of multiple materials with different magnetic strengths. Under the control of the electromagnets, these modules can slide along the axial direction of the wheel hub, enlarging or shrinking the tire diameter. This ensures that the tire diameter automatically adjusts according to ground conditions. On soft ground such as deserts, the tire enlarges to enhance traction; on hard surfaces, the tire automatically shrinks to improve speed and stability. This automatic adjustment of tire diameter under different terrains provides optimal performance, ensuring tire comfort and stability and preventing uneven driving.

[0017] 2. This invention generates thrust through the installed propeller, which facilitates movement. The second dual-shaft motor drives the threaded rod to rotate. When the threaded rod rotates, the sliding plate can be moved through the threaded ring. The sliding plate can be guided by the limiting shaft to make the sliding plate move smoothly. When the sliding plate moves, the position of the air duct can be adjusted through the connecting plate, which can then make the air duct expand or contract. The propeller generates thrust to assist the support platform in sliding.

[0018] 3. The present invention facilitates heat dissipation and cooling of the electromagnet by installing a fan and an air ring, thereby extending its service life. When the hub rotates, the shaft will cause the fan to work and generate airflow. The output end of the fan is connected to the air ring through a pipe. After the airflow enters the air ring, it can cool the hub and thus cool the electromagnet on the hub, extending its service life.

[0019] 4. This invention facilitates real-time measurement of ground and wheel conditions through the installed monitoring sensors and IMU measurement sensors, assisting in adjusting the wheel diameter. The built-in monitoring sensors can monitor the diameter of the arc block and the ground condition in real time, determine the smoothness of the road surface, and calculate the required wheel diameter based on real-time data and the control module. Different walking modes can be selected according to the current road conditions, improving flexibility. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the variable diameter wheel drive device for the legged robot of the present invention;

[0021] Figure 2 This is a schematic diagram of the support platform of the present invention;

[0022] Figure 3This is a schematic diagram of the structure of the air ring of the present invention;

[0023] Figure 4 This is a schematic diagram of the framework of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the sliding plate of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the air duct of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the wheel hub of the present invention;

[0027] Figure 8 For the present invention Figure 7 Enlarged structural diagram of A in the middle;

[0028] Figure 9 This is a schematic diagram of the structure of the movable frame of the present invention;

[0029] Figure 10 This is a schematic diagram of the arc-shaped block of the present invention.

[0030] In the diagram: 1. Support platform; 2. Connecting block; 3. Control module; 4. Storage slot; 5. Hub; 6. IMU measurement sensor; 7. Electromagnet; 8. Telescopic plate; 9. Guide groove; 10. Guide block; 11. Arc block; 12. Permanent magnet; 13. Monitoring sensor; 14. Movable frame; 15. Telescopic rod; 16. Plate; 17. Guide shaft; 18. Positioning block; 19. First dual-output shaft motor; 20. Reducer; 21. Drive shaft; 22. Mounting slot; 23. Air inlet; 24. Fan; 25. Air ring; 26. Spray nozzle; 27. Frame; 28. Support plate; 29. ​​Second dual-output shaft motor; 30. Threaded rod; 31. Sliding plate; 32. Threaded ring; 33. Limiting shaft; 34. Connecting plate; 35. Air duct; 36. Propeller; 37. Drive motor. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In the examples, to avoid obscuring the present invention, well-known circuits, power supplies, software, or methods are not specifically described.

[0032] Please see Figure 1-10As shown, a variable diameter wheel drive device for a legged robot includes a support platform 1, a connecting block 2 fixedly mounted on the top of the support platform 1, symmetrically arranged storage slots 4 inside the support platform 1, a wheel hub 5 rotatably mounted inside the storage slots 4, a drive mechanism for driving the wheel hub 5 to move inside the support platform 1, electromagnets 7 arranged in an array around the wheel hub 5, telescopic plates 8 corresponding to the electromagnets 7 arranged in an array around the wheel hub 5, monitoring sensors 13 symmetrically arranged on the telescopic plates 8, an arc-shaped block 11 fixedly connected to one end of the telescopic plate 8, a permanent magnet 12 corresponding to the electromagnet 7 fixedly connected to the side of the arc-shaped block 11 near the wheel hub 5, a positioning mechanism for positioning the length of the telescopic plate 8, an IMU measurement sensor 6 inside the wheel hub 5, a control module 3 inside the support platform 1, an assist mechanism inside the support platform 1, and a heat dissipation mechanism for cooling the wheel hub 5 inside the support platform 1.

[0033] When using the variable-diameter wheel drive device of the legged robot, the connecting block 2 is connected to the legged robot's leg via bolts, and at this time, the wheel is not extended and its bottom is just in contact with the ground. When the ground condition is good, it switches to wheel mode, the wheel becomes larger, and the built-in monitoring sensor 13 can monitor the diameter of the arc block 11 tire and the ground condition (such as hard road surface, sand, mud, etc.) in real time. If the road condition is good, the robot adopts wheel drive movement. At this time, the diameter of the deformable wheel becomes larger, and the propeller 36 drive system is also activated. The system sensors continuously monitor the ground condition. If there is no change, the current mode is maintained.

[0034] Workflow under adverse road conditions: The road surface is slippery, rugged, and muddy. The sensor detects insufficient friction or changes in terrain, and switches to foot walking mode (at this time, the diameter of the deformable wheel retracts, the propeller 36 drive system also retracts, and the sole of the foot is flat when viewed from the side). While linear motion is slower, it is more stable and suitable for handling complex terrain. Based on real-time data, the control module 3 can calculate the required wheel diameter. The power supply is electrically connected to the legged robot, and the tire diameter is changed by adjusting the current of the electromagnet 7 (controlling the magnetic field strength). Multiple electromagnets 7 are embedded in the wheel hub 5, and each electromagnet 7 is surrounded by a permanent magnet module. The strength of the magnetic force can be adjusted by regulating the current. The electromagnet 7 modules are arranged in a ring and evenly distributed on the inner side of the wheel hub 5. A powerful permanent magnet 12 is embedded in the outer wheel module of the arc block 11 corresponding to the electromagnet 7. When the electromagnet 7 carries a current, the change in the magnetic field controls the magnetic attraction or repulsion of these permanent magnets 12, driving the arc block 11 to move. Each arc block 11 is composed of multiple materials with different magnetic strengths. These modules are controlled by the electromagnets 7. The wheel hub 5 can slide along its axis to increase or decrease the tire diameter. As the arc-shaped block 11 moves, it drives the telescopic plate 8 to extend and retract, ensuring smooth movement of the arc-shaped block 11. The onboard electronic control unit controls the current of the electromagnet 7, precisely adjusting its magnetic field strength to control the movement of the outer wheel module. The tire diameter can be automatically adjusted based on vehicle speed, road surface type, and ride comfort. Using tire diameter sensors, vehicle speed sensors, and ground condition sensors, it senses terrain changes, vehicle speed, and tire diameter in real time, precisely controlling tire adjustment through a feedback system. The control module 3 system works in conjunction with the onboard computer and sensors to adjust the current of the electromagnet 7 in real time, ensuring the tire diameter automatically adjusts according to ground conditions. On soft surfaces such as deserts, the tire increases in size to enhance traction; on hard surfaces, the tire automatically decreases in size to improve speed and stability. For special needs such as off-road driving, the wheel diameter adjustment mode can be manually switched. Users can directly control tire diameter changes via the onboard touchscreen system or a mobile app. It reduces mechanical wear, and magnetic control avoids the friction and wear caused by traditional mechanical transmission components, improving the reliability and durability of the system. Through sensors and intelligent algorithms, the tire diameter can be automatically adjusted under different terrains to provide optimal performance, ensuring tire comfort and stability and avoiding uneven driving. The electromagnet 7 is highly efficient, enabling precise control and low-power operation when needed. The assist mechanism generates thrust to assist the sliding support platform 1 and propel it forward. The heat dissipation mechanism can be used to cool the electromagnet 7 on the wheel hub 5, extending its service life. Through the feedback system, it ensures that the tire can automatically adjust to the optimal diameter in any environment to adapt to different terrains. When the arc-shaped block 11 retracts into the storage groove 4, the bottom of the arc-shaped block 11 is tangent to the ground, which will not affect the walking of the legged robot.

[0035] Furthermore, the telescopic plate 8 is provided with a guide groove 9, and a guide block 10 is fixedly provided on the telescopic plate 8, and the guide block 10 is engaged with the guide groove 9. When the telescopic plate 8 is telescopic, the telescopic plate 8 will move telescopically through the cooperation of the guide groove 9 and the guide block 10.

[0036] Furthermore, the positioning mechanism includes a movable frame 14, a telescopic rod 15, a plate 16, a guide shaft 17, and a positioning block 18. The movable frame 14 is symmetrically arranged on the telescopic plate 8. The telescopic rod 15 is fixedly arranged inside the movable frame 14. The plate 16 is fixedly connected to the telescopic end of the telescopic rod 15. The guide shaft 17 is fixedly arranged inside the movable frame 14 and passes through the plate 16. The positioning block 18 passes through the movable frame 14 and is fixedly connected to the plate 16.

[0037] After the telescopic plate 8 extends to the predetermined length, the telescopic rod 15 is an electric push rod. Controlling the telescopic rod 15 to work will push the positioning block 18 to move through the plate 16. The telescopic plate 8 has an array of holes and slots. After the positioning block 18 is inserted into the holes and slots, it will position the length of the telescopic plate 8. When the plate 16 moves, the guide shaft 17 will guide the plate 16 to move smoothly.

[0038] Furthermore, the drive mechanism includes a first dual-output shaft motor 19, a reducer 20, and a drive shaft 21. The first dual-output shaft motor 19 is fixedly installed inside the support platform 1, and the reducers 20 are symmetrically installed inside the support platform 1. The output end of the first dual-output shaft motor 19 is fixedly connected to the corresponding input end of the reducer 20. One end of the drive shaft 21 is fixedly connected to the output end of the reducer 20, and the other end of the drive shaft 21 is fixedly connected to the center position of the corresponding wheel hub 5.

[0039] Controlling the first dual-output shaft motor 19 will drive the reducer 20 to move. The movement of the reducer 20 will drive the hub 5 to rotate through the transmission shaft 21, thereby controlling the rotation of the hub 5 to facilitate the walking of the legged robot.

[0040] Furthermore, the heat dissipation mechanism includes a mounting slot 22, an air inlet 23, and a fan 24. The mounting slot 22, corresponding to the storage slot 4, is located inside the support platform 1 and is situated on one side of the storage slot 4. The fan 24 is fixedly mounted inside the mounting slot 22, and the air inlet 23 is mounted on the mounting slot 22. An air ring 25 is fixedly mounted inside the storage slot 4, and a drive shaft 21 passes through the center of the air ring 25. The air ring 25 is situated on one side of the hub 5. The center of the impeller inside the fan 24 is fixedly connected to the center of the hub 5 via a shaft. When the hub 5 rotates, the fan 24 will operate via the shaft to generate airflow. The output end of the fan 24 is connected to the air ring 25 via a pipe. After the airflow enters the air ring 25, it can cool the hub 5.

[0041] Furthermore, the wind ring 25 is provided with a ring array of nozzles 26. After the wind flows into the wind ring 25, it will flow to the surface of the hub 5 through the nozzles 26, which will cool down the electromagnet 7 and thus extend the service life of the electromagnet 7.

[0042] Furthermore, the assist mechanism includes a wind tunnel 35, a propeller 36, and a drive motor 37. The wind tunnel 35 is symmetrically arranged on the support platform 1. The propeller 36 is rotatably mounted inside the wind tunnel 35 via a shaft. The drive motor 37 is fixedly mounted inside the wind tunnel 35, and the output end of the drive motor 37 is fixedly connected to the end of the shaft supporting the propeller 36. When the drive motor 37 works, it drives the propeller 36 to rotate. The rotation of the propeller 36 can generate thrust, which can assist the legged robot in walking.

[0043] Furthermore, a frame 27 is fixedly installed on the support platform 1. An adjustment component for adjusting the position of the air duct 35 is installed inside the frame 27. A guide component is installed inside the frame 27. The adjustment component includes a support plate 28, a second dual-shaft motor 29, a threaded rod 30, a sliding plate 31, a threaded ring 32, and a connecting plate 34. The support plate 28 is fixedly installed inside the frame 27. The second dual-shaft motor 29 is fixedly installed on the support plate 28. The threaded rod 30 is symmetrically rotated inside the frame 27, and the end of the threaded rod 30 is fixedly connected to the output end of the second dual-shaft motor 29. The sliding plate 31 is symmetrically installed inside the frame 27. The threaded ring 32 is fixedly installed inside the sliding plate 31, and the threaded rod 30 is threadedly connected to the corresponding threaded ring 32. The connecting plate 34 is fixedly installed on the sliding plate 31, and the connecting plate 34 passes through the frame 27 and is fixedly connected to the air duct 35. A limit shaft 33 is fixedly installed inside the frame 27, and the limit shaft 33 passes through the sliding plate 31.

[0044] The second dual-output shaft motor 29 is controlled to drive the threaded rod 30 to rotate. When the threaded rod 30 rotates, the sliding plate 31 can be moved through the threaded ring 32. The sliding plate 31 can be guided by the limit shaft 33 to make the sliding plate 31 move smoothly. When the sliding plate 31 moves, the position of the air duct 35 can be adjusted through the connecting plate 34, thereby allowing the air duct 35 to expand or retract. When not in use, it can reduce the space occupied.

[0045] As a technical optimization of the present invention, firstly, when using the variable diameter wheel drive device of the legged robot, the connecting block 2 is connected to the leg of the legged robot by bolts. The built-in monitoring sensor 13 can monitor the diameter of the arc block 11 and the ground condition (such as hard road surface, sand, mud, etc.) in real time. Based on the real-time data, the required wheel diameter can be calculated with the control module 3. The required power supply is electrically connected to the legged robot for use, and the tire diameter is changed by adjusting the current of the electromagnet 7 (controlling the magnetic field strength). Multiple electromagnets 7 are embedded in the wheel hub 5, and each electromagnet 7 is surrounded by a permanent magnet module. The strength of the magnetic force can be adjusted by adjusting the current. The electromagnet 7 modules are arranged in a ring layout and are evenly distributed on the inner side of the wheel hub 5. A strong permanent magnet 12 is embedded in the outer wheel module of the arc block 11 corresponding to the electromagnet 7. When the electromagnet 7 is carrying current, the change in the magnetic field will control the magnetic attraction or repulsion of these permanent magnets 12, driving the arc block 11 to move. Each arc-shaped block 11 is composed of multiple materials with different magnetic strengths. Under the control of electromagnet 7, these modules can slide along the axial direction of the wheel hub 5, expanding or shrinking the tire diameter. When the arc-shaped block 11 moves, it can drive the telescopic plate 8 to extend and retract, allowing the arc-shaped block 11 to move smoothly. The current of the electromagnet 7 is controlled by the onboard electronic control unit to precisely adjust the magnetic field strength of the electromagnet 7, thereby controlling the movement of the outer wheel module. The tire diameter can be automatically adjusted based on vehicle speed, road surface type, and ride comfort. Using tire diameter change sensors, vehicle speed sensors, and ground condition sensors, the system can perceive terrain changes, vehicle speed, and tire diameter in real time, and precisely control the tire adjustment through a feedback system. The control module 3 system works with the onboard computer and sensors to adjust the current of the electromagnet 7 in real time, ensuring that the tire diameter is automatically adjusted according to ground conditions. On soft ground such as deserts, the tire will increase in size to enhance passability; on hard surfaces, the tire will automatically shrink to improve speed and stability. For special needs such as off-road driving, the wheel diameter adjustment mode can be manually switched. Users can directly control the tire diameter change on the onboard touch system or mobile app. It can reduce mechanical wear. Magnetic control avoids the friction and wear caused by traditional mechanical transmission components, improving the reliability and durability of the system. Through sensors and intelligent algorithms, the tire diameter can be automatically adjusted under different terrains to provide optimal performance, ensure tire comfort and stability, and avoid uneven driving.Electromagnet 7 is highly efficient, enabling precise control and low-power operation when needed. It controls the second dual-shaft motor 29, which drives the threaded rod 30 to rotate. When the threaded rod 30 rotates, it moves the sliding plate 31 through the threaded ring 32. The limiting shaft 33 guides the sliding plate 31, allowing it to move smoothly. As the sliding plate 31 moves, the position of the air duct 35 can be adjusted through the connecting plate 34, allowing the air duct 35 to expand or contract, generating thrust to assist the sliding support platform 1. When the hub 5 rotates, it causes the fan 24 to work through the shaft, generating airflow. The output end of the fan 24 is connected to the air ring 25 through a pipe. After the airflow enters the air ring 25, it can cool the hub 5 and also cool the electromagnet 7 on the hub 5, extending its service life.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A variable diameter wheel drive device for a legged robot, comprising a support platform (1), characterized in that: A connecting block (2) is fixedly installed on the top of the support platform (1). A storage slot (4) is symmetrically arranged inside the support platform (1). A hub (5) is rotatably arranged inside the storage slot (4). A drive mechanism for driving the hub (5) is installed inside the support platform (1). Electromagnets (7) are arranged in an array around the hub (5). Telescopic plates (8) corresponding to the electromagnets (7) are arranged in an array around the hub (5). Monitoring sensors (13) are symmetrically arranged on the telescopic plates (8). An arc-shaped block (11) is fixedly connected to one end of the telescopic plate (8). A permanent magnet (12) corresponding to the electromagnet (7) is fixedly connected to the side of the arc-shaped block (11) near the hub (5). A positioning mechanism is provided on the telescopic plate (8). An IMU measurement sensor (6) is provided inside the hub (5). A control module (3) is provided inside the support platform (1). An assist mechanism is provided on the support platform (1). A heat dissipation mechanism for cooling the hub (5) is provided inside the support platform (1).

2. The variable diameter wheel drive device for a legged robot as described in claim 1, characterized in that: The telescopic plate (8) is provided with a guide groove (9), and a guide block (10) is fixedly provided on the telescopic plate (8), and the guide block (10) engages with the guide groove (9).

3. The variable diameter wheel drive device for a legged robot as described in claim 1, characterized in that: The positioning mechanism includes a movable frame (14), a telescopic rod (15), a plate (16), a guide shaft (17), and a positioning block (18). The movable frame (14) is symmetrically arranged on the telescopic plate (8). The telescopic rod (15) is fixedly arranged inside the movable frame (14). The plate (16) is fixedly connected to the telescopic end of the telescopic rod (15). The guide shaft (17) is fixedly arranged inside the movable frame (14) and passes through the plate (16). The positioning block (18) passes through the movable frame (14) and is fixedly connected to the plate (16).

4. The variable diameter wheel drive device for a legged robot as described in claim 1, characterized in that: The drive mechanism includes a first dual-output shaft motor (19), a reducer (20), and a drive shaft (21). The first dual-output shaft motor (19) is fixedly installed inside the support platform (1). The reducer (20) is symmetrically installed inside the support platform (1). The output end of the first dual-output shaft motor (19) is fixedly connected to the input end of the corresponding reducer (20). One end of the drive shaft (21) is fixedly connected to the output end of the reducer (20), and the other end of the drive shaft (21) is fixedly connected to the center position of the corresponding hub (5).

5. The variable diameter wheel drive device for a legged robot as described in claim 4, characterized in that: The heat dissipation mechanism includes a mounting slot (22), an air inlet (23), and a fan (24). The mounting slot (22), which corresponds to the storage slot (4), is located inside the support platform (1) and is located on one side of the storage slot (4). The fan (24) is fixedly installed inside the mounting slot (22). The air inlet (23) is installed on the mounting slot (22). A wind ring (25) is fixedly installed inside the storage slot (4), and the drive shaft (21) passes through the center of the wind ring (25). The wind ring (25) is located on one side of the hub (5).

6. The variable diameter wheel drive device for a legged robot as described in claim 5, characterized in that: The air ring (25) is provided with a ring array of nozzles (26).

7. The variable diameter wheel drive device for a legged robot as described in claim 1, characterized in that: The assist mechanism includes a wind tunnel (35), a propeller (36) and a drive motor (37). The wind tunnel (35) is symmetrically arranged on the support platform (1). The propeller (36) is rotatably arranged inside the wind tunnel (35) via a shaft. The drive motor (37) is fixedly arranged inside the wind tunnel (35), and the output end of the drive motor (37) is fixedly connected to the end of the shaft supporting the propeller (36).

8. The variable diameter wheel drive device for a legged robot as described in claim 7, characterized in that: A frame (27) is fixedly installed on the support platform (1). An adjustment component for adjusting the position of the air duct (35) is installed inside the frame (27). A guide component is installed inside the frame (27).

9. The variable diameter wheel drive device for a legged robot as described in claim 8, characterized in that: The adjustment assembly includes a support plate (28), a second dual-shaft motor (29), a threaded rod (30), a sliding plate (31), a threaded ring (32), and a connecting plate (34). The support plate (28) is fixedly installed inside the frame (27). The second dual-shaft motor (29) is fixedly installed on the support plate (28). The threaded rod (30) is symmetrically rotated inside the frame (27), and the end of the threaded rod (30) is fixedly connected to the output end of the second dual-shaft motor (29). The sliding plate (31) is symmetrically installed inside the frame (27). The threaded ring (32) is fixedly installed inside the sliding plate (31), and the threaded rod (30) is threadedly connected to the corresponding threaded ring (32). The connecting plate (34) is fixedly installed on the sliding plate (31), and the connecting plate (34) passes through the frame (27) and is fixedly connected to the air duct (35).

10. The variable diameter wheel drive device for a legged robot as described in claim 9, characterized in that: The frame (27) is fixedly provided with a limiting shaft (33), and the limiting shaft (33) passes through the sliding plate (31).

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