Wheel-foot robot

Abstract

The utility model discloses a wheel-foot robot, which relates to the technical field of robots and comprises a body, two support leg components, a driving device and a rolling part. The two supporting leg assemblies are oppositely arranged on the two sides of the body in the preset direction. The driving device is mounted on the body and is in driving connection with the supporting leg assembly; the rolling piece is rotatably installed at the end, away from the body, of the supporting leg assembly, is provided with an inner driving device and can automatically rotate through the inner driving device; according to the technical scheme, the body, the two supporting leg assemblies, the driving device and the rolling piece are arranged in the wheel-foot robot; according to the wheel-foot robot, the three modular structures of the body, the supporting leg assemblies and the rolling pieces are formed, the wheel-foot robot can be rapidly formed only by splicing and assembling the modules, and each module can be maintained and upgraded; therefore, the production process of the wheel-foot robot is simplified, and the production difficulty of the wheel-foot robot is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a wheeled legged robot. Background Technology

[0002] A robot is a machine device that automatically performs tasks according to instructions. It can be commanded by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence technology. It can assist or replace humans in some tasks, such as manufacturing and production. For jobs with a high risk factor, the role of robots is even more prominent. Currently, robots can be broadly divided into two types of locomotion: legged and wheeled. Wheeled robots have advantages such as ease of control, high speed, and strong stability, but they can only work on relatively flat surfaces and struggle with steep slopes or obstacles. Legged robots, on the other hand, can traverse and climb various obstacles. As long as the terrain has support points, they can adapt to almost any complex terrain, exhibiting greater flexibility and adaptability. However, they typically require a significant amount of time to execute these complex movements and are slower when moving on flat surfaces. In existing technologies, wheeled robots possessing both core capabilities have relatively complex structures, require numerous drive motors, and suffer from insufficient system integration, resulting in complex structures and high manufacturing difficulties. Utility Model Content

[0003] The main purpose of this invention is to propose a wheeled robot that aims to reduce the difficulty of manufacturing wheeled robots.

[0004] To achieve the above objectives, the present invention proposes a wheeled robot comprising: a body, two leg assemblies, a drive device, and a rolling element; the two leg assemblies are disposed opposite to each other on both sides of the body along a predetermined direction; the drive device is mounted on the body and drives the leg assemblies; the rolling element is rotatably mounted on the end of the leg assembly away from the body, and the rolling element has an internal drive device, enabling the rolling element to rotate autonomously via the internal drive device.

[0005] In one embodiment, the driving device includes two joint actuators disposed opposite to each other on the body along a preset direction, and the two joint actuators respectively drive and connect to the two leg assemblies.

[0006] In one embodiment, the joint actuator includes a housing, a transmission assembly, and a power assembly. The housing has a mounting cavity and a first opening and a second opening communicating with the mounting cavity. The transmission assembly and the power assembly are both disposed in the mounting cavity. The transmission assembly includes a first output member, a second output member, and a third output member, which are respectively driven and connected to the power assembly. The first output member and the second output member are disposed at the first opening, and the rotation axis of the first output member and the rotation axis of the second output member are coincident. The third output member is disposed at the second opening, and the rotation axis of the third output member intersects with the rotation axis of the first output member.

[0007] In one embodiment, the outrigger assembly includes a drive assembly and a driven assembly, the drive assembly being drivenly connected to the joint actuator, the driven assembly being drivenly connected to the drive assembly, and the rolling element being disposed at the end of the driven assembly away from the drive assembly.

[0008] In one embodiment, the driving assembly includes a first driving rod and a second driving rod; one end of the first driving rod is driven and connected to the first output member, and the other end is rotatably connected to the driven assembly; one end of the second driving rod is driven and connected to the second output member, and the other end is rotatably connected to the driven assembly.

[0009] In one embodiment, the driven assembly includes a first driven rod and a second driven rod. The second driven rod has a first connecting portion, a second connecting portion, and a third connecting portion arranged sequentially along its extension direction. One end of the first driven rod is rotatably connected to the end of the first drive rod away from the joint actuator, and the other end is rotatably connected to the first connecting portion. The end of the second drive rod away from the joint actuator is rotatably connected to the second connecting portion, and the rolling element is rotatably mounted on the third connecting portion.

[0010] In one embodiment, the first drive rod and the second drive rod are rotatably connected and form a first rotation fulcrum;

[0011] The first driving rod and the first driven rod are rotatably connected and form a second rotation fulcrum;

[0012] The first driven rod and the second driven rod are rotatably connected and form a third rotation fulcrum;

[0013] The second driving rod and the second driven rod are rotatably connected and form a fourth rotation fulcrum;

[0014] The line connecting the first rotation fulcrum, the second rotation fulcrum, the third rotation fulcrum, and the fourth rotation fulcrum is projected as a quadrilateral along the normal of the leg assembly.

[0015] In one embodiment, the main body includes a power supply and a control component. The main body has a receiving cavity, and the power supply and the control component are disposed in the receiving cavity. The power supply is electrically connected to the control component, and the control component is used to control the drive device to operate in a preset manner.

[0016] In one embodiment, the body has a first fixing part and a second fixing part, the first fixing part and the second fixing part are spaced apart along a preset direction, and the two joint actuators are rotatably connected to the first fixing part and the second fixing part respectively.

[0017] In one embodiment, the internal drive device is signal-connected to a control component, which is also used to control the rolling element to operate in a preset manner.

[0018] The technical solution of this utility model adopts a wheeled robot with a body, two leg components, a drive device, and rolling elements. The drive device is installed on the body and is used to drive the movement of the two leg components. The two leg components are arranged opposite each other on both sides of the body, and the rolling elements are rolled on the end of the leg components away from the body. This makes the wheeled robot form a three-modular structure of body, leg components, and rolling elements. Only the modules need to be spliced ​​and assembled to quickly form a wheeled robot. Each module can be maintained and upgraded separately, thereby simplifying the production process of the wheeled robot and reducing its production difficulty. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of an embodiment of the wheeled robot provided by this utility model;

[0021] Figure 2 An exploded structural diagram of an embodiment of the wheeled robot provided by this utility model;

[0022] Figure 3 This is a schematic diagram of the leg assembly in one embodiment of the wheeled robot provided by this utility model.

[0023] Explanation of icon numbers:

[0024] 100. Wheeled robot; 1. Body; 11. First fixed part; 12. Second fixed part; 2. Leg assembly; 21. Drive assembly; 211. First drive rod; 212. Second drive rod; 22. Driven assembly; 221. First driven rod; 222. Second driven rod; 222a. First connecting part; 222b. Second connecting part; 222c. Third connecting part; 23. First rotation fulcrum; 24. Second rotation fulcrum; 25. Third rotation fulcrum; 26. Fourth rotation fulcrum; 3. Drive device; 31. Joint actuator; 311. Housing; 312. First output component; 313. Third output component; 4. Rolling component.

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0027] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0028] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0029] This utility model proposes a wheeled legged robot 100.

[0030] Please see Figures 1 to 3 In one embodiment of the present invention, the wheeled robot 100 includes: a body 1, two leg assemblies 2, a drive device 3, and a rolling element 4; the two leg assemblies 2 are arranged opposite to each other on both sides of the body 1 along a preset direction; the drive device 3 is installed on the body 1 and drives the leg assemblies 2; the rolling element 4 is rotatably installed on the end of the leg assembly 2 away from the body 1, and the rolling element 4 has an internal drive device, and the rolling element 4 can rotate autonomously through the internal drive device.

[0031] In this embodiment, two support leg assemblies 2 are provided, each driving a drive device 3 connected to the main body 1. The drive device has a waterproof shell, which protects the structural components of the drive device 3. The main body 1 is located on the upper part of the entire wheeled robot 100. When the wheeled robot 100 needs to wade through water, the support leg assemblies 2 can support the main body 1 and suspend it above the water surface at a certain depth, thereby protecting the joint actuator 31 from water damage. The drive device 3 is used to control the movement of the two support leg assemblies 2, allowing them to assume various shapes to simulate human walking movements, thus enabling movement in various working environments. A rolling element 4 is provided at the end of each support leg assembly 2 away from the main body 1. The rolling element 4 can move the wheeled robot 100 by rolling. In some flat ground environments, it is not necessary to drive the two support leg assemblies 2 to bend; simply driving the rolling element 4 is sufficient to move the wheeled robot 100. Furthermore, the rolling motion results in low friction during movement, allowing the wheeled robot 100 to move at a relatively fast speed.

[0032] Furthermore, the drive device 3 includes two ball actuators, each connected to one of the two legs. Each ball actuator has three sets of actuation components, giving it a high degree of freedom. These three sets of actuation components are integrated into a small spherical housing 311, allowing the ball actuator to maintain a high degree of freedom while remaining compact, thus adapting to more sophisticated machinery. Each of the three sets of actuation components has a power component and a first, second, and third output end connected to the power component, providing the ball actuator with three-dimensional power output. This achieves the high degree of freedom of the ball actuator, thereby making the movement of the two leg assemblies 2 more flexible.

[0033] The technical solution of this utility model adopts a wheeled robot 100 with a body 1, two leg components 2, a drive device 3, and a rolling element 4. The drive device 3 is installed on the body 1 and is used to drive the movement of the two leg components 2. The two leg components 2 are arranged opposite to each other on both sides of the body 1. The rolling element 4 is rolled on the end of the leg component 2 away from the body 1. This makes the wheeled robot 100 form a modular structure of three components: body 1, leg components 2, and rolling element 4. Only simple splicing and assembly of the modules is required to quickly form a wheeled robot 100. Each module can be maintained and upgraded separately. This simplifies the production process of the wheeled robot 100 and reduces its production difficulty.

[0034] In one embodiment, the drive device 3 includes two joint actuators 31 disposed opposite to each other on the body 1 along a preset direction. The two joint actuators 31 respectively drive and connect to the two leg assemblies 2. Both joint actuators 31 are spherical in shape to reduce resistance during movement, making their movement smoother and allowing them to drive the leg assemblies 2 more freely. The two mechanical components are controlled by two independent drive devices 3. Through the combination of the independent movements of the two leg assemblies 2, the wheeled robot 100 can output any desired movement and trajectory within a certain range, improving the flexibility and working efficiency of the wheeled robot 100.

[0035] In one embodiment, the joint actuator 31 includes a housing 311, a transmission assembly 312, and a power assembly. The housing 311 has a mounting cavity and a first opening and a second opening communicating with the mounting cavity. The transmission assembly 312 and the power assembly are both disposed in the mounting cavity. The transmission assembly 312 includes a first output member 312, a second output member (not shown), and a third output member 313, which are respectively driven and connected to the power assembly. The first output member 312 and the second output member are disposed at the first opening. The rotation axis of the first output member 312 and the rotation axis of the second output member are coincident. The third output member 313 is disposed at the second opening. The rotation axis of the third output member 313 intersects with the rotation axis of the first output member 312.

[0036] In this embodiment, the centerline of the first opening (not shown in the figure) intersects with the centerline of the second opening (not shown in the figure). The first output component 312 and the second output component are coaxially arranged at the first opening, and the third output component 313 is arranged at the second opening, so that the rotation axis of the third output component 313 intersects perpendicularly with the rotation axis of the first output component 312, thereby facilitating the assembly of the joint actuator 31 onto the body 1. By aligning the rotation axes of the first output component 312 and the second output component, the mathematical model of the joint actuator 31 is simplified, making structural analysis and design easier, thus greatly reducing the computational difficulty of kinematic simulation and motion control. The simplified mathematical model reduces the load on the joint actuator 31, thereby reducing the energy consumption of the leg assembly 2 during movement. The modular assembly of the joint actuator 31 facilitates the assembly and splicing of the robot's structure, thereby improving the production and installation efficiency of the wheeled robot 100.

[0037] In one embodiment, the outrigger assembly 2 includes a drive assembly 21 and a driven assembly 22. The drive assembly 21 is drivenly connected to the joint actuator 31, and the driven assembly 22 is driven through the drive assembly 21. A rolling element 4 is disposed at the end of the driven assembly 22 away from the drive assembly 21. The drive assembly 21 and the joint actuator 31 can rotate relative to each other, and the drive assembly 21 and the driven assembly 22 can also rotate relative to each other. Through the relative movement between the drive assembly 21 and the driven assembly 22, various different angle configurations can be formed between the drive assembly 21 and the driven assembly 22, thereby enabling the outrigger assembly 2 to form different swing postures.

[0038] See Figure 2 , 3 In one embodiment, the drive assembly 21 includes a first drive rod 211 and a second drive rod 212. One end of the first drive rod 211 is driven to the first output member 312, and the other end is rotatably connected to the driven assembly 22. One end of the second drive rod 212 is driven to the second output member, and the other end is rotatably connected to the driven assembly 22. The first drive rod 211 has through holes at both ends for fastener insertion. One through hole is driven to the corresponding output shaft on the joint actuator 31, and the other through hole is rotatably connected to the first transmission assembly 312 through the cooperation of a fastener and the through hole. Similarly, the second drive rod 212 has through holes at both ends for fastener insertion. One through hole is driven to the corresponding output shaft on the joint actuator 31, and the other through hole is rotatably connected to the first transmission assembly 312 through the cooperation of a fastener and the through hole, so that the first and second drive members coaxially arranged on the joint actuator 31 can respectively drive the first drive rod 211 and the second drive rod 212 to rotate.

[0039] Furthermore, the power assembly includes a first motor, the transmission assembly 312 includes a first gear set, the first output component 312 has a first output gear, and the first motor is driven to connect with the first output gear through the first gear set; the power assembly also includes a second motor, the transmission assembly 312 includes a second gear set, the second output component has a second output gear, and the second motor is driven to connect with the second output gear through the second gear set; the power assembly also includes a third motor, the transmission assembly 312 includes a third gear set, the third output component 313 has a third output gear, and the third motor is driven to connect with the third output gear through the third gear set. The drive device 3 independently drives the three output components to rotate independently by setting three sets of motors and three sets of transmission gears, ensuring that their transmissions do not interfere with each other, thereby achieving multi-dimensional power output of the drive device 3.

[0040] In this embodiment, the drive end of the first motor can be driven by a drive gear, which can be connected to the first output gear via a first gear set, thereby improving the rotational stability of the first output gear. The drive end of the second motor can be driven by a drive gear, which can be connected to the second output gear via a second gear set, thereby improving the rotational stability of the second output gear. The drive end of the third motor can be driven by a drive gear, which can be connected to the third output gear via a third gear set, thereby improving the rotational stability of the third output gear.

[0041] See Figure 2 , 3 In one embodiment, the driven assembly 22 includes a first driven rod 221 and a second driven rod 222. The second driven rod 222 has a first connecting portion 222a, a second connecting portion 222b, and a third connecting portion 222c arranged sequentially along its extension direction. One end of the first driven rod 221 is rotatably connected to the end of the first drive rod 211 away from the joint actuator 31, and the other end is rotatably connected to the first connecting portion 222a. The end of the second drive rod 212 away from the joint actuator 31 is rotatably connected to the second connecting portion 222b, and the rolling element 4 is rotatably mounted on the third connecting portion 222c. This arrangement causes the first drive rod 211, the first transmission link, the second drive rod 212, and the second driven rod 222 to form a parallelogram structure. By applying an external force to any two opposite corners of this parallelogram structure, the structure of the parallelogram can be changed, thereby causing the leg assembly 2 to present different included angles.

[0042] In this embodiment, the first connecting portion 222a and the second connecting portion 222b are located at the end of the second driven rod 222 near the drive assembly 21, and the third connecting portion 222c is located at the end of the second driven rod 222 near the rolling element 4. The first connecting portion 222a and the second connecting portion 222b are respectively provided with a first connecting hole and a second connecting hole for fastener insertion. The first connecting hole and the second connecting hole are spaced apart along the extension direction of the second driven rod 222. The first connecting hole is used for rotatable connection with the first driven rod 221, and the second connecting hole is used for rotatable connection with the second drive rod 212. The third connecting portion 222c is used for connection with the rolling element 4. The distance between the first connecting hole and the second connecting hole is the same as the distance between the through holes at both ends of the first drive rod 211, so that the first transmission link and the second drive rod 212 are arranged approximately parallel after installation, making it easier for the support leg assembly 2 to be subjected to force and adjust its angle, thereby facilitating the adjustment of the shape of the support leg assembly 2.

[0043] In one embodiment, the first drive rod 211 and the second drive rod 212 are rotatably connected and form a first rotation fulcrum 23;

[0044] The first driving rod 211 and the first driven rod 221 are rotatably connected and form the second rotation fulcrum 24;

[0045] The first driven rod 221 and the second driven rod 222 are rotatably connected and form the third rotation fulcrum 25;

[0046] The second drive rod 212 and the second driven rod 222 are rotatably connected and form the fourth rotation fulcrum 26;

[0047] The line connecting the first rotation fulcrum 23, the second rotation fulcrum 24, the third rotation fulcrum 25, and the fourth rotation fulcrum 26 is projected as a quadrilateral along the normal of the leg assembly 2.

[0048] In this embodiment, in order to improve the stability of the movement of the outrigger assembly 2, the line connecting the first rotation fulcrum 23, the second rotation fulcrum 24, the third rotation fulcrum 25, and the fourth rotation fulcrum 26 is projected as a quadrilateral along the normal projection of the outrigger assembly 2, so that the first drive rod 211, the second drive rod 212, the first driven rod 221, and the second driven rod 222 are all located on the same horizontal plane; or, the first drive rod 211, the second drive rod 212, the first driven rod 221, and the second driven rod 222 are spaced apart along the direction of the normal projection of the outrigger assembly 2.

[0049] In one embodiment, the main body 1 includes a power supply and a control component. The main body 1 has a receiving cavity, within which the power supply and control component are housed. The power supply and control component are electrically connected. The control component controls the drive device 3 to operate according to a preset mode. The control component receives external signals and generates control commands, and according to these commands, controls the power component in the joint actuator 31 to rotate, thereby controlling the outrigger assembly 2 to complete a specified action via the transmission system. The control component can also detect the actual position and speed of the rotation of the first output component 312, the second output component, and the third output component 313, and obtain real-time parameters of these components based on this information, thereby controlling and adjusting the rotation speed of the motor in the power component in real time based on these parameters.

[0050] In one embodiment, the body 1 has a first fixing part 11 and a second fixing part 12, which are spaced apart along a preset direction. Two joint actuators 31 are rotatably connected to the first fixing part 11 and the second fixing part 12, respectively. In this embodiment, the first fixing part 11 has a first plate and a second plate spaced apart along the extension direction of the rotation axis of the third output member 313. The first plate and the second plate are integrally formed or fixedly connected to the body 1, and the joint actuators 31 are rotatably mounted between the first plate and the second plate. Either the first plate or the second plate is driven to the third output member 313 so that the joint actuators 31 can rotate relative to the body 1 through the third output member 313 to mimic joint movement. The second fixing part 12 has a third piece and a fourth piece spaced apart along the extension direction of the rotation axis of the third output member 313. The third piece and the fourth piece are integrally formed or fixedly connected to the body 1. Another joint actuator 31 is rotatably mounted between the third piece and the fourth piece and is symmetrically arranged with the joint actuator 31 between the first piece and the second piece. Either the first piece or the second piece drives the third output member 313 connected to the other joint actuator 31 so that the other joint actuator 31 can also rotate relative to the body 1 through the third output member 313 to simulate joint movement.

[0051] In one embodiment, the internal drive device is signal-connected to the control component, which is also used to control the rolling element 4 to operate in a preset manner. In this embodiment, the internal drive device is a direct drive motor, which can rotate in a preset manner under the control of the control system to move the wheeled robot 100 to a preset position according to a preset motion trajectory.

[0052] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A wheeled robot, characterized in that, include: ontology; Two support leg assemblies are arranged opposite each other on both sides of the body along a predetermined direction; A drive unit is installed on the main body, and the drive unit drives the support leg assembly. as well as A rolling element is rotatably mounted on the end of the support leg assembly away from the main body. The rolling element has an internal drive device, and the rolling element can rotate autonomously through the internal drive device. The driving device includes two joint actuators disposed opposite to each other on the body along a preset direction, and the two joint actuators respectively drive and connect to the two support leg assemblies; The joint actuator includes a housing, a transmission assembly, and a power assembly. The housing has a mounting cavity and a first opening and a second opening communicating with the mounting cavity. The transmission assembly and the power assembly are both located in the mounting cavity. The transmission assembly includes a first output component, a second output component, and a third output component, which are respectively driven and connected to the power assembly. The first output component and the second output component are located at the first opening, and the rotation axis of the first output component and the rotation axis of the second output component are coincident. The third output component is located at the second opening, and the rotation axis of the third output component intersects with the rotation axis of the first output component.

2. The wheeled robot as described in claim 1, characterized in that, The outrigger assembly includes a drive assembly and a driven assembly. The drive assembly is driven to the joint actuator, and the driven assembly is driven to the drive assembly. The rolling element is located at the end of the driven assembly away from the drive assembly.

3. The wheeled robot as described in claim 2, characterized in that, The drive assembly includes a first drive rod and a second drive rod; one end of the first drive rod is driven and connected to the first output component, and the other end is rotatably connected to the driven assembly; one end of the second drive rod is driven and connected to the second output component, and the other end is rotatably connected to the driven assembly.

4. The wheeled robot as described in claim 3, characterized in that, The driven assembly includes a first driven rod and a second driven rod. The second driven rod has a first connecting portion, a second connecting portion, and a third connecting portion arranged sequentially along its extension direction. One end of the first driven rod is rotatably connected to the end of the first drive rod away from the joint actuator, and the other end is rotatably connected to the first connecting portion. The end of the second drive rod away from the joint actuator is rotatably connected to the second connecting portion, and the rolling element is rotatably mounted on the third connecting portion.

5. The wheeled robot as described in claim 4, characterized in that, The first drive rod and the second drive rod are rotatably connected and form the first rotation fulcrum; The first driving rod and the first driven rod are rotatably connected and form a second rotation fulcrum; The first driven rod and the second driven rod are rotatably connected and form a third rotation fulcrum; The second driving rod and the second driven rod are rotatably connected and form a fourth rotation fulcrum; The line connecting the first rotation fulcrum, the second rotation fulcrum, the third rotation fulcrum, and the fourth rotation fulcrum is projected as a quadrilateral along the normal of the leg assembly.

6. The wheeled robot as described in claim 1, characterized in that, The main body includes a power supply and a control component. The main body has a receiving cavity, and the power supply and the control component are disposed in the receiving cavity. The power supply is electrically connected to the control component, and the control component is used to control the drive device to operate in a preset manner.

7. The wheeled robot as described in claim 6, characterized in that, The body has a first fixing part and a second fixing part, which are spaced apart along a preset direction. The two joint actuators are rotatably connected to the first fixing part and the second fixing part, respectively.

8. The wheeled robot as described in claim 6, characterized in that, The internal drive device is connected to the control component via a signal, and the control component is also used to control the rolling element to operate in a preset manner.

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