A metamorphic wheel leg and a robot configured with the same

Abstract

The application provides a transformable wheel leg and a robot, and relates to the field of robots; the transformable wheel leg comprises a spoke and a rim; the spoke comprises a rotating support and a hip joint, the hip joint is provided with a leg twisting drive and a leg swinging drive, the output shafts of the two drives are perpendicular to each other, and the two drives realize lateral twisting and swinging in the front-back and left-right directions respectively; according to different use requirements, the hip joint is configured in different structures to have different degrees of freedom; the rim comprises an arc-shaped thigh, an arc-shaped shank, an arc-shaped foot, a knee joint and an ankle joint which are sequentially hinged; the arc-shaped thigh, the arc-shaped shank and the arc-shaped foot have the same radius of curvature and can be inwardly retracted to form a circular ring with the rotating support inner end as the center; the robot comprises several groups of the transformable wheel leg; through the cooperative deformation of the hip joint and the multi-section arc-shaped members, the wheel type, the leg type and the mixed form are integrated, the structure is simple and compact, and the terrain adaptability and the obstacle surmounting flexibility of the robot are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a deformable wheeled leg and a robot equipped with it. Background Technology

[0002] Robotics technology has been widely applied in various fields such as industry, exploration, rescue, and public services, with mobility being the foundation for achieving these functions. Currently, robot mobility devices are mainly divided into three categories: wheeled, tracked, and legged. Wheeled devices have significant advantages in terms of high mobility, speed, and simple control on flat, structured surfaces, but their obstacle-crossing ability is poor, making them difficult to adapt to rugged or complex terrain with obstacles. Tracked devices improve adaptability to different terrains by increasing the ground contact area, but their complex structure, high drag, high energy consumption, and less flexible steering result in lower speed and efficiency compared to wheeled devices. Legged devices mimic the gait of biological legs and theoretically possess the strongest terrain adaptability and obstacle-crossing ability, but their complex mechanical structure and motion control lead to low mobility, slow speed, poor stability, and high manufacturing costs and maintenance difficulties.

[0003] To balance the efficiency of wheeled robots with the obstacle-crossing capabilities of legged robots, combined wheel-legged robots have emerged in recent years. However, most existing wheel-legged solutions rely on complex linkage transmissions or hydraulic systems to achieve structural deformation, resulting in cumbersome mechanisms and insufficient control stability. Secondly, the wheel-leg structure design of these robots is often limited to multi-form transformations, failing to fully consider the degrees of freedom of the wheels and legs themselves, thus restricting the robot's obstacle-crossing flexibility and hindering its effectiveness in varied terrain. Therefore, there is an urgent need to develop a novel deformable wheel-leg mechanism to address the aforementioned problems of existing technologies. Summary of the Invention

[0004] The main technical problem to be solved by the present invention is to provide a robot with deformable wheeled legs and configured therewith, which can achieve a high level of obstacle crossing ability in various terrains with a simple mechanism.

[0005] To solve the above-mentioned technical problems, the present invention provides a deformable wheel leg, including wheel spokes and wheel rim;

[0006] The spokes include a rotating bracket and a hip joint-like joint; the rotating bracket extends along the radial direction of the rim; the hip joint-like joint includes a twisting leg drive and a swinging leg drive for outputting rotational motion; the twisting leg drive is connected to the outer end of the rotating bracket, and its output shaft extends radially along the rim; the swinging leg drive is connected to the output shaft of the twisting leg drive, and its output shaft is perpendicular to the output shaft of the twisting leg drive.

[0007] The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the output shaft of the leg swing drive, and its second end is hinged to the first end of the arc-shaped calf through the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot through the ankle-like joint; the knee-like and ankle-like joints output rotational motion, enabling the arc-shaped thigh and arc-shaped calf, and the arc-shaped calf and arc-shaped foot to rotate relative to each other within the plane of the wheel rim;

[0008] The curved thigh, curved calf, and curved foot have the same radius of curvature and are mutually inwardly tapered until the second end of the curved foot abuts against the first end of the curved thigh, thus forming a ring centered on the inner end of the rotating bracket.

[0009] In a preferred embodiment, the hip joint-like joint further includes a hip joint support; the hip joint support is disposed adjacent to the outer end of the rotating support along the diameter direction of the rim;

[0010] The leg twisting drive is fixed inside the rotating bracket, and its output shaft extends into the hip joint bracket; the leg swing drive is fixed inside the hip joint bracket, and its output shaft passes through the hip joint bracket to connect with the curved thigh.

[0011] The present invention also provides a deformable wheel leg, including spokes and a rim;

[0012] The spokes include a rotating bracket and a hip-like joint; the rotating bracket extends along the radial direction of the rim; the hip-like joint includes a leg-twisting drive for outputting rotational motion; the leg-twisting drive is connected to the outer end of the rotating bracket, and its output shaft extends radially along the rim.

[0013] The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the output shaft of the leg-twisting drive, and its second end is hinged to the first end of the arc-shaped calf through the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot through the ankle-like joint; the knee-like and ankle-like joints output rotational motion, enabling the arc-shaped thigh and arc-shaped calf, and the arc-shaped calf and arc-shaped foot to rotate relative to each other within the plane of the wheel rim;

[0014] The curved thigh, curved calf, and curved foot have the same radius of curvature, so that they converge towards each other until the second end of the curved foot abuts against the first end of the curved thigh, and together they are on a circle centered on the inner end of the swing leg.

[0015] The present invention also provides a deformable wheel leg, including spokes and a rim;

[0016] The spokes include a rotating bracket and a hip-like joint; the rotating bracket extends along the radial direction of the rim; the hip-like joint includes a swinging leg drive for outputting rotational motion; the swinging leg drive is connected to the outer end of the rotating bracket, and its output shaft is perpendicular to the extension axis of the rotating bracket.

[0017] The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the output shaft of the leg swing drive, and its second end is hinged to the first end of the arc-shaped calf through the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot through the ankle-like joint; the knee-like and ankle-like joints output rotational motion, enabling the arc-shaped thigh and arc-shaped calf, and the arc-shaped calf and arc-shaped foot to rotate relative to each other within the plane of the wheel rim;

[0018] The curved thigh, curved calf, and curved foot have the same radius of curvature, so that they converge towards each other until the second end of the curved foot abuts against the first end of the curved thigh, and together they are on a circle centered on the inner end of the rotating bracket.

[0019] The present invention also provides a deformable wheel leg, including spokes and a rim;

[0020] The spokes include a rotating bracket and a hip-like joint; the rotating bracket extends along the radial direction of the rim and has opposing inner and outer ends;

[0021] The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the outer end of the rotating bracket via the hip-like joint, and its second end is hinged to the first end of the arc-shaped calf via the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot via the ankle-like joint; the hip-like, knee-like, and ankle-like joints output rotational motion, enabling the rotating bracket and the arc-shaped thigh, the arc-shaped thigh and the arc-shaped calf, and the arc-shaped calf and the arc-shaped foot to rotate relative to each other within the plane of the wheel rim;

[0022] The curved thigh, curved calf, and curved foot have the same radius of curvature, so that they converge towards each other until the second end of the curved foot abuts against the first end of the curved thigh, and together they are on a circle centered on the inner end of the rotating bracket.

[0023] In a preferred embodiment, the knee-like joint includes a first servo, and the ankle-like joint includes a second servo; the first servo and the second servo include a body and an output shaft perpendicular to the plane of the wheel rim.

[0024] The second end of the curved thigh and the first end of the curved calf are either fixed to the body of the first servo motor, and the other end is fixed to the output shaft of the first servo motor; the second end of the curved calf and the first end of the curved foot are either fixed to the body of the second servo motor, and the other end is fixed to the output shaft of the second servo motor.

[0025] In a preferred embodiment, the body of the first servo motor is sealed and installed in a first cavity constructed from the second end of the arc-shaped thigh or the first end of the arc-shaped calf; the body of the second servo motor is sealed and installed in a second cavity constructed from the second end of the arc-shaped calf or the first end of the arc-shaped foot.

[0026] In a preferred embodiment, the knee-like joint further includes a first connector; the output shaft of the first servo is connected to the arcuate member via the first connector; the ankle-like joint further includes a second connector; the output shaft of the second servo is connected to the arcuate member via the second connector.

[0027] The present invention also provides a robot comprising several sets of deformable wheeled legs as described above.

[0028] In a preferred embodiment, the robot further includes a frame, a main servo motor, a coupling, a drive shaft, an electric slip ring, a bearing assembly, and wheel flanges;

[0029] The main servo motor is fixed to the frame; one end of the drive shaft is connected to the output shaft of the main servo motor via a coupling, and the other end is connected to the inner end of the rotating bracket via the wheel flange; the slip ring includes an inner ring and an outer ring that rotate and fit together, with the inner ring fixedly fitted on the surface of the drive shaft and the outer ring fixed to the frame via the bracket; the bearing assembly is fitted on the surface of the drive shaft and fixedly connected to the frame.

[0030] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0031] The deformable wheel-leg and robot provided by this invention have the following technical advantages: (1) By controlling the deformation of the arc-shaped thigh, arc-shaped calf and arc-shaped foot, the three forms of wheel, leg and wheel-leg hybrid are integrated into one, so that the robot can flexibly select the most suitable movement mode according to the flat structured road surface, slightly complex terrain or rugged terrain, which significantly broadens the application scenarios. (2) The servo motor is used to directly connect the rotating bracket and the arc-shaped thigh, arc-shaped calf and arc-shaped foot, and the servo motor is preferably sealed in the arc-shaped component, so as to reliably realize the deformation function and support function of the deformable wheel-leg with a simple and compact structure. Compared with the existing hydraulic linkage connection structure, it greatly reduces the manufacturing and assembly difficulty and system weight, reduces the risk of structural damage to the core connecting parts due to the entanglement and impact of obstacles, and also makes the form switching of the deformable wheel-leg faster and more reliable. (3) The hip joint highly simulates the motion degree of the biological hip joint, so that the deformable wheel-leg can achieve flexible turning and crossing. Furthermore, the hip-like joint is designed differently according to different usage scenarios to achieve a balance between usage requirements and structural simplicity. Attached Figure Description

[0032] Figure 1 This is an exploded view of the deformable wheel leg described in Embodiment 1 of the present invention;

[0033] Figure 2 This is a schematic diagram of the deformable wheel leg in wheel form as described in Embodiment 1 of the present invention;

[0034] Figure 3 This is a schematic diagram of the deformable wheel leg in the leg-like form described in Embodiment 1 of the present invention;

[0035] Figure 4 This is a schematic diagram of the robot equipped with the deformable wheeled legs in Embodiment 1 of the present invention in multiple configurations. Figure 8 A is a wheel-shaped design. Figure 8 B is a mixed form. Figure 8 C represents the leg position);

[0036] Figure 5This is a schematic diagram of the robot equipped with the deformable wheeled legs in Embodiment 1 of the present invention when it is turning.

[0037] Figure 6 This is a schematic diagram of the robot equipped with the deformable wheeled legs in Embodiment 1 of the present invention when it swings its legs to move forward or backward.

[0038] Figure 7 This is an exploded view of the deformable wheel leg described in Embodiment 2 of the present invention;

[0039] Figure 8 This is a schematic diagram of the deformable wheel leg in the leg-like configuration described in Embodiment 2 of the present invention for steering.

[0040] Figure 9 This is an exploded view of the deformable wheel leg described in Embodiment 3 of the present invention;

[0041] Figure 10 This is a schematic diagram of the deformable wheel leg in the leg-like form described in Embodiment 3 of the present invention for swinging the leg;

[0042] Figure 11 This is an exploded view of the deformable wheel leg described in Embodiment 4 of the present invention;

[0043] Figure 12 This is a schematic diagram of the deformable wheel leg in the leg-like form of Embodiment 4 of the present invention when the hip joint is not opened;

[0044] Figure 13 This is a schematic diagram of the deformable wheel leg in the leg-like form of Embodiment 4 of the present invention when the hip joint is opened;

[0045] Figure 14 This is a schematic diagram of the overall structure of the robot described in Embodiment 5 of the present invention;

[0046] Figure 15 This is a schematic diagram of the connection structure between the deformable wheel legs and the frame of the robot described in Embodiment 5 of the present invention.

[0047] The diagram is labeled as follows: 1-Rotating bracket, 21-Hip joint type, 211-Leg twisting drive, 212-Leg swinging drive, 213-Hip joint bracket, 214-Third servo motor, 22-Knee joint type, 221-First servo motor, 222-First connector, 23-Ankle joint type, 231-Second servo motor, 232-Second connector, 31-Arched thigh, 32-Arched calf, 33-Arched foot, 34-First cavity, 35-Second cavity, 36-Third cavity, 37-Baffle, 4-Frame, 5-Power supply, 6-Control unit, 7-Wheel leg connection mechanism, 71-Main servo motor, 72-Coupling, 73-Drive shaft, 74-Electric slip ring, 751-First bracket, 752-Second bracket, 76-Bearing assembly, 77-Wheel flange, 8-Deformable wheel leg, 81-First deformable wheel leg, 82-Second deformable wheel leg. Detailed Implementation

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0049] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed", "equipped", "sleeved / connected", "connected", etc., should be interpreted broadly. For example, "connection" can be a wall-mounted connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0051] Example 1

[0052] like Figures 1 to 6As shown, this embodiment of the invention provides a deformable wheel leg that can switch between three forms: wheeled, legged, and hybrid wheel-legged. It also has steering and swinging functions, providing the robot with efficient mobility on structured roads and obstacle-crossing capabilities on complex terrain.

[0053] The deformable wheel leg generally comprises spokes and a rim. The spokes connect to the robot's frame and transmit driving torque, while the rim transforms its shape by the convergence or deconvexity of multiple arc-shaped components. The outer ends of the spokes are movably connected to the rim to drive its twisting and oscillation.

[0054] Specifically, the wheel spokes include a rotating bracket and a hip-like joint. The rotating bracket extends radially along the rim, with its inner end connected to the robot's drive shaft and its outer end connected to the rim via the hip-like joint. The inner end of the rotating bracket is closer to the center of the rim, and its outer end is farther from the center. The hip-like joint includes a twisting leg drive and a swinging leg drive for outputting rotational motion. The twisting leg drive is connected to the outer end of the rotating bracket, and its output shaft extends radially along the rim, thereby indirectly driving the rim to twist laterally around its diameter. The swinging leg drive is connected to the output shaft of the twisting leg drive and also achieves lateral twisting under the drive of the twisting leg drive. The output shaft of the swinging leg drive is perpendicular to the output shaft of the twisting leg drive. When the output shaft of the swinging leg drive is located in the rotation plane of the rotating bracket, the hip-like joint can drive the unfolded rim to swing left and right; when the output shaft of the swinging leg drive is perpendicular to the rotation plane of the rotating bracket, the hip-like joint can drive the unfolded rim to swing forward and backward.

[0055] Preferably, the hip-like joint further includes a hip joint bracket, which is disposed adjacent to the outer end of the rotating bracket along the diameter direction of the wheel rim. The leg-twisting drive is fixed inside the rotating bracket, and its output shaft extends into the hip joint bracket. The leg-swinging drive is fixed inside the hip joint bracket, and its output shaft extends out of the hip joint bracket and connects to the curved thigh. There is no direct connection between the hip joint bracket and the rotating bracket, allowing it to rotate together with the leg-swinging drive under the influence of the leg-twisting drive. The hip joint bracket covers the portion of the hip-like joint exposed in the rotating bracket to provide protection, while the hip joint bracket being adjacent to the outer end of the rotating bracket gives the wheel spokes sufficient structural rigidity to withstand axial loads.

[0056] The wheel rim includes a knee-like joint, an ankle-like joint, and several arc-shaped components connected in series through these two joints. Specifically, the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot. Each of the arc-shaped thigh, calf, and foot has a first end and a second end in its respective extending direction. The first end of the arc-shaped thigh is connected to the output shaft of the leg-swinging drive, and its second end is hinged to the first end of the arc-shaped calf via a knee-like joint; the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot via an ankle-like joint. The knee-like joint and ankle-like joint output rotational motion, allowing the arc-shaped thigh and calf, and the calf and foot, to rotate relative to each other within the plane of the wheel rim, simulating flexion and extension movements.

[0057] The curved thigh, curved calf, and curved foot share the same radius of curvature. When the knee-like and ankle-like joints drive the curved calf and curved foot inwards until the second end of the curved foot abuts against the first end of the curved thigh, the three curved components can be joined to form a complete ring centered on the inner end of the rotating support. Preferably, the second end of the curved foot has a recessed groove on its inner side to allow for circumferential engagement with the wheel spokes. Based on this structure, in wheel form, when the curved foot is subjected to a radially inward load, its second end can stably abut against the outer end of the wheel spokes radially, improving the overall deformation resistance of the deformable wheel leg.

[0058] In terms of drive and control, the leg twisting drive, leg swing drive, knee-like joint, and ankle-like joint in this embodiment use servo motors as their power actuators. Each servo motor integrates a controller and an angle sensor, enabling precise control of the rotation angle of its output shaft and real-time feedback of the angle travel. This allows the robot's control unit to actively coordinate the angles of each joint, achieving precise synchronization of form switching and stable balance during leg movements.

[0059] Preferably, the knee-like joint includes a first servo motor, and the ankle-like joint includes a second servo motor. Both servos include a body and an output shaft, with the output shaft perpendicular to the plane of the wheel rim to ensure relative rotation between the arc-shaped components within the wheel rim plane. Either the second end of the arc-shaped thigh or the first end of the arc-shaped calf is fixed to the body of the first servo motor, and the other is fixed to the output shaft of the first servo motor; either the second end of the arc-shaped calf or the first end of the arc-shaped foot is fixed to the body of the second servo motor, and the other is fixed to the output shaft of the second servo motor. In this way, the first and second servos directly act as hinges to drive the joint rotation, resulting in a compact structure and high transmission efficiency.

[0060] Furthermore, to enhance operational reliability in harsh environments such as mud, water, and sandstorms, the body of the first servo motor is sealed and installed within a first cavity constructed from the second end of the curved thigh or the first end of the curved calf, and the body of the second servo motor is sealed and installed within a second cavity constructed from the second end of the curved calf or the first end of the curved foot. The openings of the first and second cavities are sealed by removable baffles. It is easy to understand that the aforementioned "sealed installation" is relative, ensuring that the output shafts of the first and second servos can protrude from both sides of the cavity. The knee-like joint also includes a first connecting member, and the ankle-like joint also includes a second connecting member. Preferably, the first and second connecting members are plate-shaped. The output shaft of the first servo motor is connected at both ends to the second end of the curved thigh or the first end of the curved calf via two first connecting members, and the output shaft of the second servo motor is connected at both ends to the second end of the curved calf or the first end of the curved foot via two second connecting members. The advantage of this connection is that it reduces the structural complexity of the ends of the curved components and simultaneously increases the distance between the ends of adjacent curved components, avoiding spatial interference during rotation.

[0061] Preferably, the outer surfaces of the curved thigh, curved calf, and curved foot are textured to enhance grip, and a rubber layer is applied to the outer surface of the curved foot to reduce impact upon landing and increase the reliability of the push-off.

[0062] The working principle of the deformable wheel leg is explained from three aspects below.

[0063] Figure 4 This illustrates that the deformable wheel leg has three interchangeable working modes. For example... Figure 4 As shown in Figure 8A, the arc-shaped thigh, arc-shaped calf, and arc-shaped foot are closed into a circular shape, and the deformable wheel leg is in a wheel-like form, equivalent to a regular wheel capable of rolling at high speed on a flat surface. Figure 4 As shown in Figure 8B, when the ankle-like joint is open and the knee-like joint remains in place or slightly open, the deformable wheel leg is in a hybrid state. At this time, the deformable wheel leg still rolls forward, but has a stronger overcoming ability due to the increased effective radius. As shown in Figure 8C, when both the ankle-like joint and the knee-like joint are open, the deformable wheel leg transforms into a leg-like form with three links, capable of performing obstacle-crossing actions such as lifting the leg, stepping, and pushing off the ground.

[0064] Figure 5The diagram illustrates the steering process of the deformable wheeled robot. In hybrid or legged mode, the first set of deformable wheels on one diagonal retracts to lift off the ground, while the second set of deformable wheels on the other diagonal remains on the ground. The first set of deformable wheels then turns under the action of its twisting leg drive, and after turning, extends to land under the action of its ankle-like joint and / or knee-like joint. The second set of deformable wheels then repeats the actions of the first set of deformable wheels, namely lifting off the support surface, turning, and landing. At this point, the robot has completed the steering of all its deformable wheels.

[0065] Figure 6 The illustration shows the process of the deformable wheeled robot moving forward or backward. In legged mode, the rotating support rotates to a vertical turntable so that the hip-like joint is located at the top of the wheel rim. Then, the torsional drive of each deformable wheel engages, ensuring that the output shaft of the swing drive is perpendicular to the rotation plane of the rotating support, extending vertically outward from both sides of the robot. The first set of deformable wheels on one diagonal swings forward together under the action of the swing drive. The second set of deformable wheels on the other diagonal simultaneously initiates its swing drive to generate a backward pushing force against the ground. The static friction between the curved foot and the ground reacts this pushing force on the deformable wheels themselves, thus propelling the robot forward until the first set of deformable wheels lands, achieving four-point support. Then, the first and second sets of deformable wheels exchange actions; the second set swings forward while the first set pushes off the ground, propelling the robot forward. This completes one cycle of forward swinging. It should be noted that the deformable wheel leg needs to work with the attitude sensor to adjust its center of gravity in real time so that the arc-shaped foot can be stably supported on the ground.

[0066] In summary, the deformable wheel leg provided in this embodiment has the following technical advantages: (1) By controlling the rotation angle of the arc-shaped thigh, arc-shaped calf and arc-shaped foot, it integrates the three forms of wheel, leg and wheel-leg hybrid into one, enabling the robot to flexibly select the most suitable movement mode according to the flat structured road surface, slightly complex terrain or rugged terrain, which significantly broadens the application scenarios. (2) The hip joint-like structure simulates the two main degrees of freedom of the biological hip joint - lateral torsion and forward and backward swing, which enables the deformable wheel leg to achieve flexible turning and crossing, greatly improving the obstacle crossing ability in multiple application scenarios. (3) The arc-shaped thigh, arc-shaped calf and arc-shaped foot are directly connected by a servo motor, and the servo motor is preferably sealed in the arc-shaped component, so as to reliably realize the deformation function and support function of the deformable wheel leg with a simple and compact structure. Compared with the existing hydraulic linkage connection structure, it greatly reduces the manufacturing and assembly difficulty and system weight, reduces the risk of structural damage to the core connecting parts due to the entanglement and impact of obstacles, and also makes the form switching of the deformable wheel leg faster and more reliable.

[0067] Example 2

[0068] like Figure 7 , Figure 8 As shown, this embodiment of the invention provides a deformable wheel leg, which differs from Embodiment 1 in that the hip-like joint does not include the swing leg drive.

[0069] Specifically, the torsional leg drive is connected to the outer end of the rotating bracket, and its output shaft extends radially along the wheel rim. The first end of the curved thigh is directly connected to the output shaft of the torsional leg drive, so that it rotates around the extended axis of the rotating bracket under the drive of the torsional leg drive. This structure simplifies the hip joint-like design and is suitable for scenarios with high requirements for lateral torsional turning and low requirements for forward and backward strides, such as environments where movement requires adjusting the wheel angle in narrow passages. Preferably, the second end of the curved foot and the first end of the curved thigh are in a concave-convex fit along the circumference of the wheel rim, with the second end of the curved foot protruding on the outside and concave on the inside. Based on this structure, in the wheel configuration, when the curved foot is subjected to a radially inward load, its second end can stably abut against the outer end of the curved thigh radially, improving the overall deformation resistance of the deformable wheel leg.

[0070] Apart from the differences mentioned above, the other structural features of the deformable wheel legs in this embodiment are the same as those in Embodiment 1, and will not be repeated here.

[0071] Example 3

[0072] like Figure 9 , Figure 10 As shown, this embodiment of the invention provides a deformable wheel leg, which differs from Embodiment 1 in that the hip-like joint does not include the twisting leg drive.

[0073] Specifically, the swing leg drive is connected to the outer end of the rotating bracket, and its output shaft is perpendicular to the extension axis of the rotating bracket. The first end of the arc-shaped thigh is directly connected to the output shaft of the swing leg drive, so that it swings laterally under the drive of the swing leg drive, allowing the robot equipped with this deformable wheel leg to walk laterally like a crab. It is easy to understand that this structure is suitable for terrain that requires lateral stepping to overcome obstacles but does not require high lateral torsion.

[0074] Apart from the differences mentioned above, the other structural features of the deformable wheel legs in this embodiment are the same as those in Embodiment 1, and will not be repeated here.

[0075] Example 4

[0076] like Figures 11 to 13 As shown, this embodiment of the invention provides a deformable wheel leg, which differs from Embodiment 1 in that: the structure of the hip-like joint is the same as that of the knee-like joint or ankle-like joint.

[0077] Specifically, the first end of the curved thigh is connected to the outer end of the rotating bracket via a hip-like joint. Preferably, the hip-like joint includes a third servo. The third servo includes a body and an output shaft, and its output shaft is perpendicular to the plane of the wheel rim to ensure that the curved components can rotate relative to each other within the wheel rim plane. Either the outer end of the rotating bracket or the first end of the curved thigh is fixed to the body of the third servo, and the other is fixed to the output shaft of the third servo. Further, the body of the third servo is sealed within a third cavity constructed by the rotating bracket or the curved thigh. Knee-like joints and ankle-like joints are still provided between the curved thigh and the curved lower leg, and between the curved lower leg and the curved foot. In this structural form, the rotating bracket and the curved thigh can rotate relative to each other, allowing the deformable wheel leg to have a higher obstacle-crossing height, and the hip-like joint structure is simplified and the action response is faster, making it suitable for scenarios that require frequent leg lifting to cross obstacles but do not require lateral twisting.

[0078] Apart from the differences mentioned above, the other structural features of the deformable wheel legs in this embodiment are the same as those in Embodiment 1, and will not be repeated here.

[0079] Example 5

[0080] like Figure 14 , Figure 15 As shown, this embodiment of the invention provides a robot comprising several sets of deformable wheel legs as described in any of the above embodiments. The robot also includes a frame, a power supply, a control unit, and a wheel-leg connection mechanism. The wheel-leg connection mechanism includes a main servo motor, a coupling, a drive shaft, an electric slip ring, a bearing assembly, and a wheel flange.

[0081] As the drive source for the deformable wheel legs, the main servo motor is bolted to the frame. One end of the drive shaft is connected to the output shaft of the main servo motor via a coupling, and the other end is fixedly connected to the inner end of the rotating bracket of the deformable wheel leg via a wheel flange, thereby transmitting the torque of the main servo motor to the deformable wheel leg. The bearing assembly is sleeved on the surface of the drive shaft and fixedly connected to the frame via a first bracket to stably support the drive shaft. The slip ring includes an inner ring and an outer ring that rotate and fit together. The inner ring is fixedly sleeved on the surface of the drive shaft and rotates with the drive shaft, while the outer ring is fixed to the frame via a second bracket. The slip ring is used to realize the current transmission and signal transmission between the deformable wheel leg and the control unit, effectively preventing wire tangling.

[0082] The main servo motor receives movement commands and drives the entire deformable wheel leg to rotate via the drive shaft, providing it with forward and backward power. The control unit on the frame sends commands to the servo motors in each deformable wheel leg via electric slip rings, actively controlling each deformable wheel leg to switch modes, turn, swing, or fine-tune its posture, enabling the robot to move efficiently, stably, and adaptively in various environments.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the patent scope of the present invention. Any technically equivalent modifications made based on the content of this specification shall fall within the protection scope of the present invention.

Claims

1. A deformable wheel leg, characterized in that: Including wheel spokes and rims; The spokes include a rotating bracket and a hip joint-like joint; the rotating bracket extends along the radial direction of the rim; the hip joint-like joint includes a twisting leg drive and a swinging leg drive for outputting rotational motion; the twisting leg drive is connected to the outer end of the rotating bracket, and its output shaft extends radially along the rim; the swinging leg drive is connected to the output shaft of the twisting leg drive, and its output shaft is perpendicular to the output shaft of the twisting leg drive. The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the output shaft of the leg swing drive, and its second end is hinged to the first end of the arc-shaped calf through the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot through the ankle-like joint; the knee-like and ankle-like joints output rotational motion, enabling the arc-shaped thigh and arc-shaped calf, and the arc-shaped calf and arc-shaped foot to rotate relative to each other within the plane of the wheel rim; The curved thigh, curved calf, and curved foot have the same radius of curvature and are mutually inwardly curved until the second end of the curved foot abuts against the first end of the curved thigh, thus forming a ring centered on the inner end of the rotating bracket.

2. The deformable wheel leg according to claim 1, characterized in that: The hip joint also includes a hip joint support; the hip joint support is disposed adjacent to the outer end of the rotating support along the diameter direction of the rim; The leg twisting drive is fixed inside the rotating bracket, and its output shaft extends into the hip joint bracket; the leg swing drive is fixed inside the hip joint bracket, and its output shaft passes through the hip joint bracket to connect with the curved thigh.

3. A deformable wheel leg, characterized in that: Including wheel spokes and rims; The spokes include a rotating bracket and a hip-like joint; the rotating bracket extends along the radial direction of the rim; the hip-like joint includes a leg-twisting drive for outputting rotational motion; the leg-twisting drive is connected to the outer end of the rotating bracket, and its output shaft extends radially along the rim. The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the output shaft of the leg-twisting drive, and its second end is hinged to the first end of the arc-shaped calf through the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot through the ankle-like joint; the knee-like and ankle-like joints output rotational motion, enabling the arc-shaped thigh and arc-shaped calf, and the arc-shaped calf and arc-shaped foot to rotate relative to each other within the plane of the wheel rim; The curved thigh, curved calf, and curved foot have the same radius of curvature, so that they converge towards each other until the second end of the curved foot abuts against the first end of the curved thigh, and together they are on a circle centered on the inner end of the swing leg.

4. A deformable wheel leg, characterized in that: Including wheel spokes and rims; The spokes include a rotating bracket and a hip-like joint; the rotating bracket extends along the radial direction of the rim; the hip-like joint includes a swinging leg drive for outputting rotational motion; the swinging leg drive is connected to the outer end of the rotating bracket, and its output shaft is perpendicular to the extension axis of the rotating bracket. The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the output shaft of the leg swing drive, and its second end is hinged to the first end of the arc-shaped calf through the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot through the ankle-like joint; the knee-like and ankle-like joints output rotational motion, enabling the arc-shaped thigh and arc-shaped calf, and the arc-shaped calf and arc-shaped foot to rotate relative to each other within the plane of the wheel rim; The curved thigh, curved calf, and curved foot have the same radius of curvature, so that they converge towards each other until the second end of the curved foot abuts against the first end of the curved thigh, and together they are on a circle centered on the inner end of the rotating bracket.

5. A deformable wheel leg, characterized in that: Including wheel spokes and rims; The spokes include a rotating bracket and a hip-like joint; the rotating bracket extends along the radial direction of the rim and has opposing inner and outer ends; The wheel rim includes several arc-shaped components and knee-like and ankle-like joints; the arc-shaped components include an arc-shaped thigh, an arc-shaped calf, and an arc-shaped foot; the arc-shaped thigh, arc-shaped calf, and arc-shaped foot each have a first end and a second end in their respective extending directions; the first end of the arc-shaped thigh is connected to the outer end of the rotating bracket via the hip-like joint, and its second end is hinged to the first end of the arc-shaped calf via the knee-like joint, and the second end of the arc-shaped calf is hinged to the first end of the arc-shaped foot via the ankle-like joint; the hip-like, knee-like, and ankle-like joints output rotational motion, enabling the rotating bracket and the arc-shaped thigh, the arc-shaped thigh and the arc-shaped calf, and the arc-shaped calf and the arc-shaped foot to rotate relative to each other within the plane of the wheel rim; The curved thigh, curved calf, and curved foot have the same radius of curvature, so that they converge towards each other until the second end of the curved foot abuts against the first end of the curved thigh, and together they are on a circle centered on the inner end of the rotating bracket.

6. A deformable wheel leg according to any one of claims 1 to 5, characterized in that: The knee-like joint includes a first servo motor, and the ankle-like joint includes a second servo motor; the first servo motor and the second servo motor include a body and an output shaft perpendicular to the plane of the wheel rim. The second end of the curved thigh and the first end of the curved calf are either fixed to the body of the first servo motor, and the other end is fixed to the output shaft of the first servo motor; the second end of the curved calf and the first end of the curved foot are either fixed to the body of the second servo motor, and the other end is fixed to the output shaft of the second servo motor.

7. A deformable wheel leg according to claim 6, characterized in that: The body of the first servo motor is sealed and installed in a first cavity constructed from the second end of the arc-shaped thigh or the first end of the arc-shaped calf; the body of the second servo motor is sealed and installed in a second cavity constructed from the second end of the arc-shaped calf or the first end of the arc-shaped foot.

8. A deformable wheel leg according to claim 6, characterized in that: The knee-like joint further includes a first connector; the output shaft of the first servo motor is connected to the arc-shaped component via the first connector; the ankle-like joint further includes a second connector; the output shaft of the second servo motor is connected to the arc-shaped component via the second connector.

9. A robot, characterized in that: Includes several groups of deformable wheel legs as described in any one of claims 1 to 8.

10. A robot according to claim 9, characterized in that: It also includes the chassis, main steering gear, coupling, drive shaft, slip rings, bearing assemblies, and wheel flanges; The main servo motor is fixed to the frame; one end of the drive shaft is connected to the output shaft of the main servo motor via a coupling, and the other end is connected to the inner end of the rotating bracket via the wheel flange; the slip ring includes an inner ring and an outer ring that rotate and fit together, with the inner ring fixedly fitted on the surface of the drive shaft and the outer ring fixed to the frame via the bracket; the bearing assembly is fitted on the surface of the drive shaft and fixedly connected to the frame.

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