A quadruped robot wheel-foot and foot type configuration quick switching device and a switching method thereof

Abstract

The present application relates to the technical field of robots, in particular to a four-legged robot wheel-foot and foot type configuration quick switching device and a switching method thereof, wherein the robot comprises a robot body, and is provided with a plurality of wheel-foot mechanisms; the wheel-foot mechanism comprises a thigh part connected with the robot body, a shank upper part connected with the thigh part, and a shank lower part connected with the shank upper part; the shank upper part is provided with a first end plate, the first end plate is provided with a first connecting seat, the first connecting seat is provided with a first electrical connector, and the first electrical connector is used for electrical connection with a walking wheel of the shank lower part. The present application can realize quick replacement of the shank lower part between a pure foot type module and a wheel type module, avoid long-term increase of the weight and structural complexity of the leg end of the fixed wheel-foot structure, and balance the complex terrain passing capacity and the flat terrain moving efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a device and method for rapidly switching between wheeled and legged configurations of a quadruped robot. Background Technology

[0002] Quadruped robots possess strong adaptability to complex terrain, enabling them to walk in challenging environments such as mountains, gravel, mud, steps, and obstacles. However, in relatively flat environments like roads, factories, and stations, pure legged locomotion suffers from low speed and high energy consumption. Wheeled robots, by incorporating wheels at the ends of their legs, can improve movement speed and efficiency on flat surfaces. However, fixed wheeled leg structures increase the weight and structural complexity of the leg ends and may affect the robot's ability to perform pure legged locomotion in complex terrain.

[0003] In existing technologies, the following solutions are mainly used to enable quadruped robots to switch between wheel-foot and legless configurations. First, a fixed wheel-foot structure is used, integrating both the wheel and supporting foot at the foot end. However, this results in increased weight at the leg end due to the robot carrying the wheel for extended periods, and the wheel may interfere with foot movement in complex terrain. Second, a wheel-foot deformation mechanism is used, employing linkages, gears, and other mechanisms to deform the foot between wheel and leg configurations. However, this deformation mechanism is complex, with many parts, increasing the weight of the robot's legs and the difficulty of maintenance.

[0004] Therefore, a technical solution is needed to address the technical problems of fixed wheel-foot structures in existing technologies, which increase the weight of the robot's leg end, increase structural complexity and affect pure foot movement capabilities, as well as the complex structure, numerous parts and inconvenient maintenance of wheel-foot deformation mechanisms. Summary of the Invention

[0005] The purpose of this invention is to overcome the technical problems in the prior art, such as the increase in weight and structural complexity of the robot's leg end due to the fixed wheel-foot structure, which affects the pure foot movement ability, as well as the complex structure, many parts, and inconvenient maintenance of the wheel-foot deformation mechanism. The invention provides a device and method for quickly switching between wheel-foot and foot configurations of a quadruped robot.

[0006] In a first aspect, the present invention provides a device for rapidly switching between wheeled and legged configurations of a quadruped robot, comprising:

[0007] The robot body is equipped with several wheel-like leg mechanisms;

[0008] The wheel-leg mechanism includes a thigh connected to the robot body, the thigh being connected to an upper part of the lower leg, and the upper part of the lower leg being connected to a lower part of the lower leg;

[0009] A first end plate is provided on the upper part of the lower leg. A first connecting seat is provided on the first end plate. A first electrical connector is provided on the first connecting seat. The first electrical connector is used to electrically connect with the walking wheel at the lower part of the lower leg.

[0010] The lower part of the lower leg is provided with a second end plate, and the second end plate is provided with a second connecting seat, which is used to detachably connect with the first connecting seat.

[0011] This invention features a detachable lower leg at the end of the wheel-leg mechanism. A first end plate with a first electrical connector and a first connecting seat is located on the upper part of the lower leg, while a second end plate with a second connecting seat is located on the lower part. This allows the lower leg to be replaced with either a pure-leg module or a wheeled module depending on the task environment. When the lower leg is a pure-leg module, the second connecting seat is mechanically connected to the first connecting seat, allowing the robot to walk in a pure-leg configuration, adapting to complex terrains such as mountains, gravel, and mud. When the lower leg is a wheeled module, the second connecting seat is mechanically connected to the first connecting seat, while the first electrical connector interfaces with the electrical interface of the walking wheel, providing power and control signals to the walking wheel. The robot then moves in a wheel-leg configuration, adapting to flat terrains such as roads, factories, and stations.

[0012] Preferably, the lower part of the lower leg is a wheel assembly or a foot assembly, and the second connecting seat of the wheel assembly is provided with a second electrical connector, which is used for detachable connection with the first electrical connector.

[0013] By specifying that the lower part of the lower leg can be either a wheel-type component or a foot-type component, the upper interface of the lower leg can be compatible with both functional modules. The wheel-type component is detachably connected to the first electrical connector via a second electrical connector, establishing an electrical connection while maintaining a mechanical connection, providing power to the walking wheels and transmitting control signals. The foot-type component only requires a mechanical connection and does not require an electrical connection, thereby simplifying the pure foot configuration structure, reducing cost and weight, and enabling quick interchange between the two configurations.

[0014] Preferably, the first connector is provided with an annular insert plate at its end, and the second connector is provided with a groove adapted to the annular insert plate. The first connector and the second connector are nested together by the annular insert plate and the groove.

[0015] By using the nested fit of the annular insert plate and the groove, the first connecting seat and the second connecting seat can be quickly aligned and inserted, improving the coaxiality and shear resistance of the connection parts, enhancing the connection rigidity and positioning accuracy, thereby improving the replacement efficiency and connection reliability.

[0016] Preferably, it further includes a clamp, which is arranged around the first connecting seat and the second connecting seat to tighten the first connecting seat and the second connecting seat relative to each other.

[0017] By wrapping the first and second connecting seats with a clamp and applying tension, the two are pressed together axially to prevent the connection from loosening or separating, thus improving the firmness and stability of the mechanical connection. At the same time, the clamp is detachable, which facilitates quick unlocking and locking, taking into account both connection reliability and ease of replacement.

[0018] Preferably, the first connecting seat is provided with a first annular limiting plate, and a first slot is formed between the first annular limiting plate and the first end plate. The second connecting seat is provided with a second annular limiting plate, and a second slot is formed between the second annular limiting plate and the second end plate. The inner walls of the clamp are respectively embedded into the first slot and the second slot.

[0019] The first and second slots engage with the two sides of the inner wall of the clamp, thereby limiting the clamp in the axial direction of the first and second connecting seats, preventing the clamp from slipping out axially, ensuring effective transmission of clamp tension, improving locking reliability, and facilitating clamp installation and positioning, thus simplifying the assembly process.

[0020] Preferably, the clamp includes a first half-clamp and a second half-clamp, which are detachably connected by screws.

[0021] The clamps are detachably connected by two half-hoops with screws, which makes them easy to open and close. The operation is simple and can be completed without special tools, improving on-site installation efficiency and facilitating later maintenance and replacement.

[0022] Preferably, the inner wall of the clamp is provided with a groove, and an embedding block is formed on both sides of the inner wall of the clamp, and the two embedding blocks are respectively embedded into the first slot and the second slot.

[0023] By setting grooves in the inner wall of the clamp, embedding blocks are naturally formed on both sides. The embedding blocks are respectively engaged in the first slot and the second slot, thereby achieving axial limiting and tightening of the clamp on the two connecting seats. The structure is compact and easy to process, and it can effectively prevent the clamp from moving axially after being subjected to force, thus improving the locking reliability.

[0024] Preferably, the first annular limiting plate has a first inclined surface on the side near the first end plate, and the first inclined surface gradually rises along the direction from the first end plate to the first annular limiting plate. The second annular limiting plate has a second inclined surface on the side near the second end plate, and the second inclined surface gradually rises along the direction from the second end plate to the second annular limiting plate. The groove has a fitting surface on both sides that is adapted to the first inclined surface and the second inclined surface.

[0025] By wedging the inclined surface with the mating surface, an axial force is generated when the clamp is tightened, causing the first and second connecting seats to automatically come into contact, forming a self-locking or wedging effect. This helps to eliminate the mating gap and improve positioning accuracy and sealing performance. In addition, since the clamp applies a radial tightening force from the periphery of the first and second connecting seats towards the center, this radial force is converted into an axial tightening force along the calf axis through the first and second inclined surfaces. This tightens the first and second connecting seats together, eliminating the need for additional axial locking structures such as tightening bolts, connecting plates, or tie rods around the calf along the calf axis. This avoids interference between the axial tightening structure and other components around the calf, simplifies the overall structure of the connection part, and reduces its size and weight.

[0026] Preferably, it further includes a sealing ring, which is disposed between the first annular limiting plate and the second annular limiting plate.

[0027] By setting a sealing ring between the first and second annular limiting plates, a sealed protection is formed for the connection part, preventing dust, moisture, mud and sand from entering the electrical joints and mechanical mating surfaces, improving the protection level and reliability of the connection part, enabling the robot to adapt to complex outdoor environments and extending the maintenance cycle.

[0028] In a second aspect, the present invention also provides a method for switching between wheeled and legged configurations of a quadruped robot using a rapid switching device, comprising the following steps:

[0029] S1, acquire robot body state information and task environment information. The robot body state information includes robot pose, joint state and foot state. The task environment information includes obstacle height, position and size information.

[0030] S2, control the robot to stop moving, adjust the robot's posture, and put each leg end in an operable position;

[0031] S3, pull the currently installed lower part of the lower leg out of the upper part of the thigh;

[0032] S4, align the lower part of the target calf with the upper part of the calf, insert and position;

[0033] S5, to fix the lower part of the target lower leg to the upper part of the lower leg;

[0034] S6, sequentially replace the lower part of the other legs' lower legs to form the target configuration, and resume movement after the robot's status is checked to be normal.

[0035] The switching method described in this invention acquires robot body state information and task environment information through S1. Based on the robot's pose, joint state, foot state, and information such as obstacle height, position, and size, it can determine whether the current terrain is suitable for a wheel-foot configuration or a pure-foot configuration, thereby deciding whether to perform a configuration switch. Through S2, it controls the robot to stop moving and adjust its posture, so that the ends of each leg are in an operable position, ensuring the safety and operability of the replacement process. Through S3, it pulls out the lower part of the currently installed lower leg from the upper part of the lower leg, realizing the rapid disassembly of the old foot end module. Through S4, it aligns the lower part of the target lower leg with the upper part of the lower leg, inserts and positions it, realizing the rapid centering and installation of the new foot end module. Through S5, it fixes the lower part of the target lower leg to the upper part of the lower leg, ensuring a reliable connection. Through S6, it sequentially replaces the lower parts of the lower legs of the other legs to form the target configuration, and resumes movement after detecting that the robot's state is normal, thereby completing the rapid switch between a wheel-foot configuration and a pure-foot configuration. This method is simple to operate, highly efficient in changing equipment, requires no complicated tools, can flexibly select the configuration according to the task environment, takes into account the ability to pass through complex terrain and the efficiency of moving on flat terrain, and has reliable connection, thus improving the robot's adaptability to different terrains.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] 1. By setting the lower part of the lower leg of the wheel-foot mechanism to be detachably connected to the first connecting seat on the first end plate of the upper part of the lower leg via the second connecting seat on the second end plate, the lower part of the lower leg can be quickly replaced between the pure foot module and the wheel module, avoiding the long-term increase of the weight and structural complexity of the leg end in the fixed wheel-foot structure, and taking into account the ability to pass through complex terrain and the movement efficiency on flat terrain.

[0038] 2. By setting a first end plate on the upper part of the lower leg and a second end plate on the lower part of the lower leg, and setting the first connecting seat and the second connecting seat on the first end plate and the second end plate respectively, the present invention can achieve stable installation and reliable positioning of the connecting seat, making the maintenance and replacement of the foot module simple, and overcoming the defects of complex structure, many parts and inconvenient maintenance of the wheel foot deformation mechanism.

[0039] 3. By setting a first electrical connector on the first connecting seat and using the first electrical connector to electrically connect with the walking wheel at the lower part of the lower leg, the present invention can establish an electrical connection while the wheel module is mechanically connected to the upper part of the lower leg, so as to provide power to the walking wheel and transmit control signals without the need for additional independent plugging and unplugging of cables, thereby improving the efficiency of wheel configuration switching and the reliability of electrical connection. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the wheel structure of the present invention;

[0041] Figure 2 This is a schematic diagram of the foot-type structure of the present invention;

[0042] Figure 3 yes Figure 1 Schematic diagram of the connection structure between the upper part of the middle and lower leg and the lower leg;

[0043] Figure 4 yes Figure 3 A schematic diagram of the structure of the upper part of the lower leg;

[0044] Figure 5 yes Figure 4 Enlarged view of area A in the middle;

[0045] Figure 6 yes Figure 3 A schematic diagram of the structure of the lower part of the calf;

[0046] Figure 7 yes Figure 6 Enlarged view of area B in the middle;

[0047] Figure 8 yes Figure 3 Schematic diagram of the structure of the central clamp;

[0048] Figure 9 yes Figure 2 Schematic diagram of the connection structure between the upper part of the middle and lower leg and the lower leg;

[0049] Figure 10 This is a flowchart illustrating the switching method of the present invention.

[0050] Marked in the image:

[0051] 1-Robot body, 2-Wheel-leg mechanism, 21-Thigh, 22-Upper lower leg, 221-First end plate, 23-Lower lower leg, 231-Second end plate, 3-First connecting seat, 31-Annular insert plate, 32-First annular limiting plate, 321-First inclined surface, 4-Second connecting seat, 41-Groove, 42-Second annular limiting plate, 421-Second inclined surface, 5-First electrical connector, 6-Second electrical connector, 7-Clamp, 71-First half clamp, 72-Second half clamp, 73-Screw, 701-Groove, 702-Embedding block, 8-Sealing ring. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0053] Example 1

[0054] like Figure 1 and Figure 2As shown, the quadruped robot wheel-foot and foot configuration quick switching device described in this embodiment includes a robot body 1, on which several wheel-foot mechanisms 2 are provided. In this embodiment, there are four wheel-foot mechanisms 2, respectively located on the front and rear sides of the robot body 1, forming a quadruped support structure. Each wheel-foot mechanism 2 includes a thigh 21 connected to the robot body 1, with the lower end of the thigh 21 connected to an upper lower leg 22, and the lower end of the upper lower leg 22 connected to a lower lower leg 23. The lower lower leg 23 can be replaced with a wheel component or a foot component depending on the task environment. The wheel component is a foot module with walking wheels, and the foot component is a foot module with foot pads. When the lower lower leg 23 is a wheel component, the robot can move by being driven by the walking wheels; when the lower lower leg 23 is a foot component, the robot can walk by the movement of the foot module driven by the movement of the thigh 21.

[0055] like Figures 3 to 7 As shown, the lower end of the upper part 22 of the lower leg is provided with a first end plate 221, and a first connecting seat 3 is provided on the first end plate 221. The inner cavity of the first connecting seat 3 is provided with a first electrical connector 5, which is a male connector, and is used for electrical connection with the walking wheel of the lower part 23 of the lower leg. The upper end of the lower part 23 of the lower leg is provided with a second end plate 231, and a second connecting seat 4 is provided on the second end plate 231. The second connecting seat 4 is used for detachable connection with the first connecting seat 3.

[0056] like Figures 3 to 7 As shown, when the lower leg 23 is a wheel assembly, the inner cavity of the second connecting seat 4 of the wheel assembly is provided with a second electrical connector 6, which is a female connector. The end of the first connecting seat 3 is provided with an annular insert plate 31, and the second connecting seat 4 is provided with a groove 41 that fits the annular insert plate 31. The annular insert plate 31 is inserted into the groove 41 to realize the nested connection between the first connecting seat 3 and the second connecting seat 4. At the same time, the second electrical connector 6 is detachably connected to the first electrical connector 5. When the lower leg 23 is a foot assembly, the second connecting seat 4 is only mechanically connected to the first connecting seat 3 and does not require an electrical connection.

[0057] like Figure 8 As shown, in one or more embodiments, the quadruped robot wheel-foot and leg configuration quick switching device of this embodiment further includes a clamp 7, which is arranged around the first connecting seat 3 and the second connecting seat 4 to tighten the first connecting seat 3 and the second connecting seat 4 relative to each other.

[0058] like Figure 8As shown, in an optional embodiment, the clamp 7 includes a first half-clamp 71 and a second half-clamp 72, which are detachably connected by screws 73. When locking is required, the first half-clamp 71 and the second half-clamp 72 are closed and the screws 73 are tightened, so that the clamp 7 applies a radial tightening force to the first connecting seat 3 and the second connecting seat 4; when unlocking is required, the screws 73 are loosened and the clamp 7 is removed.

[0059] like Figure 5 , Figure 7 and Figure 8 As shown, in an optional embodiment, a first annular limiting plate 32 can be provided on the first connecting seat 3, and a first slot is formed between the first annular limiting plate 32 and the first end plate 221. A second annular limiting plate 42 is provided on the second connecting seat 4, and a second slot is formed between the second annular limiting plate 42 and the second end plate 231. A groove 701 is provided on the inner wall of the clamp 7, and an insert block 702 is formed on both sides of the inner wall of the clamp 7. The two insert blocks 702 are respectively inserted into the first slot and the second slot, thereby axially limiting the clamp 7, preventing the clamp 7 from axially slipping out, and ensuring that the tension force of the clamp 7 is effectively transmitted.

[0060] like Figure 5 , Figure 7 and Figure 8 As shown, in an optional embodiment, the side of the first annular limiting plate 32 near the first end plate 221 can be configured as a first inclined surface 321, which gradually rises along the direction from the first end plate 221 to the first annular limiting plate 32. Simultaneously, the side of the second annular limiting plate 42 near the second end plate 231 can be configured as a second inclined surface 421, which gradually rises along the direction from the second end plate 231 to the second annular limiting plate 42. The two sides of the groove 701 are respectively configured as mating surfaces adapted to the first inclined surface 321 and the second inclined surface 421. When the clamp 7 closes and the screw 73 is tightened, the clamp 7 applies a radial tightening force from around the first connecting seat 3 and the second connecting seat 4 towards the center. This radial tightening force is converted into an axial tension force along the calf axis direction via the first inclined surface 321 and the second inclined surface 421, causing the first connecting seat 3 and the second connecting seat 4 to tighten together, forming a wedging or self-locking effect. Moreover, since the clamp 7 applies force from the periphery to the center, there is no need to set additional axial locking structures such as tension bolts, connecting plates or tie rods on the periphery of the lower leg along the lower leg axis. This avoids interference between the axial tensioning structure and other components around the lower leg, simplifies the overall structure of the connection part, and reduces the volume and weight.

[0061] like Figure 3 and Figure 9As shown, in an optional embodiment, a sealing ring 8 can be provided between the first annular limiting plate 32 and the second annular limiting plate 42. The first connecting seat 3 and the second connecting seat 4 are tightened relative to each other by the clamp 7, thereby forming a sealed protection for the connection part, preventing dust, moisture, mud and sand from entering the electrical joint and mechanical mating surface, improving the protection level and reliability of the connection part, enabling the robot to adapt to complex outdoor environments, and extending the maintenance cycle.

[0062] When switching from a pure foot configuration to a wheel-foot configuration, unlock and remove the clamp 7, and pull the lower leg 23 of the foot assembly out from the upper leg 22; align the lower leg 23 of the wheel assembly with the upper leg 22, inserting the annular insert 31 into the groove 41, and simultaneously align the second electrical connector 6 with the first electrical connector 5; close the clamp 7 and tighten the screw 73, causing the first connecting seat 3 and the second connecting seat 4 to be pulled together and locked by the inclined surface and the mating surface, completing the wheel-foot configuration switch. The reverse operation switches from a wheel-foot configuration to a pure foot configuration.

[0063] Example 2

[0064] like Figures 1-10 As shown, this embodiment provides a switching method for the rapid switching device between wheeled and legged configurations of the quadruped robot described in Embodiment 1 above. The method includes the following steps:

[0065] S1: Acquire robot and environmental information

[0066] The system acquires the state information of the quadruped robot body 1 and the task environment information. The robot body 1 state information includes the robot's pose, the state of each joint, and the state of each foot. The task environment information includes the height, position, and size of obstacles. By acquiring this information, the system determines whether the current terrain is suitable for a wheel-legged or purely legged configuration and whether a configuration switch is necessary.

[0067] S2: Stop moving and enter the changing preparation state.

[0068] The robot is controlled to stop moving, and its posture is adjusted to ensure that the ends of each leg are in an operable position, while ensuring the safety of the robot and its surrounding environment. Specifically, the robot can be adjusted to a standing or crouching posture, exposing the connection between the upper part 22 and the lower part 23 of the lower leg in an easily operable position, facilitating unlocking and disassembly operations by operators or external garment changing devices.

[0069] S3: Unlock and remove the current foot module

[0070] Operate the unlocking structure of the quick-connect mechanism to release the locking state and quickly pull the currently installed foot module out of the robot's leg end interface. Specifically, when using the clamp 7 structure in Embodiment 1, loosen the screw 73 between the first half clamp 71 and the second half clamp 72, remove the clamp 7, and release the first connecting seat 3 from the second connecting seat 4; then pull the currently installed lower leg 23 (foot assembly or wheel assembly) out of the upper leg 22 of the thigh 21, so that the annular insert 31 disengages from the groove 41; if it is a wheel assembly, simultaneously disconnect the second electrical connector 6 from the first electrical connector 5 to de-energize it.

[0071] S4: Install the target foot module

[0072] Align the target foot module with the leg end interface, insert it into the interface, and achieve rapid positioning. Specifically, if the target foot module is a wheel assembly, align the second connecting seat 4 of the wheel assembly with the first connecting seat 3 of the upper part 22 of the lower leg, insert the annular insert 31 into the groove 41, achieve rapid centering and positioning, and simultaneously mate the second electrical connector 6 with the first electrical connector 5; if the target foot module is a foot assembly, align the second connecting seat 4 of the foot assembly with the first connecting seat 3, insert the annular insert 31 into the groove 41, and no electrical connection is required.

[0073] S5: Lock and confirm fixation

[0074] The locking structure of the quick-connect mechanism is operated to reliably fix the target foot module to the leg end interface and confirm that the locking is in place. Specifically, the clamp 7 is arranged around the first connecting seat 3 and the second connecting seat 4, so that the embedding blocks 702 on both sides of the inner wall of the clamp 7 are respectively embedded in the first slot and the second slot. The first half clamp 71 and the second half clamp 72 are closed and the screw 73 is tightened. During the tightening process, the clamp 7 applies a radial tightening force from the periphery to the center. This radial force is converted into an axial tension force through the first inclined surface 321 and the second inclined surface 421, so that the first connecting seat 3 and the second connecting seat 4 are pulled together and form a wedging or self-locking effect. After the locking is in place, the locking status can be confirmed by visual observation, tactile perception or electrical signals.

[0075] S6: Complete configuration switch and resume operation

[0076] The foot modules of all four legs are replaced sequentially to form the target configuration. When all four legs are equipped with wheel components, the robot has a wheel-foot configuration; when all four legs are equipped with foot components, the robot has a pure-foot configuration. Movement resumes after the robot's status is checked to be normal. Specifically, in the wheel-foot configuration, power is supplied to the hub motors inside the wheels via the first electrical connector 5 and the second electrical connector 6, transmitting control signals to drive the robot to move on flat ground using wheels; in the pure-foot configuration, the robot walks on pure feet, adapting to complex terrain.

[0077] When it is necessary to switch from a wheel-foot configuration to a footless configuration, simply follow the steps S1 to S6 above. That is, unlock and remove the wheel assembly, install the foot assembly, lock and confirm that it is fixed, thereby completing the switch from a wheel-foot configuration to a footless configuration.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0079] As described above, the present invention can be well implemented.

Claims

1. A device for rapidly switching between wheeled and legged configurations of a quadruped robot, characterized in that, include: The robot body (1) is equipped with several wheel-foot mechanisms (2); The wheel-foot mechanism (2) includes a thigh (21) connected to the robot body (1), the thigh (21) being connected to the upper part of the lower leg (22), and the upper part of the lower leg (22) being connected to the lower part of the lower leg (23). The upper part of the lower leg (22) is provided with a first end plate (221), the first end plate (221) is provided with a first connecting seat (3), the first connecting seat (3) is provided with a first electrical connector (5), and the first electrical connector (5) is used to electrically connect with the walking wheel of the lower part of the lower leg (23); The lower part (23) of the lower leg is provided with a second end plate (231), and a second connecting seat (4) is provided on the second end plate (231). The second connecting seat (4) is used to detachably connect with the first connecting seat (3).

2. The device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 1, characterized in that, The lower part (23) of the lower leg is a wheel assembly or a foot assembly. The second connecting seat (4) of the wheel assembly is provided with a second electrical connector (6), which is used to detachably connect with the first electrical connector (5).

3. The device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 1, characterized in that, The first connecting seat (3) has an annular insert plate (31) at its end, and the second connecting seat (4) has a groove (41) adapted to the annular insert plate (31). The first connecting seat (3) and the second connecting seat (4) are nested together by the annular insert plate (31) and the groove (41).

4. The device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 3, characterized in that, It also includes a clamp (7), which is arranged around the first connecting seat (3) and the second connecting seat (4) to tighten the first connecting seat (3) and the second connecting seat (4) relative to each other.

5. The device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 4, characterized in that, The first connecting seat (3) is provided with a first annular limiting plate (32), and a first slot is formed between the first annular limiting plate (32) and the first end plate (221). The second connecting seat (4) is provided with a second annular limiting plate (42), and a second slot is formed between the second annular limiting plate (42) and the second end plate (231). The inner walls of the clamp (7) are respectively embedded into the first slot and the second slot.

6. The device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 5, characterized in that, The clamp (7) includes a first half clamp (71) and a second half clamp (72), which are detachably connected by screws (73).

7. A device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 6, characterized in that, The inner wall of the clamp (7) is provided with a groove (701), and an embedding block (702) is formed on both sides of the inner wall of the clamp (7). The two embedding blocks (702) are respectively embedded into the first slot and the second slot.

8. A device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 7, characterized in that, The first annular limiting plate (32) has a first inclined surface (321) on the side near the first end plate (221). The first inclined surface (321) gradually rises along the direction from the first end plate (221) to the first annular limiting plate (32). The second annular limiting plate (42) has a second inclined surface (421) on the side near the second end plate (231). The second inclined surface (421) gradually rises along the direction from the second end plate (231) to the second annular limiting plate (42). The groove (701) has a fitting surface on both sides that is adapted to the first inclined surface (321) and the second inclined surface (421).

9. A device for rapid switching between wheeled and legged configurations of a quadruped robot according to claim 8, characterized in that, It also includes a sealing ring (8), which is disposed between the first annular limiting plate (32) and the second annular limiting plate (42).

10. The switching method of the rapid switching device for wheeled and legged configurations of a quadruped robot according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1, obtain the robot body (1) status information and task environment information. The robot body (1) status information includes robot pose, joint status and foot status. The task environment information includes obstacle height, position and size information. S2, control the robot to stop moving, adjust the robot's posture, and put each leg end in an operable position; S3, pull the currently installed lower part of the lower leg (23) out from the upper part of the lower leg (22) of the thigh (21); S4, align the lower part of the target calf (23) with the upper part of the calf (22), insert and position; S5, fix the lower part (23) of the target lower leg to the upper part (22); S6, the lower part (23) of the other legs is replaced in sequence to form the target configuration. After the robot's status is checked to be normal, the robot resumes movement.

Images