A high-traction self-adapting variable-configuration perching crow multi-bar leg walking wheel

Abstract

This invention discloses a high-traction adaptive variable-structure walker-inspired multi-legged walking wheel, belonging to the field of biomimetic walking wheel technology. The walking wheel consists of a wheel hub, a drive unit, biomimetic multi-legged legs, and biomimetic walker feet. Four individual walking legs are evenly distributed on each of the left and right hubs, arranged with the left and right legs rotated relative to each other at 45°. The drive unit integrates a motor, gear transmission, and torsion springs, driving the lower leg rods through a multi-link linkage mechanism to achieve radial extension and retraction of the walking legs. The torsion springs provide elastic cushioning and adjustable stiffness, and the limiting blocks can pre-tighten the torsion springs to adapt to different working conditions. The biomimetic walker feet mimic the four-toed structure of a walker, with torsion springs between each toe segment, possessing adaptive ground contact posture and high traction characteristics. This invention features a compact structure, smooth movement, and adaptive deformation according to soft or complex terrain, significantly improving the passability and traction capability of lunar surface mobile platforms.

Description

Technical Field

[0001] This invention belongs to the technical field of biomimetic robots and lunar rover mobility systems. Specifically, it relates to a biomimetic walking wheel suitable for soft, rugged and other complex terrains, and in particular, a high-traction, adaptive variable-structure multi-leg walking wheel designed based on the hindlimb structure and movement mechanism of the desert bird, the walker. Background Technology

[0002] The lunar surface is covered with a large amount of soft lunar soil, slopes, and debris, which poses extremely high requirements for the mobility and terrain adaptability of mobile platforms such as lunar rovers. Traditional wheeled or tracked mobile systems are prone to slipping and sinking on soft surfaces, resulting in insufficient traction, increased energy consumption, or even loss of mobility.

[0003] In recent years, inspired by organisms in nature, biomimetic walking wheels have become a research hotspot. For example, walking wheels that borrow from the leg structures of insects and mammals use the extension and retraction of linkage mechanisms to overcome obstacles. However, existing walking wheel mechanisms often suffer from problems such as complex structures, underoptimized degrees of freedom in linkage linkages, insufficient cushioning capacity against ground impacts, and weak research on the interaction mechanism between the foot and soft media. Especially in the extreme environment simulating the moon, walking wheels need to possess both active radial deformation capabilities to overcome obstacles and passive elastic adaptive capabilities to cushion impacts and maintain a stable posture.

[0004] The roadrunner is a unique bird species found in the North American deserts, renowned for its high-speed running and agile hunting. Its hindlimb locomotion mechanism is unique: short, close-set thighs allow for movement primarily through the lower legs and soles; its four-toed feet have a special structure, with the fore and hind toes arranged at an asymmetrical angle, varying in the number of phalanges, and ending in sharp nails, providing high grip and lateral stability on sandy surfaces. However, there is currently no precedent for fully integrating the roadrunner's hindlimb locomotion mechanism and foot morphology into the design of a walking wheel. Therefore, there is an urgent need to develop a novel walking wheel that is compact, has high traction, and can adapt to changing structures while cushioning impacts. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of insufficient mobility, low traction, and poor environmental adaptability of existing lunar rover mobility systems on complex terrains (especially soft lunar soil), and to provide a high-traction adaptive variable-configuration roadrunner-inspired multi-leg walking wheel. This walking wheel integrates the roadrunner's multi-link linkage variable-configuration mechanism, a torsion spring elastic adaptive mechanism, and a biomimetic four-toed foot structure to achieve radial telescopic variable-configuration and foot posture adaptation, significantly improving mobility, traversability, and traction performance on soft and unstructured terrain.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] The present invention provides a high-traction adaptive variable structure biomimetic multi-leg walking wheel, characterized in that the walking wheel is forward-rotating in the direction of the wheel hub; the walking wheel is composed of a wheel hub (1), multiple drive devices (A), multiple biomimetic multi-legs (B) and multiple biomimetic walking feet (C);

[0008] The lower leg rod (22) of the bionic multi-rod leg (B) is fixedly connected to the torsion spring force transmission component II (13) of the drive device (A) and is rotatably supported on the transmission shaft (15) of the drive device (A) through bearings (21, 23); the foot metatarsal linkage rod (24) of the bionic multi-rod leg (B) is hinged to the driven gear cover plate (10) of the drive device (A); the foot ball linkage rod (25) and the foot metatarsal rod (26) of the bionic multi-rod leg (B) are respectively hinged to the foot ball (27) of the bionic koala foot (C);

[0009] The drive device (A), the bionic multi-leg (B) and the bionic trochophore foot (C) together constitute a single bionic leg that can extend and retract radially; multiple single bionic leg units are evenly distributed on the left and right sides of the wheel hub (1), and the single bionic leg units on the left and right sides are staggered in the circumferential direction.

[0010] Preferably, the drive device (A) includes a motor (2), an assembly plate (3), a driven gear (7), a driven gear cover plate (10), a torsion spring transmission component I (11), a torsion spring (12), a torsion spring transmission component II (13), a transmission shaft (15), and a drive gear (20); the motor (2) is fixedly connected to the assembly plate (3), and its output shaft meshes with the driven gear (7) through the drive gear (20); the driven gear (7) is connected to the transmission shaft (15) through a key; the torsion spring transmission component I (11) is connected to the transmission shaft (15) through a key; the torsion spring (12) is sleeved on the transmission shaft (15), and its two end pins are respectively connected to the torsion spring transmission component I (11) and the torsion spring transmission component II (13); the torsion spring transmission component II (13) is rotatably sleeved on the transmission shaft (15) and fixedly connected to the small leg rod (22).

[0011] Preferably, the assembly plate (3) is provided with a cylindrical boss I (3c) and a drive shaft hole (3d). The cylindrical boss I (3c) is embedded with a bearing I (5). The right end of the drive shaft (15) is supported on the inner ring of the bearing I (5). The countersunk hole I (10a) of the driven gear cover plate (10) is embedded with a bearing II (9). The middle part of the drive shaft (15) is supported on the inner ring of the bearing II (9). The driven gear (7) is provided with bearing washers I (6) and bearing washers II (8) on both sides of the axial direction to restrict its axial movement.

[0012] Preferably, the torsion spring force transmission component I (11) is provided with a cantilever I (11c) with a hole, and the torsion spring force transmission component II (13) is provided with a cantilever II (13e) with a hole. The two pins of the torsion spring (12) are respectively inserted into the holes of the cantilever I (11c) and the cantilever II (13e) with a hole. A bushing (16) is also provided on the transmission shaft (15). The bushing (16) is located between the torsion spring force transmission component I (11) and the torsion spring force transmission component II (13) to maintain the axial distance between the two.

[0013] Preferably, the bionic multi-bar leg (B) further includes a foot metatarsal linkage (24), a foot ball linkage (25), and a foot metatarsal rod (26); the lower leg rod (22), the driven gear cover plate (10), the foot metatarsal linkage (24), and the foot metatarsal rod (26) constitute a four-bar linkage mechanism; the lower leg rod (22), the foot metatarsal rod (26), the foot ball linkage (25), and the foot ball (27) of the bionic cuckoo foot (C) constitute another four-bar linkage mechanism.

[0014] Preferably, the metatarsal rod (26) is a zigzag rod, including a main rod (26b) and a secondary rod (26d), with a fixed included angle between the main rod (26b) and the secondary rod (26d); the metatarsal rod (26) is provided with a cylindrical hinge joint II (26c) and a cylindrical hinge joint III (26e), which are respectively hinged to the fork-shaped hinge joint II (22e) of the lower leg rod (22) and the fork-shaped hinge joint II (24b) of the metatarsal linkage rod (24).

[0015] Preferably, the bionic cuckoo foot (C) includes a foot (27) and a posteromedial toe (29), anterior medial toe, anterior lateral toe, and a posterolateral toe hinged to the foot (27); the anterior medial toe includes a first segment (31) and a second segment (33) that are elastically hinged in sequence; the anterior lateral toe includes a first segment (35), a second segment (37), and a third segment (39) that are elastically hinged in sequence; the posterolateral toe includes a first segment (41), a second segment (43), a third segment (45), and a fourth segment (47) that are elastically hinged in sequence; and a coaxial torsion spring is provided between each toe segment and between the toe segment and the foot.

[0016] Preferably, the foot (27) is provided with four fork-shaped hinge joints, corresponding to the posteromedial side (27c), anteromedial side (27d), anterolateral side (27e) and posterolateral side (27f), respectively; wherein, the included angle between the anteromedial side fork-shaped hinge joint (27d) and the anterolateral side fork-shaped hinge joint (27e) is smaller than the included angle between the posteromedial side fork-shaped hinge joint (27c) and the posterolateral side fork-shaped hinge joint (27f).

[0017] Preferably, four bionic leg units are evenly arranged on the left and right sides of the wheel hub (1); the four bionic leg units on the left are distributed at equal angles of 90° along the circumference of the hub, and the four bionic leg units on the right are also distributed at equal angles of 90°; and the array of bionic leg units on the right is rotated 45° in the circumferential direction relative to the array of bionic leg units on the left.

[0018] Preferably, a limiting block (22g) is provided on the lower leg rod (22). When the bionic multi-rod leg (B) extends to the maximum angle, the limiting block (22g) contacts the auxiliary rod (26d) of the foot metatarsal rod (26) to form a mechanical limit. By continuing to output torque in the limited state, the motor (2) can pre-tighten the torsion spring (12) and thus adjust the elastic stiffness of the walking wheel.

[0019] The present invention achieves the following technical effects compared to the prior art:

[0020] 1. High Traction and Adaptive Deformation Capability: This invention is the first to fully integrate the multi-link linkage lower limb movement mechanism of the runner with the morphological characteristics of its four-toed foot into the design of a walking wheel. The biomimetic multi-link leg (B) can achieve near-pure radial telescoping, allowing the walking wheel to actively adjust the leg length according to the terrain, significantly improving obstacle-crossing ability. The biomimetic runner foot (C) accurately replicates the asymmetrical angle, multi-segmented phalanges, and terminal nail structure of the runner's four toes. Combined with the torsion springs built into each joint, it can adapt to terrain undulations when in contact with sand (soft medium), forming a closed-loop envelope effect, greatly increasing normal pressure and shear strength, thereby generating a traction force far exceeding that of traditional wheel feet.

[0021] 2. Elastic Buffering and Adjustable Stiffness: A torsion spring (12) is integrated into the transmission chain of the drive unit (A). This torsion spring passively absorbs energy when the walking wheel is subjected to ground impact or sudden load changes, achieving elastic buffering and protecting the transmission mechanism. More importantly, by limiting the maximum extension angle of the bionic multi-leg (B) by the limiting block (22g), the drive unit (A) can continue to output torque to preload the torsion spring (12), thereby achieving online adjustment of the elastic stiffness. Low stiffness is used in soft terrain to increase compliance, while high stiffness is used in hard or obstacle terrain for rapid response, greatly enhancing environmental adaptability.

[0022] 3. Compact Structure and Smooth Movement: This invention employs four bionic leg units evenly distributed on each of the left and right hubs, with the unit arrays on both sides arranged in a 45° relative rotation. This asymmetrical distribution design ensures that the walking wheel has a sufficiently high support phase density (i.e., the number of consecutive ground-contacting legs) to achieve smooth movement, while significantly reducing the total number of units (compared to an arrangement of eight on one side), effectively reducing the overall mass and radial dimensions of the walking wheel. The bionic multi-leg (B) components are few in number and have clear linkage relationships. Combined with the optimized motion trajectory, this makes the walking wheel move extremely smoothly under low loads.

[0023] 4. High efficiency and simple control: The motor (2) directly drives the lower leg rod (22) through the drive gear (20), driven gear (7) and key connection, resulting in a short transmission path and high efficiency. The kinematics of the bionic multi-leg (B) have been optimized, and its foot trajectory is approximately a vertical straight line during the transformation process. This means that energy is mainly used for radial extension and contraction rather than horizontal swinging, resulting in high energy utilization. The motor control does not require a complex force-position mixing algorithm. It only needs to adjust the torque or position according to the terrain feedback to achieve adaptive transformation. The control strategy is simple and highly reliable.

[0024] 5. Rapid Expansion and Transformation Capability: This invention utilizes the energy storage-release characteristics of the torsion spring (12). When it is necessary to quickly extend from the retracted state to cross an obstacle, the motor first loads the torsion spring. After the torque reaches the threshold, the energy stored in the torsion spring is released instantaneously, driving the multi-leg to quickly extend. This "soft start-hard burst" working mode enables the walking wheel to achieve a rapid extension action similar to biological jumping, enhancing its dynamic obstacle-crossing capability. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a perspective view of the high-traction adaptive variable structure walker-like multi-legged walking wheel of the present invention;

[0027] Figure 2 This is a left view of the high-traction adaptive variable structure walker-like multi-legged walking wheel of the present invention;

[0028] Figure 3 This is a perspective view of the wheel hub in this invention;

[0029] Figure 4 This is a left view of the wheel hub in this invention;

[0030] Figure 5 This is a right view of the wheel hub in this invention;

[0031] Figure 6 This is a perspective view of the assembly structure of the wheel hub and drive unit in this invention;

[0032] Figure 7 This is a perspective view of the wheel hub and assembly plate assembly structure in this invention;

[0033] Figure 8This is a perspective view of the drive device, bionic multi-legged structure, and bionic walking tuft assembly structure (i.e., the walking wheel unit) in this invention.

[0034] Figure 9 This is a perspective view of the torsion spring force transmission component, the lower leg cover plate, the drive shaft, and the lower leg assembly structure in this invention.

[0035] Figure 10 for Figure 9 A partial sectional view of the structure shown;

[0036] Figure 11 This is a perspective view of the foot linkage rod, foot metatarsal rod, and foot assembly structure in this invention;

[0037] Figure 12 This is a perspective view of the driving device in this invention;

[0038] Figure 13 This is a partial frontal sectional view of the driving device in this invention;

[0039] Figure 14 This is a perspective view of the assembly plate in this invention;

[0040] Figure 15 This is a perspective view of bearing washer I and bearing washer II (with identical structures) in this invention;

[0041] Figure 16 This is a perspective view of the driven gear in this invention;

[0042] Figure 17 This is a perspective view of the driven gear cover plate in this invention;

[0043] Figure 18 This is a right view of the driven gear cover plate in this invention;

[0044] Figure 19 This is a perspective view of the torsion spring force transmission component I in this invention;

[0045] Figure 20 This is a perspective view of the torsion spring force transmission component II in this invention;

[0046] Figure 21 This is a perspective view of the lower leg cover plate in this invention;

[0047] Figure 22 This is a perspective view of the drive shaft in this invention;

[0048] Figure 23 This is a front sectional view of the transmission shaft in this invention;

[0049] Figure 24 This is a perspective view of the drive gear cover plate in this invention;

[0050] Figure 25This is a perspective view of the driving gear in this invention;

[0051] Figure 26 This is a three-dimensional view of the biomimetic multi-leg structure in this invention;

[0052] Figure 27 This is an exploded view of the biomimetic multi-leg structure in this invention;

[0053] Figure 28 This is a perspective view of the lower leg bar in this invention;

[0054] Figure 29 This is a perspective view of the lower leg bar in this invention from another angle (relative). Figure 28 (Flip left and right)

[0055] Figure 30 This is a perspective view of the plantar linkage rod in this invention;

[0056] Figure 31 This is a perspective view of the foot linkage rod in this invention;

[0057] Figure 32 This is a perspective view of the metatarsal pole in this invention;

[0058] Figure 33 This is a three-dimensional view of the imitation runner's foot in this invention;

[0059] Figure 34 This is a top view of the imitation runner foot in this invention;

[0060] Figure 35 This is an exploded view of the imitation runner's foot in this invention;

[0061] Figure 36 This is a perspective view of the foot in this invention, as well as right rear, right front, left rear, and left front views;

[0062] Figure 37 The following are part drawings of the posteromedial toe in this invention (top view, left view, rear view).

[0063] Figure 38 This is a part drawing of the first segment of the anteromedial toe and the first segment of the anterolateral toe (with identical structure) in this invention;

[0064] Figure 39 This is a part drawing of the second segment of the anterior medial toe in this invention;

[0065] Figure 40 This is a part drawing of the second segment of the anterolateral toe in this invention;

[0066] Figure 41 This is a part drawing of the third segment of the anterolateral toe in this invention;

[0067] Figure 42 This is a part drawing of the first segment of the posterolateral toe in this invention;

[0068] Figure 43 This is a part drawing of the second segment of the posterolateral toe in this invention;

[0069] Figure 44 This is a part drawing of the third segment of the posterolateral toe in this invention;

[0070] Figure 45 This is a part drawing of the fourth segment of the posterolateral toe in this invention;

[0071] Figure 46 This is a schematic diagram showing the result of parameter optimization for the biomimetic multi-leg structure in this invention.

[0072] In the diagram: A - Drive unit, B - Bionic multi-leg, C - Bionic walking leg, 1 - Wheel hub, 1a - Hub body, 1b - Connecting rod to left I, 1c - Connecting rod to left II, 1d - Connecting rod to left III, 1e - Connecting rod to left IV, 1f - Connecting rod to right I, 1g - Connecting rod to right II, 1h - Connecting rod to right III, 1i - Connecting rod to right IV, 2 - Motor, 3 - Assembly plate, 3a - Driven gear cover plate mounting arm, 3b - Hub mounting arm, 3c - Cylindrical boss I, 3d - Drive shaft hole, 3e - Motor mounting hole, 3f - Motor shaft protrusion hole, 3g - Driven gear cover plate mounting lug pair, 4 - Connector, 5 - Bearing I, 6 - Bearing washer I, 6a - Large washer I, 6b - Small washer I, 7 - Driven gear, 7a - Keyway Hole I, 8-Bearing Washer II, 8a-Large Washer II, 8b-Small Washer II, 9-Bearing II, 10-Driven Gear Cover Plate, 10a-Counterbore I, 10b-Through Hole, 10c-Assembly Plate Mounting Arm, 10d-Hinged Rod End, 11-Torsion Spring Transmission Component I, 11a-Keyway Hole II, 11b-Connecting Rod I, 11c-Cantilever I with Perforation, 12-Torsion Spring, 13-Torsion Spring Transmission Component II, 13a-Leg Rod Mounting Lug Pair, 13b-Inner Hole I, 13c-Counterbore II, 13d-Connecting Rod II, 13e-Cantilever II with Perforation, 14-Small Leg Rod Cover Plate, 14a-Pin Hole, 14b-Inner Hole II, 14c-Counterbore III, 15-Drive Shaft, 15a-Keyway Structure, 15b-Keyway Structure, 15c-Pin Hole 16-Bushing, 17-Key Pair I, 18-Key Pair II, 19-Drive Gear Cover Plate, 19a-Boss Pair, 19b-Secondary Cover Plate, 19c-Through Hole Pair, 20-Drive Gear, 20a-Cylindrical Boss II, 20b-D-shaped Through Hole, 21-Bearing III, 22-Small Leg Rod, 22a-Cylindrical Boss III, 22b-Through Hole II, 22c-Counterhole IV, 22d-Secondary Rod I with Hole, 22e-Fork-shaped Hinge Joint II, 22f-Ear Pair, 22g-Limiting Block, 22h-Counterhole V, 23-Bearing IV, 24-Foot-to-Toe Linkage Rod, 24a-Cylindrical Hinge Joint II, 24b-Fork-shaped Hinge Joint II, 25-Foot-to-Toe Linkage Rod, 25a-Fork-shaped Hinge Joint II, 25b-Fork-shaped Hinge Joint II, 26-Foot-to-Toe Rod, 2 6a-Cylindrical hinge joint 26I, 26b-Main rod, 26c-Cylindrical hinge joint 26II, 26d-Secondary rod, 26e-Cylindrical hinge joint 26III, 27-Foot sole, 27a-Forked boss with hole, 27b-Secondary rod with hole II, 27c-Forked hinge joint 27I, 27d-Forked hinge joint 27II, 27e-Forked hinge joint 27III, 27f-Forked hinge joint 27IV, 27g-Hole 27I, 27h-Hole 27II, 27i-Hole 27III, 27j-Hole 27IV, 28-Peripheral toe torsion spring 28, 29-Peripheral toe, 29a-Forked hinge joint 29, 29b-Hole 29, 29c-Toenail I, 30-Anterior toe torsion spring I, 31-Anterior toe first segment, 31a-Forked hinge joint 31I.31b-Forked hinge joint 31 II, 31c-Hole 31 I, 31d-Hole 31 II, 32-Anterior medial toe torsion spring II, 33-Anterior medial toe second segment, 33a-Forked hinge joint 33, 33b-Hole 33, 33c-Toenail II, 34-Anterior lateral toe torsion spring I, 35-Anterior lateral toe first segment, 35a-Forked hinge joint 35 I, 35b-Forked hinge joint 35 II, 35c-Hole 35 I, 35d-Hole 35 II, 36-Anterior lateral toe torsion spring II, 37-Anterior lateral toe second segment, 37a-Forked hinge joint 37 I, 37b-Forked hinge joint 37 II, 37c-Hole 37 I, 37d-Hole 37 II, 38-Anterior lateral toe torsion spring III, 39-Anterior lateral toe third segment, 39a-Forked hinge joint 39, 39b-Hole 39, 3 9c-Toenail III, 40-Lateral toe torsion spring I, 41-Lateral toe first segment, 41a-Forked hinge joint 41I, 41b-Forked hinge joint 41II, 41c-Hole 41I, 41d-Hole 41II, 42-Lateral toe torsion spring II, 43-Lateral toe second segment, 43a-Forked hinge joint 43I, 43b-Forked hinge joint 43II, 43c-Hole 43I, 43d-Hole 43II, 44-Lateral toe torsion spring III, 45-Lateral toe third segment, 45a-Forked hinge joint 45I, 45b-Forked hinge joint 45II, 45c-Hole 45I, 45d-Hole 45II, 46-Lateral toe torsion spring IV, 47-Lateral toe fourth segment, 47a-Forked hinge joint 47, 47b-Hole 47, 47c-Toenail IV. Detailed Implementation

[0073] 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.

[0074] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0075] Example:

[0076] Please refer to Figures 1 to 11 This embodiment provides a high-traction adaptive variable structure walker-like multi-leg walking wheel. For ease of description, the direction is first defined: the direction of the wheel hub rotating forward is "front"; in the side view of the wheel hub (1), if the rotation direction is counterclockwise, then the side is defined as the left side, and the other side is the right side.

[0077] like Figure 1 and Figure 2As shown, the high-traction adaptive variable structure biomimetic runner multi-leg walking wheel mainly consists of a wheel hub (1), multiple drive units (A), multiple biomimetic multi-legs (B), and multiple biomimetic runner feet (C). Among them, one drive unit (A), one biomimetic multi-leg (B), and one biomimetic runner foot (C) together constitute a complete walking leg unit capable of independent telescopic movement.

[0078] I. Wheel Hub Structure

[0079] Please see Figures 3 to 5 The wheel hub (1) includes a hub body (1a), four connecting rod pairs on the left and four connecting rod pairs on the right. The four connecting rod pairs on the left are: connecting rod pair left I (1b), connecting rod pair left II (1c), connecting rod pair left III (1d), and connecting rod pair left IV (1e); the four connecting rod pairs on the right are: connecting rod pair right I (1f), connecting rod pair right II (1g), connecting rod pair right III (1h), and connecting rod pair right IV (1i). The four connecting rod pairs on the left are arranged in a 90° equidistant array along the circumference of the hub, and the four connecting rod pairs on the right are also arranged in a 90° equidistant array. These connecting rod pairs are used to cooperate with the hub mounting arms (4b) on the mounting plate (4) of the drive device (A), and the side of the mounting plate is fastened to the side of the hub by bolts, thereby realizing the fixed connection between the drive device (A) and the wheel hub (1). Due to the left-right symmetry, the components of the bionic leg units assembled on the left and right sides are symmetrical to each other. In addition, the connecting rod array on the left and the connecting rod array on the right have a relative rotation angle of 45° in the circumferential direction, thus forming a pattern in which the eight bionic leg units are evenly and staggered along the circumferential direction (four on each side, with a phase difference of 45°). This arrangement effectively reduces the required diameter and overall mass of the hub while ensuring sufficient support phase density.

[0080] II. Assembly Relationship of Walking Leg Units

[0081] Please refer to this carefully. Figures 8 to 11 The assembly relationships between the components within a single walking leg unit are described in detail below:

[0082] (a) Connection between the bionic multi-leg (B) and the drive device (A)

[0083] The lower leg (22) of the bionic multi-leg (B) and the torsion spring transmission component II (13) in the drive device (A) are rigidly fixedly connected by bolts through corresponding mounting lugs (13a) and lugs (22f). After assembly, the left end face of the torsion spring transmission component II (13) fits tightly with the left end face of the cylindrical boss III (22a) of the lower leg (22). Countersunk holes IV (22c) and V (22h) are respectively opened on the cylindrical boss III (22a) of the lower leg (22), and bearings III (21) and IV (23) are respectively embedded in the two countersunk holes. The inner diameters of bearings III (21) and IV (23) are consistent with the diameter of the drive shaft (15) in the drive device (A), thereby forming a precise rotational fit, so that the lower leg (22) can rotate freely around the axis of the drive shaft (15).

[0084] A small leg cover plate (14) is fitted on the drive shaft (15). The right end face of the small leg cover plate (14) fits tightly against the left end face of the cylindrical boss Ⅲ (22a) of the small leg rod (22). The diameters of the countersunk hole Ⅱ (13c) of the torsion spring force transmission component Ⅱ (13) and the countersunk hole Ⅲ (14c) of the small leg cover plate (14) are both smaller than the outer diameters of bearing Ⅲ (21) and bearing Ⅳ (23), but larger than the inner diameters of the two bearings. This size design allows the countersunk hole Ⅱ (13c) to restrict the axial movement of bearing Ⅲ (21) to the right, and the countersunk hole Ⅲ (14c) to restrict the axial movement of bearing Ⅳ (23) to the left, thereby completely limiting the axial movement of bearing Ⅲ (21), bearing Ⅳ (23) and small leg rod (22) within a predetermined range, ensuring the axial stability and motion accuracy of the mechanism.

[0085] (ii) Connection of multi-bar linkage mechanism

[0086] The foot linkage rod (24) in the bionic multi-leg (B) has a cylindrical hinge joint (24a) at one end, which is hinged to the hinge rod end (10d) on the driven gear cover plate (10) of the drive device (A). The hinge rod end (10d) is a perforated boss structure formed by a vertically extending rod from the driven gear cover plate body. Its end face is tightly fitted with the end face of the cylindrical hinge joint (24a), ensuring the axial positioning of the hinge pair.

[0087] The foot linkage rod (25) in the bionic multi-rod leg (B) has a fork-shaped hinge joint II (25b) at one end, which is hinged to the perforated auxiliary rod II (27b) on the foot (27) of the bionic cuckoo foot (C).

[0088] The metatarsal rod (26) of the bionic multi-rod leg (B) has a cylindrical hinge joint (26a) at one end, which is hinged to the forked perforated boss (27a) on the foot (27) of the bionic koala foot (C).

[0089] Through the above connection, the bionic koala foot (C) achieves rotational freedom around the hinge point by hinged foot (27) and foot metatarsal rod (26) at the end. On the other hand, through the linkage control of the foot linkage rod (25), the bionic koala foot (C) can achieve linkage rotation with the overall movement of the bionic multi-rod leg (B), thereby maintaining the optimal ground contact posture during the walking wheel movement.

[0090] III. Specific Structure of the Drive Unit

[0091] Please refer to Figures 12 to 25 The drive device (A) is a highly integrated mechatronic transmission module, specifically composed of a motor (2), an assembly plate (3), a connector (4), bearing I (5), bearing washer I (6), a driven gear (7), bearing washer II (8), bearing II (9), a driven gear cover plate (10), a torsion spring transmission component I (11), a torsion spring (12), a torsion spring transmission component II (13), a small leg rod cover plate (14), a transmission shaft (15), a bushing (16), a key pair I (17), a key pair II (18), a drive gear cover plate (19), and a drive gear (20).

[0092] (a) Assembly plate and supporting structure

[0093] like Figure 14 As shown, the assembly plate (3) integrates the following components: driven gear cover mounting arm (3a), hub mounting arm (3b), cylindrical boss I (3c), drive shaft hole (3d), motor mounting hole (3e), motor shaft extension hole (3f), and drive gear cover mounting lug pair (3g). The inner diameter of the cylindrical boss I (3c) matches the outer diameter of the bearing I (5), and the axial height of the cylindrical boss I (3c) matches the thickness of the bearing I (5). The bearing I (5) is embedded in the cylindrical boss I (3c), with its left end face aligned with the left end face of the cylindrical boss I (3c), and its right end face closely abutting the left side of the assembly plate (3). The diameter of the drive shaft hole (3d) is designed to be smaller than the outer diameter of the bearing I (5) but larger than its inner diameter, thereby restricting the axial movement of the outer ring of the bearing I (5).

[0094] (ii) Motor and drive gear assembly

[0095] The gearbox of motor (2) has screw holes at its four corners, which correspond to the motor mounting holes (3e) on the assembly plate (3). Motor (2) is fixedly mounted on the assembly plate (3) by screws. Motor (2) is located on the right side of the assembly plate (3), and its motor output shaft passes through the motor shaft extension hole (3f). The drive gear (20) has a D-shaped through hole (20b), which is fitted onto the motor output shaft (which is a D-shaped shaft). The drive gear (20) also has a cylindrical boss II (20a). The right end face of the cylindrical boss II (20a) is close to the left end face of the motor gearbox, thereby limiting the axial displacement of the drive gear (20) to the right and providing axial positioning, so that the left end face of the drive gear (20) is aligned with the left end face of the driven gear (7) described later. The drive gear cover plate (19) has a boss pair (19a), a sub-cover plate (19b), and a through hole pair (19c). The through hole pair (19c) corresponds to the mounting lug pair (3g) of the drive gear cover plate on the mounting plate (3). The right end face of the boss pair (19a) is close to the left end face of the mounting plate (3). The drive gear cover plate (19) is fixedly connected to the mounting plate (3) by bolts. The right side face of the drive gear cover plate (19) presses against the left end face of the drive gear (20), thereby completely restricting the axial movement of the drive gear to the left. In addition, the sub-cover plate (19b) of the drive gear cover plate (19) extends out and is close to the left end face of the driven gear (7) to restrict the rotational misalignment of the large spoke of the driven gear except for rotation about the drive shaft (15).

[0096] (iii) Drive shaft and driven gear assembly

[0097] The drive shaft (15) is inserted into the inner ring of bearing I (5) on the assembly plate (3). The two have the same diameter to form a precision fit. The drive shaft (15) is fully inserted into the drive shaft hole (3d), and its right end face is aligned with the right side of the assembly plate (3). Bearing washer I (6) and bearing washer II (8) have the same structure, each consisting of a large washer and a small washer. Bearing washer I (6) is fitted into the drive shaft (15) with the small washer on the right side. The right end face of its small washer (6b) is in contact with the left end face of bearing I (5), and the outer diameter of the small washer (6b) is larger than the inner diameter of bearing I (5) but smaller than its outer diameter, thereby restricting the axial movement of the inner ring of bearing I (5).

[0098] Key pair II (18) is inserted into the keyway structure (15a) provided on the drive shaft (15). The driven gear (7) is fitted into the drive shaft (15) through its keyway hole I (7a), with its right end face closely abutting the left end face of the large washer (6a) of the bearing washer I (6). Through the cooperation between the keyway with keyway hole I (7a) and key pair II (18), the driven gear (7) can drive the drive shaft (15) to rotate synchronously.

[0099] Bearing washer II (8) is fitted onto the drive shaft (15) with the smaller washer on the left side, and the right end face of its larger washer (8a) is in close contact with the left end face of the driven gear (7). Bearing II (9) is embedded in the countersunk hole I (10a) of the driven gear cover plate (10), the diameter and depth of which are consistent with the outer diameter and thickness of bearing II (9). The right end face of bearing II (9) is aligned with the right end face of the driven gear cover plate (10), and the left end face is aligned with the left end face of the countersunk hole I (10a). The diameter of the through hole (10b) on the driven gear cover plate (10) is smaller than the outer diameter of bearing II (9) but larger than its inner diameter, thereby restricting the axial movement of the outer ring of bearing II (9). The driven gear cover plate (10) and bearing II (9) are fitted together into the drive shaft (15). The right end face of bearing II (9) is in close contact with the left end face of the small washer (8b) of bearing washer II (8). The outer diameter of the small washer (8b) is larger than the inner diameter of bearing II (9) but smaller than its outer diameter, thereby restricting the axial movement of the inner ring of bearing II (9).

[0100] The mounting arm (10c) of the driven gear cover plate (10) consists of three perforated rods that correspond to the position of the mounting arm (3a) of the driven gear cover plate on the mounting plate (3). The mounting plate (3) and the driven gear cover plate (10) are bolted together by three connecting pieces (4) with a circular cylindrical structure. Through the above assembly, the axial movement of the inner and outer rings of bearing I (5) and bearing II (9) is restricted respectively. The driven gear (7) is sandwiched in the middle by the large washer end face of bearing washer I (6) and bearing washer II (8). The axial movement of the entire transmission shaft system is completely restricted, so that the rotational motion can be stably transmitted through the path of "driven gear (7) → key pair II (18) → transmission shaft (15)".

[0101] (iv) Torsion spring series elastic drive assembly

[0102] Key pair I (17) is inserted into another keyway structure (15b) on the drive shaft (15). Torsion spring transmission element I (11) is fitted into the drive shaft (15) through its keyway hole II (11a), with its right end face closely abutting the left end face of the driven gear cover plate (10), thereby restricting the axial movement of torsion spring transmission element I (11) to the right. The torsion spring transmission element I (11) is engaged with key pair I (17) through the keyway of keyway hole II (11a), enabling the drive shaft (15) to drive the torsion spring transmission element I (11) to rotate synchronously.

[0103] The torsion spring (12) is mounted on the drive shaft (15) via its helical coil, and the helical coil of the torsion spring (12) is coaxial with the drive shaft (15). The axes of the two pins of the torsion spring (12) are offset forward by a certain distance relative to the axis of the drive shaft, and the two pins are parallel to each other with a relative angle of 180°. The torsion spring force transmission component I (11) is provided with a torsion spring pin connection structure, which consists of a perforated cantilever I (11c) and a connecting rod I (11b) extending vertically. The axis of the hole in the perforated cantilever I (11c) is concentric with the axis of one pin of the torsion spring (12), and the connecting rod I (11b) is used to adjust the vertical position of the perforated cantilever I (11c) to avoid interference. One pin of the torsion spring (12) is inserted into the hole in the perforated cantilever I (11c), so that the drive shaft (15) can drive the torsion spring pin by driving the torsion spring force transmission component I (11), thereby loading the torsion spring (12).

[0104] The bushing (16) is a cylindrical ring with an inner diameter that matches the diameter of the drive shaft (15). The bushing (16) is fitted into the drive shaft (15), with its right end face closely attached to the left end face of the torsion spring transmission component I (11). The torsion spring transmission component II (13) has an inner hole I (13b), the diameter of which matches the diameter of the drive shaft (15). The torsion spring transmission component II (13) is fitted into the drive shaft (15), with its right end face closely attached to the left end face of the bushing (16). The torsion spring pin connection structure of the torsion spring transmission component II (13) is basically the same as that of the torsion spring pin connection structure of the torsion spring transmission component I (11), and it is also provided with a cantilever arm II (13e) with a hole and a connecting rod II (13d). The other pin of the torsion spring (12) is inserted into the hole of the cantilever arm II (13e). Thus, the torsion spring transmission element I (11) transmits torque through the torsion spring (12) itself to the other pin by driving one pin of the torsion spring, and then to the torsion spring transmission element II (13). The presence of the bushing (16) restricts the axial movement of the torsion spring transmission element I (11) to the left and the axial movement of the torsion spring transmission element II (13) to the right.

[0105] The lower leg cover plate (14) has an inner hole II (14b), the diameter of which is the same as the shaft diameter of the drive shaft (15). The lower leg cover plate (14) is fitted into the left end of the drive shaft (15), and the pin hole (14a) on it is aligned with the pin hole (15c) on the drive shaft (15). The two are fixedly connected by a pin, and the left end face of the lower leg cover plate (14) is flush with the left end face of the drive shaft (15).

[0106] Combining the aforementioned connection relationship between the bionic multi-leg (B) and the drive device (A) (where the leftward axial movement of the torsion spring transmission element II (13) is restricted by the lower leg rod (22) and bearings, etc.), and the restriction of the rightward axial movement of the torsion spring transmission element II (13) and the left-right axial movement of the torsion spring transmission element I (11) by the internal connection relationship of the drive device (A), the axial movement of the entire elastic transmission structure composed of the torsion spring transmission element I (11), the torsion spring (12), the torsion spring transmission element II (13) and the bushing (16) is completely restricted. The two pins of the torsion spring (12) will not undergo compression or tensile deformation, and the axial distance is fixed, thereby enabling stable and accurate transmission of the torsion spring torque.

[0107] IV. Specific Structure of Bionic Multi-Legs

[0108] Please refer to Figures 26 to 32 The bionic multi-link leg (B) is a planar multi-link linkage mechanism, specifically including bearing III (21), lower leg rod (22), bearing IV (23), foot metatarsal linkage rod (24), foot ball linkage rod (25) and foot metatarsal rod (26).

[0109] like Figure 28 and Figure 29 As shown, the lower leg rod (22) is provided with a cylindrical boss III (22a), a through hole II (22b), a countersunk hole IV (22c), a perforated auxiliary rod I (22d), a fork-shaped hinge joint II (22e), a lug pair (22f), a limiting block (22g), and a countersunk hole V (22h). The cylindrical boss III (22a) has a countersunk hole IV (22c) on its left side. The diameter and depth of the countersunk hole IV (22c) are consistent with the outer diameter and thickness of the bearing III (21). The bearing III (21) is embedded in the countersunk hole IV (22c), with its left end face aligned with the left end face of the cylindrical boss III (22a) and its right end face aligned with the right end face of the countersunk hole IV (22c). The diameter of the through hole II (22b) is smaller than the outer diameter of the bearing III (21) but larger than its inner diameter, thereby restricting the axial movement of the outer ring of the bearing III (21). A countersunk hole V (22h) is provided on the right side of the cylindrical boss III (22a). The diameter and depth of the countersunk hole V (22h) are consistent with the outer diameter and thickness of the bearing IV (23). The bearing IV (23) is embedded in the countersunk hole V (22h), with its left end face aligned with the left end face of the cylindrical boss III (22a) and its right end face aligned with the right end face of the countersunk hole V (22h). The diameter of the through hole II (22b) is also smaller than the outer diameter of the bearing IV (23) but larger than its inner diameter, thereby restricting the axial movement of the outer ring of the bearing IV (23).

[0110] One end of the foot linkage rod (25) is provided with a fork-shaped hinge joint 25I (25a), which is hinged to the perforated auxiliary rod I (22d) on the lower leg rod (22). The metatarsal rod (26) is a broken line rod, which is formed by connecting the main rod (26b) and the auxiliary rod (26d) at a certain angle. The metatarsal rod (26) is provided with cylindrical hinge joints 26I (26a), 26II (26c) and 26III (26e). Among them, the end of the auxiliary rod (26d) is a cylindrical hinge joint 26Ⅲ (26e), which is hinged to the fork-shaped hinge joint 24b of the foot linkage rod (24); at the junction of the main rod (26b) and the auxiliary rod (26d), there is a cylindrical hinge joint 26Ⅱ (26c), which is hinged to the fork-shaped hinge joint 22e on the lower leg rod (22). Combining the aforementioned connection relationship between the bionic multi-rod leg and the foot (27), it can be seen that the lower leg rod (22) is the active rod, and its rotation will drive the entire multi-rod leg, including the bionic zoetrope foot (C), to move together.

[0111] V. Specific Structure of the Bionic Runner's Foot

[0112] Please refer to Figures 33 to 45 The biomimetic koala foot (C) accurately mimics the shape and elastic movement mechanism of the four toes of the koala foot, specifically including the foot (27), the posteromedial toe torsion spring 28 (28), the posteromedial toe (29), the anterior medial toe torsion spring I (30), the anterior medial toe first segment (31), the anterior medial toe torsion spring II (32), the anterior medial toe second segment (33), the anterior lateral toe torsion spring I (34), the anterior lateral toe first segment (35), the anterior lateral toe torsion spring II (36), the anterior lateral toe second segment (37), the anterior lateral toe torsion spring III (38), the anterior lateral toe third segment (39), the posterolateral toe torsion spring I (40), the posterolateral toe first segment (41), the posterolateral toe torsion spring II (42), the posterolateral toe second segment (43), the posterolateral toe torsion spring III (44), the posterolateral toe third segment (45), the posterolateral toe torsion spring IV (46), and the posterolateral toe fourth segment (47). It should be noted that in the orientation description in this section, the side closest to the wheel hub (1) in the assembly relationship is called the inner side, and the direction of the wheel hub's forward rotation is called the front. For example, when the foot is on the left side of the wheel hub, the rear inner side refers to the rear right side.

[0113] like Figure 36As shown, the foot (27) is composed of a forked perforated boss (27a), a perforated secondary rod II (27b), a forked hinge joint II-I (27c), a forked hinge joint II-II (27d), a forked hinge joint III-III (27e), a forked hinge joint IV (27f), a hole I (27g), a hole II-II (27h), a hole III-III (27i), and a hole IV (27j). Among them, the forked hinge joints II-I (27c), II-II (27d), III-III (27e), and IV (27f) are located on the posteromedial, anteromedial, anterolateral, and posterolateral sides of the foot, respectively. With the direction of the perforated secondary rod II (27b) as the front, the fork-shaped hinge joints 27I (27c) and 27IV (27f) are symmetrically distributed, and the fork-shaped hinge joints 27II (27d) and 27III (27e) are also symmetrically distributed. Furthermore, the included angle between the fork-shaped hinge joints 27II (27d) and 27III (27e) is smaller than the included angle between the fork-shaped hinge joints 27I (27c) and 27IV (27f), thus reproducing the angle difference between the front and rear toes of the koala.

[0114] The medial posterior toe (29) is provided with a forked hinge joint 29a (29a), a hole 29b (29b), and a toenail I (29c). The medial posterior toe (29) is hinged to the forked hinge joint 27c (27c) of the sole of the foot (27) via its forked hinge joint 29a (29a). The helical axis of the medial posterior toe torsion spring (28) is coaxial with the hinge axis. One pin of the torsion spring is inserted into the hole 29b (29b) of the medial posterior toe (29), and the other pin is inserted into the hole 27c (27g) of the sole of the foot (27), thereby forming an elastic hinge between the medial posterior toe (29) and the sole of the foot (27).

[0115] The first segment of the medial anteromedial toe (31) is provided with a forked hinge joint 31I (31a), a forked hinge joint 31II (31b), a hole 31I (31c), and a hole 31II (31d). The first segment of the medial anteromedial toe (31) is hinged to the forked hinge joint 27II (27d) of the foot (27) via the forked hinge joint 31I (31a). The helical axis of the medial anteromedial toe torsion spring I (30) is coaxial with the hinge axis. One end of the spring is inserted into the hole 31I (31c) of the medial anteromedial toe (31), and the other end is inserted into the hole 27II (27h) of the foot (27). The second segment of the medial anteromedial toe (33) is provided with a forked hinge joint 33A (33a), a hole 33B (33b), and a toenail II (33c). The second segment of the anterior medial toe (33) is hinged to the first segment of the anterior medial toe (31) via the forked hinge joint 33 (33a) and the forked hinge joint 31 II (31b). The helical axis of the anterior medial toe torsion spring II (32) is coaxial with the hinge axis. One end pin is inserted into the hole 33 (33b) of the second segment of the anterior medial toe (33), and the other end pin is inserted into the hole 31 II (31d) of the first segment of the anterior medial toe (31).

[0116] The first segment of the anterolateral toe (35) is provided with a forked hinge joint 35I (35a), a forked hinge joint 35II (35b), a hole 35I (35c), and a hole 35II (35d). The first segment of the anterolateral toe (35) is hinged to the forked hinge joint 27III (27e) of the foot (27) via the forked hinge joint 35I (35a). The helical axis of the anterolateral toe torsion spring I (34) is coaxial with the hinge axis. One end of the spring is inserted into the hole 35I (35c) of the first segment of the anterolateral toe (35), and the other end is inserted into the hole 27III (27i) of the foot (27). The second segment of the anterolateral toe (37) is provided with a forked hinge joint 37I (37a), a forked hinge joint 37II (37b), a hole 37I (37c), and a hole 37II (37d). The second segment (37) of the anterolateral toe is hinged to the first segment (35) of the anterolateral toe (35) via a forked hinge joint 37I (37a). The helical axis of the anterolateral toe torsion spring II (36) is coaxial with the hinge axis. One end of the spring is inserted into the hole 37I (37c) of the second segment (37) of the anterolateral toe, and the other end is inserted into the hole 35II (35d) of the first segment (35) of the anterolateral toe. The third segment (39) of the anterolateral toe is provided with a forked hinge joint 39 (39a), a hole 39 (39b), and a toenail III (39c). The third segment of the anterolateral toe (39) is hinged to the forked hinge joint 37 II (37b) of the second segment of the anterolateral toe (37) via the forked hinge joint 39 (39a). The helical axis of the torsion spring Ⅲ (38) of the anterolateral toe is coaxial with the hinge axis. One end pin is inserted into the hole 39 (39b) of the third segment of the anterolateral toe (39), and the other end pin is inserted into the hole 37 II (37d) of the second segment of the anterolateral toe (37).

[0117] The first segment of the posterior lateral toe (41) is provided with a forked hinge joint 41I (41a), a forked hinge joint 41II (41b), a hole 41I (41c), and a hole 41II (41d). The first segment of the posterior lateral toe (41) is hinged to the forked hinge joint 27IV (27f) of the foot (27) via the forked hinge joint 41I (41a). The helical axis of the posterior lateral toe torsion spring I (40) is coaxial with the hinge axis. One end of the spring is inserted into the hole 41I (41c) of the first segment of the posterior lateral toe (41), and the other end is inserted into the hole 27IV (27j) of the foot (27). The second segment of the posterior lateral toe (43) is provided with a forked hinge joint 43I (43a), a forked hinge joint 43II (43b), a hole 43I (43c), and a hole 43II (43d). The second segment of the posterior lateral toe (43) is hinged to the first segment of the posterior lateral toe (41) via a forked hinge joint 43I (43a). The helical axis of the posterior lateral toe torsion spring II (42) is coaxial with the hinge axis. One end of the spring is inserted into the hole 43I (43c) of the second segment of the posterior lateral toe (43), and the other end is inserted into the hole 41II (41d) of the first segment of the posterior lateral toe (41). The third segment of the posterior lateral toe (45) is provided with a forked hinge joint 45I (45a), a forked hinge joint 45II (45b), a hole 45I (45c), and a hole 45II (45d). The third segment of the posterior lateral toe (45) is hinged to the second segment of the posterior lateral toe (43) via a forked hinge joint 45I (45a). The helical axis of the posterior lateral toe torsion spring III (44) is coaxial with the hinge axis. One end of the spring is inserted into the hole 45I (45c) of the third segment of the posterior lateral toe (45), and the other end is inserted into the hole 43II (43d) of the second segment of the posterior lateral toe (43). The fourth segment of the posterior lateral toe (47) is provided with a forked hinge joint 47a, a hole 47b, and a toenail IV (47c). The fourth segment of the posterior lateral toe (47) is hinged to the third segment of the posterior lateral toe (45) via a forked hinge joint 47a (47a). The helical axis of the posterior lateral toe torsion spring IV (46) is coaxial with the hinge axis. One end pin is inserted into the hole 47b of the fourth segment of the posterior lateral toe (47), and the other end pin is inserted into the hole 45d of the third segment of the posterior lateral toe (45).

[0118] Through all the above-mentioned flexible hinge connections, each toe segment of the bionic runner foot (C) has passive compliance, which can adaptively adjust the angle according to the undulation of the ground to maximize the contact area with the ground, thereby effectively improving traction.

[0119] VI. Working Principle and Dynamic Characteristics of Walking Wheels

[0120] The following is combined with Figures 1 to 11 as well as Figure 46 The working principle of the walking wheel of the present invention is explained in detail.

[0121] As previously mentioned, the lower leg rod (22) is the active rod in the bionic multi-rod leg (B). The lower leg rod (22), the driven gear cover plate (10) of the drive device (A) (serving as a fixed frame), the metatarsal linkage rod (24), and the metatarsal rod (26) together constitute a four-bar linkage mechanism. Simultaneously, the lower leg rod (22), the metatarsal rod (26), the foot linkage rod (25), and the perforated auxiliary rod II (27b) on the foot (27) constitute another four-bar linkage mechanism. When the lower leg rod (22) rotates around its rotation center (i.e., the axis of the drive shaft (15)), the two four-bar linkage mechanisms work together, driving the metatarsal rod (26) and the foot linkage rod (25) to move together, thereby driving the overall movement of the bionic zoetrope foot (C). Figure 46 As shown, after optimizing the geometric parameters of each rod (including rod length, bending angle, etc.), during the transformation process, the movement trajectory of the end of the foot metatarsal rod (26) is approximately a vertical straight line. That is, the bionic cuckoo foot (C) basically only undergoes extension and contraction displacement along the radial direction of the wheel, while its horizontal swing is minimal. At the same time, the angle change between the foot (27) and the horizontal plane during the transformation process is also controlled within a very small range, ensuring that the foot can contact the ground with the optimal angle of attack in any extension state, thereby maintaining stable traction performance.

[0122] Regarding the dynamic behavior of the driving and transformation process: When the motor (2) drives the driving gear (20) to rotate, the power is transmitted sequentially through the driven gear (7), key pair II (18), transmission shaft (15), and key pair I (17) to the torsion spring transmission component I (11). Since the torsion spring transmission component I (11) is elastically connected to the torsion spring transmission component II (13) through the torsion spring (12), and the torsion spring transmission component II (13) is rigidly connected to the lower leg rod (22), the torque output by the motor is first manifested as loading on the torsion spring (12) (i.e., the torsion spring undergoes elastic deformation and stores potential energy). Only when the torque generated by the torsion spring (12) is sufficient to overcome the bionic multi-leg (B) and the load it bears (including gravity, ground reaction force, etc.) will the lower leg rod (22) begin to move. This "store energy first, release it later" characteristic enables the walking wheel to achieve explosive pop-out when it needs to quickly extend from the retracted state to cross obstacles, thus improving the dynamic obstacle crossing ability. Conversely, when changing from an extended state to a contracted state, gravity often assists the contraction of the rod, resulting in low resistance to the change and a fast and smooth contraction process.

[0123] Regarding passive elastic adaptation and stiffness adjustment: During normal travel of the walking wheel, when the bionic walking foot (C) touches the ground and is impacted, the impact force causes the lower leg rod (22) to reverse in the direction of contraction. This trend is reversed by the torsion spring force transmission component II (13), which loads the torsion spring (12) in the opposite direction. The torsion spring is further compressed and absorbs the impact energy, avoiding the transmission of rigid impact to precision components such as motors and gears, thus achieving elastic buffering. In addition, the limiting block (22g) set on the lower leg rod (22) and the secondary rod (26d) of the foot metatarsal rod (26) constitute a mechanical limit. When the bionic multi-rod leg (B) extends to its maximum angle, the secondary rod (26d) of the foot metatarsal rod (26) contacts the limiting block (22g) and is locked. At this time, if the drive device (A) continues to apply torque in the direction that causes the bionic multi-rod leg (B) to extend, the torsion spring (12) will be further pre-tightened, thereby improving the equivalent stiffness of the passive elastic adaptation of the walking wheel. By controlling the output torque of the motor, the preload of the torsion spring can be actively adjusted, thereby adjusting the elastic stiffness of the walking wheel online according to the road conditions (soft, hard, or obstacles).

[0124] The traction gain mechanism of the bionic runner foot (C): Mimicking the asymmetrical angles of the four toes, the multi-segmented phalanges, and the sharp nails at the ends of the runner foot, and incorporating torsion springs within each joint, the bionic runner foot (C) allows each phalanx to adaptively embed itself into the soft medium (such as lunar soil) under the action of the torsion springs, forming multiple independent gripping points. This significantly increases the contact area and shear resistance. Simultaneously, the differences in the angles between the toes provide anteroposterior and lateral stability, effectively preventing slippage and tilting, thus generating superior traction.

[0125] In summary, through the coupling effect of the above-mentioned structures, the present invention achieves comprehensive performance of walking wheels in complex terrain, including high traction, active / passive structural modification, elastic cushioning and adjustable stiffness, smooth motion, and efficient drive.

[0126] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A high-traction adaptive variable-structure walker-like multi-legged walking wheel, characterized in that, The walking wheel is forward in the direction of the wheel hub's forward rotation; the walking wheel consists of a wheel hub (1), multiple drive devices (A), multiple bionic multi-legged legs (B), and multiple bionic cuckoo feet (C); The lower leg rod (22) of the bionic multi-rod leg (B) is fixedly connected to the torsion spring force transmission component II (13) of the drive device (A) and is rotatably supported on the transmission shaft (15) of the drive device (A) through bearings (21, 23); the foot metatarsal linkage rod (24) of the bionic multi-rod leg (B) is hinged to the driven gear cover plate (10) of the drive device (A); the foot ball linkage rod (25) and the foot metatarsal rod (26) of the bionic multi-rod leg (B) are respectively hinged to the foot ball (27) of the bionic koala foot (C); The drive device (A), the bionic multi-leg (B) and the bionic trochophore foot (C) together constitute a single bionic leg that can extend and retract radially; multiple single bionic leg units are evenly distributed on the left and right sides of the wheel hub (1), and the single bionic leg units on the left and right sides are staggered in the circumferential direction.

2. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 1, characterized in that, The drive device (A) includes a motor (2), an assembly plate (3), a driven gear (7), a driven gear cover plate (10), a torsion spring transmission component I (11), a torsion spring (12), a torsion spring transmission component II (13), a transmission shaft (15), and a drive gear (20). The motor (2) is fixed to the assembly plate (3), and its output shaft meshes with the driven gear (7) through the drive gear (20). The driven gear (7) is connected to the transmission shaft (15) through a key. The torsion spring transmission component I (11) is connected to the transmission shaft (15) through a key. The torsion spring (12) is sleeved on the transmission shaft (15), and its two end pins are respectively connected to the torsion spring transmission component I (11) and the torsion spring transmission component II (13). The torsion spring transmission component II (13) is rotatably sleeved on the transmission shaft (15) and fixed to the small leg rod (22).

3. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 2, characterized in that, The assembly plate (3) is provided with a cylindrical boss I (3c) and a drive shaft hole (3d). The cylindrical boss I (3c) is embedded with a bearing I (5). The right end of the drive shaft (15) is supported on the inner ring of the bearing I (5). The countersunk hole I (10a) of the driven gear cover plate (10) is embedded with a bearing II (9). The middle part of the drive shaft (15) is supported on the inner ring of the bearing II (9). The driven gear (7) is provided with bearing washers I (6) and bearing washers II (8) on both sides of the axial direction to restrict its axial movement.

4. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 2, characterized in that, The torsion spring force transmission component I (11) is provided with a perforated cantilever I (11c), and the torsion spring force transmission component II (13) is provided with a perforated cantilever II (13e). The two pins of the torsion spring (12) are respectively inserted into the holes of the perforated cantilever I (11c) and the perforated cantilever II (13e). The transmission shaft (15) is also provided with a bushing (16), which is located between the torsion spring force transmission component I (11) and the torsion spring force transmission component II (13) to maintain the axial distance between them.

5. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 1, characterized in that, The bionic multi-link leg (B) further includes a foot metatarsal linkage (24), a foot ball linkage (25), and a foot metatarsal rod (26); the lower leg rod (22), the driven gear cover plate (10), the foot metatarsal linkage (24), and the foot metatarsal rod (26) constitute a four-bar linkage mechanism; the lower leg rod (22), the foot metatarsal rod (26), the foot ball linkage (25), and the foot ball (27) of the bionic koala foot (C) constitute another four-bar linkage mechanism.

6. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 5, characterized in that, The metatarsal rod (26) is a zigzag rod, including a main rod (26b) and a secondary rod (26d). The main rod (26b) and the secondary rod (26d) have a fixed included angle. The metatarsal rod (26) is provided with a cylindrical hinge joint II (26c) and a cylindrical hinge joint III (26e), which are respectively hinged to the fork-shaped hinge joint II (22e) of the lower leg rod (22) and the fork-shaped hinge joint II (24b) of the metatarsal linkage rod (24).

7. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 1, characterized in that, The bionic cuckoo foot (C) includes a foot (27) and a posteromedial toe (29), anterior medial toe, anterior lateral toe, and a posterolateral toe hinged to the foot (27); the anterior medial toe includes a first segment (31) and a second segment (33) that are elastically hinged in sequence; the anterior lateral toe includes a first segment (35), a second segment (37), and a third segment (39) that are elastically hinged in sequence; the posterolateral toe includes a first segment (41), a second segment (43), a third segment (45), and a fourth segment (47) that are elastically hinged in sequence; and a coaxial torsion spring is provided between each toe segment and between the toe segment and the foot.

8. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 7, characterized in that, The foot (27) is provided with four fork-shaped hinge joints, which correspond to the posteromedial side (27c), anteromedial side (27d), anterolateral side (27e) and posterolateral side (27f), respectively; wherein, the included angle between the anteromedial side fork-shaped hinge joint (27d) and the anterolateral side fork-shaped hinge joint (27e) is smaller than the included angle between the posteromedial side fork-shaped hinge joint (27c) and the posterolateral side fork-shaped hinge joint (27f).

9. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 1, characterized in that, The wheel hub (1) is provided with four bionic leg units on the left and right sides respectively; the four bionic leg units on the left are distributed at equal angles of 90° along the circumference of the hub, and the four bionic leg units on the right are also distributed at equal angles of 90°; and the array of bionic leg units on the right is rotated 45° in the circumferential direction relative to the array of bionic leg units on the left.

10. The high-traction adaptive variable-structure walker-like multi-legged walking wheel according to claim 2, characterized in that, A limiting block (22g) is provided on the lower leg rod (22). When the bionic multi-rod leg (B) is extended to the maximum angle, the limiting block (22g) contacts the auxiliary rod (26d) of the foot metatarsal rod (26) to form a mechanical limit. By continuing to output torque in the limited state, the motor (2) can pre-tighten the torsion spring (12) and thus adjust the elastic stiffness of the walking wheel.

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